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Pixel Format (blaze)#

The Pixel Format feature available on blaze cameras allows you to choose the format of the component data transmitted.

There are different pixel formats depending on the component selected. For example, the pixel format controls whether the Range component is output as a depth map or a point cloud.

Using the Feature#

Available Pixel Formats#

Range#

For the Range component, the following pixel formats are available:

  • Coord3D_C16
    A monochrome image using unsigned 16-bit integer values (little-endian). Darker areas represent objects close to the camera while lighter areas represent objects farther away.
    Note that objects outside of the camera's selected measurement range (at the front or the back of the ROI) will also appear black in the image.
    This is the recommended pixel format for working with depth maps.
  • Mono16
    A monochrome image using unsigned 16-bit integer values (little-endian). This is equivalent to the Coord3D_C16 pixel format. It should be used if your software can't handle Coord3D_C16.

  • Coord3D_ABC32f (point cloud)
    This is the point cloud representation using 32-bit floating point values (single plane). Each point in the cloud holds three values representing the XYZ coordinates of the surface from which the light pulse has been reflected in a Cartesian coordinate system (in mm) in little-endian format. The image ordering is line by line and pixel by pixel.
    The origin of the coordinate system is defined by the following positions:

    • The x and y coordinates are 0 (zero) at the pixel at the center of the sensor.
    • The Z coordinate is 0 (zero) at a device-specific distance from the front of the camera. For more information about this, see the "Coordinate System of the Camera" section of your camera model topic.

    For pixels with unreliable distance data (i.e., a low confidence value) or pixels that represent objects in the areas outside the ROI, the coordinates are set to the value specified by the Scan3dInvalidDataValue parameter.
    For more information about the camera's coordinate system, see your camera model topic.

Intensity#

For the Intensity component, the following pixel formats are available:

  • Mono16
    A monochrome image using unsigned 16-bit integer values (little-endian).

Confidence#

For the Confidence component, the following pixel formats are available:

  • Confidence16
    A monochrome image using unsigned 16-bit integer values (little-endian). This is the recommended pixel format for working with confidence maps.
  • Mono16
    A monochrome image using unsigned 16-bit integer values (little-endian). This is equivalent to the Confidence16 pixel format. It should be used if your software can't handle Confidence16.

Selecting a Pixel Format#

To select a pixel format for a component:

  1. Set the ComponentSelector parameter to the component for which you want to specify a pixel format.
  2. Set the ComponentEnable parameter to true if it isn't enabled already.
  3. Set the PixelFormat parameter to the desired pixel format for the component.
  4. Repeat for other components if required.