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Chapter 4 Command Description
4-19 Get θφ Table (94Hex)
3D TOF Sensor Module B5L User's Manual (No. E596)
Data length
Data block
00Hex 04Hex B0Hex 00Hex
Data block
θ table data
76799 76798 76797
…
0
LSB MSB LSB MSB LSB MSB LSB MSB
Data block
φ table data
76799 76798 76797
…
0
LSB MSB LSB MSB LSB MSB LSB MSB
・
Data details
The available θ table angle range is: 0 ≤θ <90 (degrees).
The value stored in the θ table consists of the upper 4 bits of the MSB as the approximate
angle-of-view/angle-of-view judgment values and the lower 12 bits as the 12-bit fixed-point
value of
0≤θ <90 [degrees].
When the upper 4 bits are all "1", the data is outside the angle of view. When they are all
"0", the data is inside the angle of view.
For example, if the data at position 76799 is BE FAHex:
The value is FABEHex, which indicates:
Upper 4 bits FHex: Outside the angle of view (AOV)
Lower 12 bits ABEHex = 2750: 90 x (2750/4096) = 60 [degrees]
76799
LSB MSB
BHex EHex FHex AHex
1 0 1 1 1 1 1 0 1 1 1 1 1 0 1 0
θ value (lower 8 bits)
Judgement of outside
or inside the AOV
θ value (upper 4 bits)
The available
φ table angle range is: 0 ≤φ <360 (degrees).
The value stored in the
φ
table consists of the upper 2 bits of the MSB as fixed to 0 and
the lower 14 bits as the 14-bit fixed-point value of 0≤φ <360 [degrees].
For example, if the data at position 76799 is BE 4D 19Hex:
The value is 194DHex, which indicates:
Upper 2 bits: Fixed to 0
Lower 14 bits 194DHex = 6477: 360 x (6477/16384) = 142 [degrees]
76799
LSB MSB
4Hex DHex 1Hex 9Hex
0 1 0 0 1 1 0 1 0 0 0 1 1 0 0 1
φ value (lower 8 bits) Fixed φ (upper 6 bits)
The formula for converting
θ and φ from fixed-point values to degrees is as follows:
θ [degrees] = 90 x θ [fixed-point value]/4096
φ [degrees] = 360 x φ [fixed-point value]/16384
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