Software User Manual - Argos 3D-P320
Last change: 2 February 2016
Version 0.14
© Bluetechnix 2016
Page 39 | 70
4.6.14
Color
This data format is only used for the UDP Color Sensor Stream (see chapter 4.15.1 for more information).
This data format cannot be set via register
ImageDataFormat
. When this data format is transferred, field
ImageFormat
of the frame header (
chapter 3.2.2) is set to value 22 (0x16).
In this mode the color sensor image is transferred in channel #0. The
color
sensor pixels are coded in
RGB565
(raw) or
JPEG
compressed format. 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.
The resolution, format, and frame rate of the color sensor are configured via register
ColorStreamParams
.
4.7
ToF Modulation Frequency
The modulation frequency of the illumination is set to 20 MHz per default. Other modulation frequencies can
be set using the register
ModulationFrequency
(for sequence 1:
ModFreqSeq1
). Be aware that this also
changes the ambiguity range of the camera.
The following modulation frequencies can be selected:
Index Frequency
0
5 MHz
1
7.5 MHz
2
10 MHz
3
15 MHz
4
20 MHz
5
25 MHz
6
30 MHz
Table 4-2: Pre-defined modulation frequencies
The register can be written with the frequency in 10-kHz-steps (frequency in Hz/10000) or the index. On a
register read, the currently selected modulation frequency (again, in 10-kHz-steps), is returned.
Other frequencies between 5 MHz and 30 MHz can be set as well, but as there is no calibration data
available for other frequencies than the indexed ones it may result in unpredictable distance values.
4.8
Frame Rate and Integration Time
The frame rate and the integration time of the ToF sensor can be set by using the registers
Framerate
and
IntegrationTime
(for sequence 1:
IntTimeSeq1
). The ToF sensor’s integration time is limited by hardware to
24ms.
The color sensor is operating at ca. 15 or ca. 30 frames per second (as configured in register
ColorStreamParams
). The color sensor always works with auto exposure control (AEC) and auto gain
control (AGC) on.
The maximum frame rate for the ToF sensor is 160 fps but may be reduced by increasing its integration time.
The combination of frame rate and integration time influences the input current as well as the dissipated heat
and will be characterized by the
“Fra
me
rate Integration Time Product”
(FITP) which has been defined as
follows:
