D435_Manual_V1.0
5
2.
Introduction
2.1.
Purpose of this Document
This document captures the specifications and the design–in details for the FRAMOS Depth
Camera D435e. 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
The distance between the center of the left and right imagers in a
Baseline
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 D4 camera, the left imager is
actually, 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.
RMA
Return material authorization.
TBD
To Be Determined. In the context of this document, information
will be available in a later revision.
DHCP
Dynamic Host Communication Protocol, it is used for network
configurations of clients by a server.
LLA
Link-local address, a network address that is valid only for
communications within the network segment or the domain that
the host is connected to.