8.7.4 3D image format
The Range pixel format setting defines the format of the pixels provided by the device. The
data can be represented with 8, 10, 12, or 16 bits. A lower value allows a higher scan
rate given the limitations of the Gigabit Ethernet link. For 12 bits a maximum region
height of 256 rows can be represented if using the best range resolution. Any data
outside of this range is clipped/limited to the maximum value.
The 3D data is delivered with a defined subpixel bits resolution. Possible Range resolution
values are Sixteenth pixel, Quarter pixel, One pixel, or Roi optimal. Selecting Roi optimal, the
range resolution is calculated to find the optimal value based on Range pixel format and
height of the sensor (affecting scaleZ).
Use the Scan 3d Coordinate Scale parameter to see the actual range resolution when
using Roi optimal. The Scan 3d Coordinate Selector must be set to CoordinateC. When
changing the number of rows in the ROI, the value of Scan 3d Coordinate Scale will change
accordingly.
Figure 24: Verifying the actual range resolution when using
Roi optimal
Adapting the Range pixel format and Range resolution can help with bandwidth issues. It
allows a higher scan rate without sacrificing resolution when having few rows in ROI.
It also allows a higher scan rate when having a large number of rows in ROI, but then
resolution will be sacrificed.
CONFIGURATION
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8020774/1D7Q/2022-03 | SICK O P E R A T I N G I N S T R U C T I O N S | Ranger3
39
Subject to change without notice
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