LMI Technologies Gocator 2100 Series, User Manual

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Gocator Line Profile Sensors - User Manual
Tools and Native Drivers • GenTL Driver • 441
7. Click OK in the dialogs until they are all closed.
To work with the Gocator GenTL driver, the Gocator must operate in Surface or Video mode with its the
appropriate output enabled in the
Ethernet panel in the Output page. Check Acquire Intensity in the
Scan Mode panel on the Scan page and enable intensity output in the Ethernet panel if intensity data
is required.
The GenTL driver packs the part output, intensity, and stamps (e.g., time stamp, encoder index, etc.) into
either a 16-bit RGB image or a 16-bit grey scale image. You can select the format in the Go2GenTL.xml
setting file.
The width and height of the 16-bit RGB or grey scale image is calculated from the maximum number of
columns and rows needed to accommodate the sensor's field of view and the maximum part length.
16-bit RGB Image
When the 16-bit RGB format is used, the height map, intensity, and stamps are stored in the red, green,
and blue channel respectively.
Channel Details
Red Height map information. The width and height of the image represent the dimensions
in the X and Y axis. Together with the pixel value, each red pixel presents a 3D point in
the real-world coordinates.
The following formula can be used to calculate the real-world coordinates (X, Y, Z) from
pixel coordinates (Px, Py, Pz):
X = X Px * X resolution
Y = Y Py * Y resolution
Z = Z Pz * Z resolution
Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if
the data is invalid. The Z offset is fixed to -32768 * Z resolution. Z is zero if Pz is 32768.
Green Intensity information. Same as the red channel, the width and height of the image
represent the dimension in the X and the Y axis. Together with the pixel value, each
blue pixel represents an intensity value in the real-world coordinates.
The following formula can be used to calculate the real-world coordinates (X, Y, Z) from
pixel coordinates (Px, Py, Pz):
X = X Px * X resolution
Y = Y Py * Y resolution
Z = 16-bit intensity value
The intensity value is 0 if the intensity image is not available. Gocator outputs 8-bit
intensity values. The values stored in the 16-bit RGB image is multiplied by 256. To
obtain the original values, divide the intensity values by 256.
Refer to the blue channel on how to retrieve the offset and resolution values.
Blue Stamp information. Stamps are 64-bit auxiliary information related to the height map
and intensity content. The next table explains how the stamps are packed into the blue