Omron B5L, User Manual, Page: 55 / 72

Chapter 4 Command Description
4-19 Get θφ Table (94Hex)
3D TOF Sensor Module B5L User's Manual (No. E596)
4-19 Get θφ Table (94Hex)
Acquires θ and φ tables
.

Command (from host to this product)
Synchroniz
ation code
Command
No.
Data length
FEHex 94Hex 00Hex 00Hex

Response (from this product to host)
Synchroniz
ation code
Response
code
Data length Data
FEHex Normal
end: 00Hex 00Hex 04Hex B0Hex 00Hex See below for details
Error:
FFHex to
F0Hex 00Hex 00Hex 00Hex 00Hex
・
Data details
Table data are returned in the order of θ and φ in 2 bytes per pixel.
As with distance and amplitude data, the data is output in the order of 76799 to 0 from the
bottom right to the top left of a 320x240 image.
Y
Z
X
𝝋𝝋
𝜽𝜽
𝒓𝒓
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