IFM Electronic O3D303, Руководство по эксплуатации

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A va i l a b l e C h u n t yp e s
C o n s t a n t V a l u e D e s c r i p t i o n
USERDATA 0 u n d e f i n e d us e r d a t a wit h a r b r it r ar y c o n t e n t
RADIAL_DIST A NCE_IMAGE 100
E a c h p i x e l of t h e d is t a nc e m at r i x d en o t e s t h e
T oF distance measured b y the corresponding
pixel or group of pixels of the im ager. T he dis-
t a n c e v a l u e i s c or r e c t e d b y t h e c a m e r a ' s c a l i-
bration, excluding effect s caused by mu lt i pa th
and multiple objects cont ributions (e.g. "f lying
pixels"). Reference point is the optical cent er
o f t h e c a m er a i n s i d e t he c a m er a h ou s i n g .
I n v a l i d P M D p i x e l s ( e. g . d u e t o s a t ur a t i o n )
have a value of zero.
D a t a t yp e : 1 6 b i t u n s i g ne d i n t e g e r ( li t t l e e n -
dian)
Unit: millimetres
NORM_AMPLIT UDE _IMAGE 101
Each pixel of the am plitude matrix denotes the
am ou nt of m odul a te d l i ght ( i e t h e l i gh t f r om t h e
c a m e r a' s a c t i v e i l l u m i n at ion ) whi ch i s r efl ect ed
b y the appropriate objec t. Higher values indi-
ca te h i g her P MD s ig nal str engt hs an d t hus a
l o wer am o un t of no ise on t he corr es pon di ng
distance measurements. T he amplitude value
i s d i r ec t l y d e r i v e d f rom the PMD phase meas-
u r e m e n t s wi t h o u t n o r m al i z a t i o n t o exp o s u r e
t i m e. I n d o u b l e e x p o s u r e m o d e , t h e l a c k o f
normalization may lead (depending on the
choosen exposure times) to inhomogeneous
amplitude im age impression, if the a certain
pixel is taken from the short exposure time and
some of it s neighbors ar e not.
I n v a l i d P M D p i x e l s ( e. g . d u e t o s a t ur a t i o n )
have an amplitude value of 0.
By the algorithm a float32 normalized Ampli-
t u d e i m a g e is c r e a t e d. I t s v a l u e s r a ng e f r o m
9 4 . 3 t o 0. 0 05 , g i v e n t h e c u r r e n t ( C 3 s a m p l e)
minimal and maximal am plitude settings. T o
h a v e s o m e r o o m f o r i m pr o v e m e n t t he s c a l i n g
should be done as follows :
N o r m a l i z e d A m p l i t u d e I m a g e 1 6 B i t : I P U i nt 1 6
Normalized Amplitude Image from algorithm :
I P f l o a t 3 2
Conversion: IPUint16 = round(65535/100 *