LMI chroma+scan 3155, User Manual

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consider the FireSync result format; scan 3x00 messages are described below
as an independent data format. Note that fields that pertain to FireSync result details
are marked reserved in this document where those fields are not strictly required to
understand scan 3x00 messages.
Message specifications in this document use a shorthand notation for data types, shown
below. All values are little-endian (least significant byte transmitted first).
Data Type Size (bytes) Description
8s 1 Signed 8-bit integer
8u 1 Unsigned 8-bit integer
16s 2 Signed 16-bit integer
16u 2 Unsigned 16-bit integer
32s 4 Signed 32-bit integer
32u 4 Unsigned 32-bit integer
64s 8 Signed 64-bit integer
64u 8 Unsigned 64-bit integer
7.4.1 Free Mode
In Free mode, raw profile data is transmitted without any attempt to resample data, apply
system calibration information, or detect objects. Profile messages contain geometric
measurements captured using lasers and profile cameras. There are no guarantees
regarding the order in which data from separate sensors will arrive at the client. To
toggle between
Free Mode Profile Message versions, change the EncoderMsgVersion
parameter in Server Settings .
Messages formats are defined below. Note that invalid profile points are represented by
the value (-32768).
Free Mode Profile Message
Field Type Description
messageSize k64s Total size of message (bytes)
messageId k64s Type of message (1)
reserved[2] k64s Reserved for internal use
deviceId k64s Sensor serial number
reserved[4] k64s Reserved for internal use
count k64s Count of profiles in message
width k64s Count of points per profile
reserved[2] k64s Reserved for internal use
attributes[count][4 or 6] k64s Profile attributes (defined below)
points[count][width][2] k16s Profile points (x, z)
Free Mode Profile Message (Version 0) - Profile Attributes
Field Type Description
viewIndex k64s View index (0 left, 1 right)
frameIndex k64s Sequence index
timestamp k64s Capture time (microseconds)
encoder k64s Capture position (encoder pulses)