0
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0000 0 0 111111 10 10
000 0 1111 10 10
000 0 1111 10 10
000 0 1111 10 10
00 0 111 10 10
1
2
3
4
5
Figure 25: Examples of adapting the Range pixel format and Range resolution
1
16-bit output, 16 subpixels, maximum resolution, up to 832 rows.
2
12-bit output, 16 subpixels, maximum resolution, up to 256 rows.
3
12-bit output, 4 subpixels, less resolution, up to 512 rows.
4
10-bit output, 4 subpixels, less resolution, up to 256 rows.
5
12-bit output, Roi optimal, adapts subpixels after ROI height.
100 rows give 16 subpixels
832 rows give approximately 5 subpixels (832/4096 = 0.2)
NOTE
It is not possible to obtain a resolution better than 16 subpixels.
The Profiles per image setting indicates how many profiles to include for each 3D image
and is set in pixels. This value will be the height of the 3D image.
The pixel value 0 is dedicated to represent missing data, i.e. that no valid peak was
found. This means that the lowest value possible is 0.0625 (16 subpixels).
The coordinate system of the data is independent of the region position. That is, the
value 0.0625 always represents a position 16 subpixels from the start of the region. If
a buffer is saved to file, the Offset-Y information is stored in the XML description so that
the actual position on the sensor can be calculated.
According to the GenICam™ and GigE Vision® standards, 3D data should be repre‐
sented using coordinate pixel formats. For Ranger3, these formats are Coord3d_C8,
Coord3d_C10p, Coord3d_C12p and Coord3d_16. To allow a receiver that is not compati‐
ble with those new formats, the binary compatible grayscale formats mono_12p and
mono_16 can be used.
8.8 Additional components
8.8.1 Reflectance
The reflectance values along the laser line can be collected in parallel to the 3D
data. The reflectance values are saved as an 8-bit grayscale image, with one value
corresponding to each point in the range dataset.
For information about how to enable reflectance measurements, see "Enabling reflec‐
tance measurements", page 63.
8.8.2 Scatter
The scatter component measures the intensity of the laser signal in defined parts of
the Window Around Maximum (WAM Size), see "WAM size", page 37. The scatter signal
can be explained as the amount of scattered light received in a sampling window at a
distance from the peak laser position.
8 CONFIGURATION
40
O P E R A T I N G I N S T R U C T I O N S | Ranger3 8020774/1D7Q/2022-03 | SICK
Subject to change without notice
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