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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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