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Vzense DCAM710 ToF Camera

User Manual

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Summary of Contents for DCAM710

Page 1: ...Vzense DCAM710 ToF Camera User Manual ...

Page 2: ...irements 10 3 4 4 Coordinate of the Camera System 11 4 Interface with Host 12 4 1 Connectors 12 4 2 LED indication 13 5 Principle of Time of Flight 14 5 1 Scope of remote sensing technology 14 5 1 1 Direct Time of Flight 14 5 1 2 Range gated Imaging ToF 15 5 1 3 Continuous Waveform ToF 16 5 1 4 Zense ToF Principle 17 5 2 Noise Factors 18 5 2 1 Ambient Light 18 5 2 2 Multipath Propagation 18 5 2 3 ...

Page 3: ...c Range 23 7 4 Data Filtering 24 7 5 IR Image 25 8 DCAM710 Accessories and Package 26 9 Customization Service 26 Appendix 26 ROHS Declaration 26 Eye Safety Declaration 27 Reliability Declaration 27 Revision History 27 ...

Page 4: ...moved and the serial number can t be read from the camera s registers Do not open the camera housing Do not open the housing Touching any internal components may damage the camera Prevent any objects or substances from entering the camera housing Otherwise the camera may fail or damaged Avoid electromagnetic fields Do not use the camera near strong electromagnetic fields Prevent from electrostatic...

Page 5: ...bles the ability to Locate Sense Identify and Interact in both the real and virtual world DCAM710 comes with VZense Depth Camera SDK an open source and cross platform enabling suite including rappers sample code and tools DCAM710 Features TOF Time of flight Camera technology Can output RGB Image and Depth Map Depth Camera support image size up to 640 480 30FPS RGB Camera support image size up to 1...

Page 6: ... under normal usage conditions Eye safety is only guaranteed when the camera is used properly 2 2 Power The DCAM710 camera can be powered by standard USB Micro USB for longer distance application which needs higher power consumption there is an additional DC Jack power which can accept 5V 6V power 2 A power adaptor is suggested to be in use 2 3 Usage Don t try to open the camera housing Each camer...

Page 7: ...Sensor Resolution and Frame rate 640 x 480 VGA 30 fps Depth Sensor Lens Focus Type Fix Focus Depth Sensor Field of View FOV Horizontal 69 3 3 Vertical 51 3 Depth Lens Distortion 2 6 RGB Sensor Resolution and Frame rate 1920 x 1080 1080P 30 fps 1280 x 720 720P 30 fps 640 x 480 480P 30 fps 640 x 360 360P 30 fps RGB Sensor Field of View FOV Horizontal 73 3 Vertical 40 3 RGB Lens Distortion 8 Output F...

Page 8: ...lectrical Specifications 3 2 1 Recommended Operating Conditions Parameter Symbol Conditions Min Typ Max Units Supply voltage on USB VBUS VDD 4 75 5 5 25 V Supply voltage on DC power VDC 5 5 5 6 V Operating Temperature Ta 20 50 C Operating humidity 20 80 Storage humidity 20 80 Storage temperature 30 70 C Please consider Vf range is about 1 3V 3 2 2 Power Consumption Parameter Conditions Average Max...

Page 9: ...3 3 Mechanical Specifications This drawing contains information about the dimensions and user mounting location of the ToF Camera Fig 1 ToF Camera Dimensions Fig 2 PCB Module Dimension Unit mm ...

Page 10: ...ux x86 x64 Android 5 0 or above Zense ToF Driver The Zense ToF Driver software is available for Windows Linux and Android operating systems and includes the following SDK code Sample code Software user manual 3 4 3 Environmental Requirements Temperature and Humidity Housing temperature during operation Humidity during operation Storage temperature Storage humidity 20 50 C 20 80 relative 30 70 C 20...

Page 11: ...CS describe the two dimensional data the origin of coordinates is the optic center WCS WCS describe the three dimensional information The CCS data can switch to the WCS data using the camera internal parameters Fig 3 Origin of the Coordinate System Meshlab and CloudCompare tools are recommended to analyze the point cloud data saved by Zense software or SDK method X Y ...

Page 12: ...4 Interface with Host 4 1 Connectors DCAM710 ToF Camera is equipped with Micro USB 2 0 and DC power connector at the rear side of its housing as shown in below figure Fig 4 DC Jack Connector ...

Page 13: ...4 2 LED indication Power supply Working Mode Powered by usb2 0 Solid Green Working Mode Powered by AC Adaptor Solid Red Standby Mode Solid Blue LED indication ...

