8014493/ YDB5/2014-11-25
© SICK AG · Germany · All rights reserved · Subject to change without notice
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Box orientation
byte 5…6
INT16
Object box orientation in the reference
coordinate system in 1/100°. 0x8000
indicates an invalid orientation.
Reserved
byte 7
-
-
3.7 Contour header: CAN Base ID + 0x6 (e.g. 0x506)
Content
Data area
Data type
Description
Object ID
byte 0
UINT8
ID of this object from the tracking. Use
this ID to refer messages to an object.
Number of contour
points
byte 1
UINT8
Number of contour points including start
point transmitted for this object. The
number of following ObjectDataContour
messages can be calculated by
(NumOfContou1) Div 3. If this
value is set to 0xFF (invalid), the contour
of this object was not calculated correctly
(e.g. too many contour points). In this
case, the ContourStartpoint contains the
closest distance to the object. No more
contour point messages are sent for this
object.
Closest contour
point number
byte 2
UINT8
The closest object distance can be found
in the contour point with this number. The
numbering starts with 0 (start point).
Reserved
byte 3
-
-
Start point x
bytes 4…5 INT16
Position of the first contour point in cm in
the reference coordinate system. This is
the first point of the contour (or the
closest distance, see above). The
following contour points are only given by
offsets to the previous points.
Start point y
bytes 6…7 INT16
3.8 Contour points: CAN Base ID + 0x7 (e.g. 0x507)
Content
Data area
Data type
Description
Object ID
byte 0
UINT8
ID of this object from the tracking. Use
this ID to refer messages to an object.
Contour message
number
byte 1
UINT8
Number of this contour message. Zero
based.
x offset
(e.g. point 1)
byte 2
INT8
Add these offsets to the position of the
previous point. Calculate the position for
