Data Sheet

def get_depth_array(self):

'''

This function reads the data from the serial port and returns it

an array of 12 bit values with the shape 8x8

'''

got_frame = False

while not got_frame:

with self.serial_lock:

frame = self.port.readline()

if len(frame) == 269:

if ord(frame[0]) == 0x11 and self.crc_check(frame): #

Check for range frame header and crc

dec_out = []

for i in range(1, 65):

rng = ord(frame[2 * i - 1]) << 7

rng = rng | (ord(frame[2 * i]) & 0x7F)

dec_out.append(rng & 0x0FFF)

depth_array = [dec_out[i:i + 8] for i in range(0,

len(dec_out), 8)]

depth_array = np.array(depth_array)

got_frame = True

else:

print "Invalid frame length: {}".format(len(frame))

depth_array.astype(np.uint16)

return depth_array

def crc_check(self, frame):

index = len(frame) - 9 # Start of CRC

crc_value = (ord(frame[index]) & 0x0F) << 28

crc_value |= (ord(frame[index + 1]) & 0x0F) << 24

crc_value |= (ord(frame[index + 2]) & 0x0F) << 20

crc_value |= (ord(frame[index + 3]) & 0x0F) << 16

crc_value |= (ord(frame[index + 4]) & 0x0F) << 12

crc_value |= (ord(frame[index + 5]) & 0x0F) << 8

crc_value |= (ord(frame[index + 6]) & 0x0F) << 4

crc_value |= (ord(frame[index + 7]) & 0x0F)

crc_value = crc_value & 0xFFFFFFFF

crc32 = self.crc32(frame[:index])

if crc32 == crc_value:

return True

else:

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20/22