FRAMOS Industrial Depth Camera D400e Series - User Manual
Version 1.0.0 from 2020-06-30
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Introduction
2.1
Purpose of this Document
This document captures the specifications and the design–in details for the FRAMOS Industrial
Depth Camera D400e Series. This document provides information necessary to understand and
implement the camera system.
2.2
Terminology
Term
Description
6DOF
Six degrees of freedom (6DoF) refers to the freedom of
movement of a rigid body in three-dimensional space.
Forward/back, up/down, left/right, pitch, yaw, roll.
Stereo Depth
Baseline
The distance between the center of the left and right imagers in
a stereo camera.
Depth
Depth video streams are like color video streams except each
pixel has a value representing the distance away from the
camera instead of color information.
FOV
Field of View (FOV) describes the angular extent of a given
scene that is imaged by a camera. A camera's FOV can be
measured horizontally, vertically, or diagonally.
IR Projector
This refers to the source of infrared (IR) light used for illuminating
a scene, object, or person to collect depth data.
Imagers
Depth camera system uses a pair of cameras referred as imagers
to calculate depth. They are identical cameras configured with
identical settings.
Image Signal
Processor (ISP)
Image processing functions to enhance color image quality.
Left imager
From the perspective of the stereo camera looking out at the
world, the left imager is on the left side of the camera module.
Thus, when the user is facing the D400e camera, the left imager
is on the right side of the camera module.
Lens
This refers to the optical component of an imager in the D4
camera. Its purpose is to focus the incoming light rays onto the
CMOS chip in the imager.
Platform camera
This refers to the two-dimensional (2D) color camera on platform.
Table 2 - Terminology
2.3
Stereo Vision Depth Technology Overview
The FRAMOS Industrial Depth Camera D400e Series use stereo vision to calculate depth. The
stereo vision implementation consists of a left imager, right imager, and an optional infrared
