37
3D sensor
UK
Offset
Name
Description
Size [byte]
0x0014
IMAGE_HEIGTH
Image height in pixel
4
0x0018
PIXEL_FORMAT
Pixel format
4
0x001C
TIME_STAMP
Time stamp in microseconds
4
0x0020
FRAME_COUNT
Frame counter
4
0x0024
PIXEL_DATA
The pixel data in the given type and dimension of the
image. Padded to 4-byte boundary.
4
Available chunk types:
Constant
Value
Description
USERDATA
0
Undefined user data with arbitrary content
RADIAL_DISTANCE_
IMAGE
100
Each pixel of the distance matrix denotes the ToF distance
measured by the corresponding pixel or group of pixels of the
imager. The distance value is corrected by the device calibration,
excluding effects caused by multipath and multiple objects
contributions (e.g. "flying pixels"). Reference point is the optical
centre of the device inside the device housing.
Invalid PMD pixels (e.g. due to saturation) have a value of zero.
Data type: 16-bit unsigned integer (little endian)
Unit: millimetres
NORM_AMPLITUDE_
IMAGE
101
Each pixel of the normalized amplitude image denotes the raw
amplitude (see amplitude image below for further explanation),
normalized to exposure time. Furthermore, vignetting effects
are compensated, ie the darkening of pixels at the image border
is corrected. The visual impression of this grayscale image is
comparable to that of a common 2D camera.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 16-bit unsigned integer
AMPLITUDE_IMAGE
103
Each pixel of the amplitude matrix denotes the amount of
modulated light (i.e. the light from the device active illumination)
which is reflected by the appropriate object. Higher values indicate
higher PMD signal strengths and thus a lower amount of noise on
the corresponding distance measurements. The amplitude value
is directly derived from the PMD phase measurements without
normalisation to exposure time. In multiple exposure mode,
the lack of normalisation may lead (depending on the chosen
exposure times) to inhomogeneous amplitude image impression, if
a certain pixel is taken from the short exposure time and some of
its neighbours are not.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 16-bit unsigned integer
CARTESIAN_X_
COMPONENT
200
The X matrix denotes the X component of the Cartesian coordinate
of a PMD 3D measurement. The origin of the device coordinate
system is in the middle of the lens' front glass, if the extrinsic
parameters are all set to 0.
Data type: 16-bit signed integer
Unit: millimetres
