Output data

3D points (xyz)

: Floating numbers depicting the position of a 3D point in a given coordinate frame. The default coordinate frame has its origin in the 2D camera with the Z axis towards the scene, the X-axis continuing to the right along the length of the body of the device, and the Y-axis pointing away from the mounting plate. The range component can either store the coordinates of the 3D points or the depth of the points.

Normals (xyz)

: The normal vector for each 3D point can also be calculated. The normal vector is perpendicular to the area surrounding the point.

Projective depth Map (z)

: The “depth” of a point is the absolute 3D distance from the image sensor to the measured point (the ray of light that hits the surface of the object). The depth map is, therefore, always in the camera coordinate system and corresponds to the Z-coordinate value in the point cloud. The X and Y-coordinate are computed using a projective geometric model.

Color Image (RGB)

: A 2D RGB texture is available on the Zebra 3S80-4M and 3S80-4L sensors when using Scanner or Camera mode, which can be output at different resolutions.

Texture (grayscale intensity)

: A 2D grayscale texture (LED, laser, computed).

Confidence (Confidence8)

: Each pixel of the confidence component indicates whether the value at the corresponding position in the range component was established based on the image sensor seeing and extracting a valid peak. If the value is 0 the point is not value and if it is above 0 the point is considered valid. This value is based on a heuristic method that considers the light conditions for each pixel.

Event map

: Contains the time information of when each 3D point was acquired, which is based on the timing of the laser line sweep.