Chapter 1 Overview
1-6 How to Measure 3D Distance by This Product
3D TOF Sensor Module B5L User's Manual (No. E596)
1-6 How to Measure 3D Distance by This Product
Distance data coordinate
As shown below, the X coordinate is rightward of the receiver, the Y coordinate is upward
of the receiver, and the Z coordinate is onward of the receiver.
The following three coordinate systems are available.
The origin of each coordinate system is the "coordinate origin" described in "1-6
Dimensions".
Zo
Yo
Xo
Polar
Rotated Cartesian
Cartesian
Xr
Yr
Zr
Output data
The following output data are available from this product.
You can specify which data to acquire by the result acquisition format setting.
Data name
Description
Distance data
The three-dimensional distance from the coordinate origin of this product to
the object.
Distance data in Cartesian
coordinate system
Xo, Yo, Zo: X, Y, and Z coordinates based on the origin coordinate as its
origin
Distance data in rotated
Cartesian coordinate system
Xr, Yr, Zr: Cartesian coordinate system rotated around Xo, Yo, and Zo axes
by the angle specified by the command
Distance data in polar
coordinate system
r,
θ
,
φ
: Polar coordinate system based on the Cartesian coordinate
system
Amplitude data
Photo sensitivity of each pixel when the LED is emitted
16 bits (256 scales)
Operation mode
This product has the following operation modes. You can specify a mode by the operation
mode setting.
Mode
Description
Normal
The HDR function is enabled and the distance is calculated based on two measurement results.
High-speed The HDR function is disabled and the distance is calculated based on one measurement result.
Note. HDR function: Function to make multiple measurements by changing the shutter speed
18
