SICK Ranger3, Руководство по эксплуатации

Страница: 30 / 88

According to the GenICam ™ and GigE Vision ® standards, 3D data should be repre‐
sented using coordinate pixel formats. For Ranger3, these formats are Coord3d_C12p
and Coord3d_16 . To allow a receiver that is not compatible with those new formats, the
binary compatible grayscale formats mono_12p and mono_16 can be used.
7.9 Reflectance data
The reflectance values along the laser line can be collected in parallel to the 3D data.
The reflectance values are saved as an 8-bit grayscale image, with one value corre‐
sponding to each point in the range dataset.
For information about how to enable reflectance measurements, see "Enabling
reflectance measurements", page 58 .
7.10 High dynamic range (HDR) imaging
Ranger3 supports high dynamic range (HDR) imaging, which increases the sensor's
ability to adequately reproduce both bright and dark areas in a scene. HDR is suitable
for improving the localization of the laser line when acquiring images containing both
dark and bright materials, such as bright objects towards a dark background or dark
objects with bright prints.
Figure 13: Acquisition of
profiles Figure 14: Resulting profile,
linear (non-HDR) mode
Figure 15: Resulting profile,
HDR mode
Ranger3 uses an HDR principle called multiple-slope with one knee-point, which means
that the normal linear relationship between the received light and the resulting pixel
value (reflectance) is broken into two linear segments. The result is a compressed light-
to-pixel value characteristic for high light intensities, according to
figure 16 .
Light intensity
2
Pixel value
1
5
6
4
Maximum
pixel value
3
Figure 16: HDR multiple-slope principle
1
Pixel value
2
Light intensity
3
Maximum pixel value
4
Linear (non-HDR) mode
5
HDR mode
6
Knee-point
7
CONFIGURATION
30 O P E R A T I N G I N S T R U C T I O N S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice