Omron B5L User Manual page 40

Data length
00Hex 04Hex B0Hex
Data block
Distance data
76799 76798
LSB MSB LSB
Data block
Amplitude data
76797
...
LSB MSB
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, followed by amplitude data of 320 pixels wide and 240 pixels high with 2
bytes per pixel.
0101Hex: Distance data (Cartesian coordinate system) + Amplitude data
0102Hex: Distance data (rotated Cartesian coordinate system) + Amplitude data
The PCD header of 170 bytes is prefixed to the distance data.
Data length
00Hex 09Hex 60Hex
Data block
Distance data
PCD
x76799
header
LSB MSB
Data block
Amplitude data
76799
...
LSB MSB
If the result acquisition format is 01FFHex: Amplitude data only, returned is the amplitude
data of 320 pixels wide and 240 pixels high with 2 bytes per pixel.
Data length
00Hex 02Hex 58Hex
Data block
Amplitude data
76799 76798
LSB MSB LSB
3D TOF Sensor Module B5L User's Manual (No. E596)
Data block
00Hex
76797
MSB LSB MSB
0
LSB MSB
Data block
AAHex
y76799 z76799
LSB MSB LSB MSB
0
LSB MSB
Data block
00Hex
76797
MSB LSB MSB
Chapter 4 Command Description
Amplitude data
0 76799
...
LSB MSB LSB
x0
...
LSB MSB
...
4-4 Get Result (82Hex)
76798
MSB LSB MSB
y0 z0
LSB MSB LSB MSB
0
LSB MSB
40