Omron B5L, Руководство пользователя, Страница: 41 / 72

Chapter 4 Command Description
4-5 Set Result Acquisition Format (84Hex)
3D TOF Sensor Module B5L User's Manual (No. E596)
4-5 Set Result Acquisition Format (84Hex)
Sets the result output format
.

Command (from host to this product)
Synchroniz
ation code
Command
No.
Data length Data
FEHex 84Hex 00Hex 02Hex See below for details

Response (from this product to host)
Synchroniz
ation code
Response
code
Data length Data
FEHex Normal
end: 00Hex 00Hex 00Hex 00Hex 00Hex
Error:
FFHex to
F0Hex 00Hex 00Hex 00Hex 00Hex
・
Data details
Setting value Data name
0000Hex Distance data (polar coordinate system)
0001Hex Distance data (Cartesian coordinate system)
0002Hex Distance data (rotated Cartesian coordinate system)
0100Hex Distance data (polar coordinate system) + Amplitude data
0101Hex Distance data (Cartesian coordinate system) + Amplitude data
0102Hex Distance data (rotated Cartesian coordinate system) + Amplitude data
01FFHex Amplitude data
Specify the output information and coordinate system
.
Output information: Distance data only
Distance data + Amplitude data
Amplitude data only
Coordinate system: Polar (r)
Cartesian (Xo, Yo, Zo)
Rotated Cartesian (Xr, Yr, Zr)
The default value is 0000Hex: Distance data (polar).
The unit of distance data is mm (millimeter).
When Cartesian coordinate system or rotated Cartesian coordinate system is specified,
the distance data output is in PCD (Point Cloud Data) format.
Note: PCD (Point Cloud Data)
http://pointclouds.org/documentation/tutorials/pcd_file_format.php#pcd-file-format
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