Software User Manual - Argos 3D-P320
Last change: 2 February 2016
Version 0.14
© Bluetechnix 2016
Page 32 | 70
Lowbyte of
Distance (Pixel 0)
Highbyte of
Distance (Pixel 0)
Lowbyte of
Distance (Pixel 1)
Highbyte of
Distance (Pixel 1)
Lowbyte of
Distance
(Pixel 159)
Highbyte of
Distance
(Pixel 159)
Lowbyte of
Distance
(Pixel 19040)
Highbyte of
Distance
(Pixel 19040)
Lowbyte of
Distance
(Pixel 19041)
Highbyte of
Distance
(Pixel 19041)
Lowbyte of
Distance
(Pixel 19199)
Highbyte of
Distance
(Pixel 19199)
Lowbyte of
Amplitude (Pixel 0)
Highbyte of
Amplitude (Pixel 0)
Lowbyte of
Amplitude (Pixel 1)
Highbyte of
Amplitude (Pixel 1)
Lowbyte of
Amplitude
(Pixel 159)
Highbyte of
Amplitude
(Pixel 159)
Lowbyte of
Amplitude
(Pixel 19040)
Highbyte of
Amplitude
(Pixel 19040)
Lowbyte of
Amplitude
(Pixel 19041)
Highbyte of
Amplitude
(Pixel 19041)
Lowbyte of
Amplitude
(Pixel 19199)
Highbyte of
Amplitude
(Pixel 19199)
First Byte in Stream
Last Byte in Stream
Figure 4-3: Data stream of Distance and Amplitude data
4.6.2
Distances, Amplitudes and Color
In this mode distances and amplitudes from the ToF sensor, as well as the color sensor image will be
transferred in progressive mode, first the distance array (channel 0), then the amplitude array (channel 1),
then the color sensor data (channel 2). The stream starts always with pixel #0.
The
distances
are coded in
millimeters
as
Uint16
, the
amplitudes
also as
Uint16
. The
color
sensor pixels
are coded in
RGB565
(raw) or
JPEG
compressed format.
The resolution, format, and frame rate of the color sensor are set via register
ColorStreamParams
.
Channel 2 (which carries the color data) may have zero length, if no color data is available for the current
frame. In this case, fields
ColorSensorWidth
,
ColorSensorHeight
, and
ColorSensorLength
of the frame
header are set to zero (refer to section 3.2.2).
In the case the color data is transferred in JPEG format, frame header field
ColorSensorLength
contains the
length of the JPEG-compressed image in bytes.
