Omron B5L User Manual page 39

When Cartesian coordinate system or rotated Cartesian coordinate system is specified for
the result acquisition format, output is in PCD format. The following PCD header is
prefixed to the distance data.
# .PCD v.7 - Point Cloud Data file format
VERSION .7
FIELDS x y z
SIZE 2 2 2
TYPE I I I
COUNT 1 1 1
WIDTH 320
HEIGHT 240
VIEWPOINT 0 0 0 1 0 0 0
POINTS 76800
DATA binary
If the result acquisition format is 0000Hex: Distance Data (Polar coordinate system),
returned is the distance data of 320 pixels wide and 240 pixels high with 2 bytes per pixel.
Data length
00Hex 02Hex 58Hex
Data block
Distance data
76799 76798
LSB MSB LSB
If the result acquisition format is either of the followings, returned is the PCD file format
data of 320 pixels wide and 240 pixels high with 2 bytes of coordinate values x, y, and z,
respectively.
0001Hex: Distance data (Cartesian coordinate system)
0002Hex: Distance data (rotated Cartesian coordinate system)
The PCD header of 170 bytes is prefixed to the distance data.
Data length
00Hex 07Hex 08Hex
Data block
Distance data
PCD
x76799
header
LSB MSB
If the result acquisition format is 0000Hex: Distance Data (Polar coordinate system) +
Amplitude data, returned is the distance data of 320 pixels wide and 240 pixels high with 2
bytes per pixel, followed by amplitude data of 320 pixels wide and 240 pixels high with 2
bytes per pixel.
3D TOF Sensor Module B5L User's Manual (No. E596)
Data block
00Hex
76797
MSB LSB MSB
Data block
AAHex
y76799 z76799
LSB MSB LSB MSB
Chapter 4 Command Description
...
x0 y0
...
LSB MSB LSB
4-4 Get Result (82Hex)
0
LSB MSB
z0
MSB LSB MSB
39