Gocator Line Profile Sensors: User Manual
Protocols • 616
Video
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4 Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 2.
attributesSize 16u 6 Size of attributes, in bytes (min: 20, current: 20).
height (H) 32u 8 Image height, in pixels.
width (W) 32u 12 Image width, in pixels.
pixelSize 8u 16 Pixel size, in bytes.
pixelFormat 8u 17 Pixel format:
1 – 8-bit greyscale
2 – 8-bit color filter
3 – 8-bits-per-channel color (B, G, R, X)
colorFilter 8u 18 Color filter array alignment:
0 – None
1 – Bayer BG/GR
2 – Bayer GB/RG
3 – Bayer RG/GB
4 – Bayer GR/BG
source 8u 19 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
cameraIndex 8u 20 Camera index.
exposureIndex 8u 21 Exposure index.
exposure 32u 22 Exposure (ns).
flippedX 8u 26 Indicates whether the video data must be flipped horizontally to
match up with profile data.
flippedY 8u 27 Indicates whether the video data must be flipped vertically to
match up with profile data.
streamStep 32s 28 Data stream step number. For video, values are:
0 – video stream step
8 – tool data stream step
streamStepId 32s 32 Data stream step identifier within the stream step.
pixels[H][W] (Variable) 36 Image pixels. (Depends on pixelSize above.)
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