10. GET commands
The GET commands do the image acquisition and the data readout. The selection of the field-of-view WFOV, NFOV, NFOV spot is given
by the operation mode. Refer to Chapter 9.4.
10.1. Acquisition modes
The acquisition modes in the “GET” commands in Chapters 10.5 to 10.9 have the following meaning:
Acquisition mode
Parameter
byte 0
Description
Single measurement
0x00
The camera acquires one image
Pipelined single measurement
0x01
Parallel to the data transmission of an image on command, the next image is already
acquired. This reduces the processing time of the next command. This mode gets almost
the same frame rate as the streaming mode.
Streaming mode
0x02
The camera acquires continuously images and streams the data. The stream can be
terminated either by an other acquisition or the STOP_STREAM command
Table 13: Acquisition mode definition
10.2. Acquisition data output formats
The data output formats of the GET commands are listed in Table 14 and 15 and are according to the selected operation modes:
Confidence
bit 15, 14
Distance
bit 13 … 0
Amplitude limits
Definitions and comments
Wide field-of-view (WFOV)
Definition
0 … 7'500d
or status
---
Mod. frequency
20 MHz
FOV:
Full frame 160x60 pixel or ROI. Refer to Figure 2
Distance range:
0 … 7.5 m
Resolution:
1 mm/LSB
Data:
16 bit: 2 bit confidence and
14 bit unsigned integer distance
00
< 7'500d
TOF amplitude >
AmpLimit0
Default
= 50 LSB
Very low amplitude:
The result shows the presence of an object, but
distance information is very inaccurate.
10
< 7'500d
TOF amplitude >
AmpLimit1
Default
= 100 LSB
Weak amplitude:
Distance result is usable but has reduced accuracy.
10
< 7'500d
TOF amplitude >
AmpLimit2
Default
= 200 LSB
Good amplitude:
Good distance information.
11
< 7'500d
TOF amplitude >
AmpLimit3
Default
= 500 LSB
Excellent amplitude:
Most accurate distance measurement.
Don't care
> 7'500d
TOF amplitude <
AmpLimit0
Distance not available or out of range:
Check distance status.
Status
16'001d
---
Low TOF amplitude
16'002d
---
Exceeds A/D conversion limits
16'003d
---
Pixel saturation
16'007d
---
Modulation interference or Motion-blur
16'008 d
---
Filtered out by edge detection
Narrow field-of-view (NFOV)
Definition
0 … 15'000d
or status
---
Mod. frequency
10 MHz
FOV:
8x8 NFOV pixel, Refer to Figure 2 (center beam).
Based on effectively 16x16 pixel binned, analog
on-chip pairwise, horizontally and vertically.
Distance range:
0 … 15 m.
Resolution:
1 mm/LSB
Data:
16 bit: unsigned integer distance
n/a
< 15'000d
TOF amplitude >
AmpLimit4
Default
= 200 LSB
The NFOV pixel is
valid
.
It is used also for averaging of NFOV spot data.
n/a
Don't care
TOF amplitude <
AmpLimit4
The NFOV pixel is marked as “
low TOF amplitude
”.
Table 14: Definition and decision table for distance data and confidence (refer also to Chapter 9.14.)
© 2019 ESPROS Photonics Corporation
Characteristics subject to change without notice
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