IFM Electronic O3D301 Operating Instructions Manual page 24

3D camera
Available chunk types:
Constant
USERDATA
RADIAL_DISTANCE_
IMAGE
NORM_AMPLITUDE_
IMAGE
AMPLITUDE_IMAGE
CARTESIAN_X_
COMPONENT
CARTESIAN_Y_
COMPONENT
24
Value Description
0 Undefined user data with arbitrary content
100 Each pixel of the distance matrix denotes the ToF distance
measured by the corresponding pixel or group of pixels of
the imager. The distance value is corrected by the camera's
calibration, excluding effects caused by multipath and multiple
objects contributions (e.g. "flying pixels"). Reference point is the
optical centre of the camera inside the camera housing.
Invalid PMD pixels (e.g. due to saturation) have a value of zero.
Data type: 16-bit unsigned integer (little endian)
Unit: millimetres
101 Each pixel of the normalized amplitude image denotes the raw
amplitude (see amplitude image below for further explanation),
normalized to exposure time. Furthermore, vignetting effects
are compensated, ie the darkening of pixels at the image border
is corrected. The visual impression of this grayscale image is
comparable to that of a common 2D camera.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 16-bit unsigned integer
103 Each pixel of the amplitude matrix denotes the amount of
modulated light (i.e. the light from the camera's active illumination)
which is reflected by the appropriate object. Higher values indicate
higher PMD signal strengths and thus a lower amount of noise on
the corresponding distance measurements. The amplitude value
is directly derived from the PMD phase measurements without
normalisation to exposure time. In multiple exposure mode,
the lack of normalisation may lead (depending on the chosen
exposure times) to inhomogeneous amplitude image impression, if
a certain pixel is taken from the short exposure time and some of
its neighbours are not.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 16-bit unsigned integer
200 The X matrix denotes the X component of the Cartesian coordinate
of a PMD 3D measurement. The origin of the camera's coordinate
system is in the middle of the lens' front glass, if the extrinsic
parameters are all set to 0.
Data type: 16-bit signed integer
Unit: millimetres
201 The Y matrix denotes the Y component of the Cartesian coordinate
of a PMD 3D measurement. The origin of the camera's coordinate
system is in the middle of the lens' front glass, if the extrinsic
parameters are all set to 0.
Data type: 16-bit signed integer
Unit: millimetres