Page 14: ...eds to be precisely and accurately determined This document will concentrate on technologies capable of providing a detection and ranging functionality as it is the most complex of the three applications From the position information presence and speed can be retrieved so technologies capable of detection and ranging can be universally applied to all remote sensing applications 5 1 1 Direct Time o...

Page 15: ... timers is 67 ps Implemented in digital logic this would require a 15 GHz clock speed which is obviously not practical Therefore various time to digital conversion methods are typically used 5 1 2 Range gated Imaging ToF Whereas direct time of flight relies on measurements made on the immediate value of the received signal range gated imaging uses signal integration methods typically with CCD or C...

Page 16: ...ent light can easily cause saturation and impair measurement Furthermore since neither the emitted and received pulses are perfect rectangle pulses nor is the sensor perfectly linear compensation is required and accuracy is ultimately limited 5 1 3 Continuous Waveform ToF In contrast to the previous two methods phase difference measurement relies on a modulated light source and evaluates the phase...

Page 17: ...ifference greater than 2 π is not resolvable for instance 3 π or 5 π will be measured as a π radian phase difference Therefore depending on the chosen modulation frequency an artefacting phenomenon will occur where far away objects will appear to be much closer than in reality 5 1 4 Zense ToF Principle Zense DCAM710 product principle is based on range gated imaging ToF solution and the sensor insi...

Page 18: ...ed more one once Any light that has been reflected several times by other objects in the camera s field of view or the environment can cause deviation to the measurement result To eliminate the multipath effect you should 1 Keep the camera working environment as clean as possible 2 Avoid the camera be placed at concave forms environment like corners of a room or inside of a narrow space 3 Highly r...

Page 19: ...tips Better not using the camera in strong sunlight If have to keep the ambient light below 50k Lux Do NOT place any objects in the scene that are not part of your intended target especially mirrors or other shiny surfaces objects Maintain a stable housing temperature during operation Take measures to provide cooling to camera Mount the camera robustly All accessories are ready The installation st...

Page 20: ...ToF camera frame tool on windows OS that can help user evaluate product Download the uTool from below link China https github com Vzense UTool Oversea https gitee com Vzense UTool Please select the suitable version based on the product and system 6 2 3 Firmware Upgrade You can use our VZenseUtool to upgrade DCAM710 firmware and the detailed steps as below 1 Run VZenseUtool Upgrade DriverAssitant_v...

Page 21: ... image file of the firmware to be upgraded in Firmware option Please note the flash type must match accordingly Nand or Nor and then click Update and the software will carry out firmware upgrade automatically as below picture 5 When the firmware upgrade is completed the upgrade window will show Restart is under way please wait a moment System will auto restart camera and the upgrade window will au...

Page 22: ...check the current firmware version to confirm whether the upgrade is successful or not ...

Page 23: ...range mode requirement you can ask Zense team to do range customization reasonable NRE fee will be charged One range mode of the Zense DCAM710 camera can fulfill furthest distance be at most 5 times of nearest distance For example if the near limitation is 0 4m then the furthest distance in this mode can reach about 2m 7 3 Wide Dynamic Range As mentioned above Most of the ToF based 3D sensing tech...

Page 24: ...to Chapter 8 in this document for WDR mode experience 7 4 Data Filtering In the software SDK and UTool we implemented data filtering to improve the depth data performance The filtering algorithm includes Median filtering Gaussian filtering Bilateral filtering 0 0 005 0 01 0 015 0 02 0 025 250 400 600 800 1000 1200 1400 1600 1800 2000 2200 2400 2600 2800 3000 3200 3400 3600 3800 4000 4200 DISTANCE ...

Page 25: ...el removing 7 5 IR Image Besides the depth image Zense DCAM710 camera can also output a VGA resolution IR image And the IR image is strictly timing synchronized with the depth image Pixel to pixel mapping is also strictly aligned ...

Page 26: ...Optional items need customer to pay for 9 Customization Service Zense team has rich experience in ToF product design and delivery we welcome customer to send customization requirement besides the standard module Reasonable NRE fee shall be charged depends on the requirement Appendix ROHS Declaration Part Name Lead Pb Mercury Hg Cadmium Cd Hexavalent Chromium Cr6 Polybrominated Biphenyl PBB Polybro...

Page 27: ...nternationally and IEC60825 1 Edition 2 2007 in the US This product complies with US FDA performance standards under 21 CFR 1040 10 for laser products except for deviations pursuant to Laser Notice No 50 dated June 24 2007 Camera US FDA Accession Numbers DCAM710 1820835 000 Reliability Declaration Revision History ...

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