© BECOM Systems 2020
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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
Note that modes
Color Channel
and
UDP Color Sensor Stream
may operate concurrently.
See Table 4-3 for a list of available resolutions/frame rates.
Resolution Frame rates Horiz. Opening Angle
1)
Vert. Opening Angle
1)
176x144
15, 30
TBD
TBD
320x240
15, 30
103°
77°
640x480
15, 30
103°
77°
720x480
15, 30
103°
69°
720x576
15, 30
95°
76°
1024x768
15, 30
TBD
TBD
1280x720
15, 30
103°
58°
1920x1080 15, 30
2)
74°
42°
Table 4-3: Color sensor resolution and frame rate options, plus opening angles
Note 1. The specified opening angles are approximate values only. They are valid only with the default lens. Please
consult the Hardware User Manual for details.
Note 2. Depending on the camera’s configuration
, the maximum value may not be reached.
The pixel orientation of the color image sensor is identical to Figure 4-3.
4.15.1
UDP Color Sensor Stream
In use cases where a continuous color sensor stream is required, but only sporadic ToF sensor images, the camera
features a second UDP stream that is dedicated to send color sensor data only. It is compliant to the data
interface format in chapter 3.2 and hence compatible to tools and libraries provided by BECOM Systems.
The UDP color sensor stream is enabled in register
ColorStreamParams
, bit 2. The resolution, frame rate, and data
format (raw RGB565 or JPEG compressed) can also be configured with this register.
The destination for this stream can be configured independently of the ToF data stream, using the following
registers:
•
Use registers
Eth0UdpColorStreamIp0
,
Eth0UdpColorStreamIp1
to set the destination IP address.
•
Use register
Eth0UdpColorStreamPort
to set the destination UDP port.
4.15.2
Color Sensor Control
The color sensor features automatic exposure and gain control (AEC/AGC) and automatic white balance (AWB).
By default, these are switched on.
These features can be controlled via register
ColorSensorControl
. Switching off AEC/AGC and/or AWB means
that the sensor freezes the current values for exposure, gain, and white balance.
