16-bit RGB Image

When the 16-bit RGB format is used, the height map, intensity, and stamps are stored in the red, green, and blue channel respectively.

Channel	Details
Red	Height map information. The width and height of the image represent the dimensions in the X and Y axis. Together with the pixel value, each red pixel presents a 3D point in the real-world coordinates. The following formula can be used to calculate the real-world coordinates (X, Y, Z) from pixel coordinates (Px, Py, Pz): X = X offset + Px * X resolution Y = Y offset + Py * Y resolution Z = Z offset + Pz * Z resolution Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if the data is invalid. The Z offset is fixed to -32768 * Z resolution. Z is zero if Pz is 32768.
Green	Intensity information. Same as the red channel, the width and height of the image represent the dimension in the X and the Y axis. Together with the pixel value, each blue pixel represents an intensity value in the real-world coordinates. The following formula can be used to calculate the real-world coordinates (X, Y, Z) from pixel coordinates (Px, Py, Pz): X = X offset + Px * X resolution Y = Y offset + Py * Y resolution Z = 16-bit intensity value The intensity value is 0 if the intensity image is not available. Gocator outputs 8-bit intensity values. The values stored in the 16-bit RGB image is multiplied by 256. To obtain the original values, divide the intensity values by 256. Refer to the blue channel on how to retrieve the offset and resolution values.
Blue	Stamp information. Stamps are 64-bit auxiliary information related to the height map and intensity content. The next table explains how the stamps are packed into the blue pixel channel

Channel

Details

Red

Height map information. The width and height of the image represent the dimensions in the X and Y axis. Together with the pixel value, each red pixel presents a 3D point in the real-world coordinates.

The following formula can be used to calculate the real-world coordinates (X, Y, Z) from pixel coordinates (Px, Py, Pz):

X = X offset + Px * X resolution

Y = Y offset + Py * Y resolution

Z = Z offset + Pz * Z resolution

Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if the data is invalid. The Z offset is fixed to -32768 * Z resolution. Z is zero if Pz is 32768.

Green

Intensity information. Same as the red channel, the width and height of the image represent the dimension in the X and the Y axis. Together with the pixel value, each blue pixel represents an intensity value in the real-world coordinates.

The following formula can be used to calculate the real-world coordinates (X, Y, Z) from pixel coordinates (Px, Py, Pz):

X = X offset + Px * X resolution

Y = Y offset + Py * Y resolution

Z = 16-bit intensity value

The intensity value is 0 if the intensity image is not available. Gocator outputs 8-bit intensity values. The values stored in the 16-bit RGB image is multiplied by 256. To obtain the original values, divide the intensity values by 256.

Refer to the blue channel on how to retrieve the offset and resolution values.

Blue

Stamp information. Stamps are 64-bit auxiliary information related to the height map and intensity content. The next table explains how the stamps are packed into the blue pixel channel

The following table shows how the stamp information is packed into the blue channel. A stamp is a 64-bit value packed into four consecutive 16-bit blue pixels, with the first byte position storing the most significant byte.

Stamp Information from GenTL driver
Stamp Index	Blue Pixel Position	Details
0	0..3	Version
1	4..7	Frame Count
2	8..11	Timestamp (µs)
3	12..15	Encoder value (ticks)
4	16..19	Encoder index (ticks) This is the encoder value when the last index is triggered
5	20..23	Digital input states
6	24..27	X offset (nm)
7	28..31	X resolution(nm)
8	32..35	Y offset (nm)
9	36..39	Y resolution (nm)
10	40..43	Z offset (nm)
11	44..47	Z resolution (nm)
12	48..51	Height map Width (in pixels)
13	52..55	Height map length (in pixels)
14	56..59	Specify if the intensity is enabled