Set Result Acquisition Format (84Hex) - Omron B5L User Manual

4-5 Set Result Acquisition Format (84Hex)

Sets the result output format.
 Command (from host to this product)
Synchroniz
ation code
FEHex
 Response (from this product to host)
Synchroniz
ation code
FEHex
・ Data details
Setting value
0000Hex
0001Hex
0002Hex
0100Hex
0101Hex
0102Hex
01FFHex
Specify the output information and coordinate system.
Output information:
Coordinate system:
The default value is 0000Hex: Distance data (polar).
The unit of distance data is mm (millimeter).
When Cartesian coordinate system or rotated Cartesian coordinate system is specified,
the distance data output is in PCD (Point Cloud Data) format.
Note: PCD (Point Cloud Data)
http://pointclouds.org/documentation/tutorials/pcd_file_format.php#pcd-file-format
3D TOF Sensor Module B5L User's Manual (No. E596)
Command
Data length
No.
84Hex 00Hex
Response
Data length
code
Normal 00Hex
end: 00Hex
Error: 00Hex
FFHex to
F0Hex
Data name
Distance data (polar coordinate system)
Distance data (Cartesian coordinate system)
Distance data (rotated Cartesian coordinate system)
Distance data (polar coordinate system) + Amplitude data
Distance data (Cartesian coordinate system) + Amplitude data
Distance data (rotated Cartesian coordinate system) + Amplitude data
Amplitude data
Distance data only
Distance data + Amplitude data
Amplitude data only
Polar (r)
Cartesian (Xo, Yo, Zo)
Rotated Cartesian (Xr, Yr, Zr)
Chapter 4 Command Description
4-5 Set Result Acquisition Format (84Hex)
Data
02Hex See below for details
00Hex 00Hex 00Hex
00Hex 00Hex 00Hex
Data
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