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tation and sample applications needed to allow custom application
development for the StarForm

Swift-G.

On Windows the Swift SDK also contains a .Net v4.5 assembly

(

odos-swift.net.dll

) allowing the development of .Net applica-

tions if required.

Online help is also available on Windows operating systems in
the

odos-swift.chm

help file (installed as ”Swift C++ SDK” in

the start menu). On Linux online help is available by opening

$INSTALL_DIR/swift_sdk.html

in a web browser.

3.3.1

Supported Platforms

The Swift SDK is available for Windows 7 and higher and recent

Linux distributions.

The target platforms available are:

•

Windows 7+, 32-bits (i686)

•

Windows 7+, 64-bits (x86 64)

•

Linux i686

•

Linux x86 64

•

Linux armhf

•

Linux aarch64

The SDKs for the Linux armhf and

aarch64 targets do not include Pro-
cessedXYZ support

3.3.2

Installation

Windows Operating Systems

Use the

StarFormSwiftSdkSetup.exe

StarFormSwiftSdkSetup x64.exe

available from

https://www.odos-imaging.com/downloads

to install. The Swift

SDK will install to an

odos imaging/StarForm Swift SDK

subdi-

rectory in either the 32 or 64-bit Program Files directory depending
on the installer selected.

Linux Operating Systems

Use one of the

swift_sdk.$TARGET.run

installers where $TAR-

6 of 76

Содержание Swift-G OI-G1480

Страница 1: ...StarFormTM Swift G 3D Time of Flight Camera OI G1480 OI G1480 R User Manual Version 2 0 3 May 27 2019...

Страница 2: ...rantees or warranty whatsoever be it specific or implicit Also excluded are all implicit warranties concerning the negotiability the suitability for specific applications or the non breaking of laws a...

Страница 3: ...ift SDK 5 3 3 1 Supported Platforms 6 3 3 2 Installation 6 3 4 SwiftUpdater 7 3 4 1 Supported Platforms 7 3 4 2 Installation 7 3 5 StarFormTM Swift G Firmware 8 4 Quickstart 9 4 1 Assemble StarFormTM...

Страница 4: ...g IP Configu ration 27 7 Camera Triggering 30 7 1 Camera Acquisition Cycle 30 7 2 Hardware Trigger Input 30 7 3 Camera Triggering Properties 30 7 3 1 Enabling Triggering 31 7 3 2 Trigger Sources 31 7...

Страница 5: ...1 9 Root 43 8 1 10 Scan3dControl 43 8 1 11 Scan3dFilterControl 43 8 1 12 TransportLayerControl 43 8 2 Features 44 8 2 1 AcquisitionMode 44 8 2 2 AcquisitionStart 44 8 2 3 AcquisitionStop 44 8 2 4 Cali...

Страница 6: ...bMinor 53 8 2 25 DeviceSerialNumber 53 8 2 26 DeviceStatus 53 8 2 27 DeviceStatusSelector 54 8 2 28 DeviceTLType 54 8 2 29 DeviceTLVersionMajor 55 8 2 30 DeviceTLVersionMinor 55 8 2 31 DeviceTLVersion...

Страница 7: ...8 2 55 LineStatus 65 8 2 56 LineStatusUpdate 65 8 2 57 PayloadSize 65 8 2 58 PixelFormat 66 8 2 59 Scan3dCalibrationXaUrl 66 8 2 60 Scan3dCalibrationYaUrl 67 8 2 61 Scan3dCalibrationZaUrl 67 8 2 62 S...

Страница 8: ...72 8 2 73 TriggerMode 72 8 2 74 TriggerSelector 73 8 2 75 TriggerSoftware 73 8 2 76 TriggerSource 73 8 2 77 TriggerWaitMode 74 8 2 78 UserOutputSelector 74 8 2 79 UserOutputValue 75 8 2 80 Width 75 9...

Страница 9: ...p www odos imaging com Support support odos imaging com Odos Imaging A Rockwell Automation Company 36 South Gyle Crescent South Gyle Industrial Park Edinburgh Scotland EH12 9EB Tel 44 0 131 316 5100 E...

Страница 10: ...used through out the manual Table 2 1 Description of typographical styles used throughout this manual Style Function Example Bold important information key words headings Bold Emphasis GenICamTM featu...

Страница 11: ...Figure 3 1 StarStream GUI The StarStream GUI application is a demonstration viewer and control application for the StarFormTM Swift G 3D camera In addition to the quickstart guide in chapter 4 full o...

Страница 12: ...and image streaming application for the StarFormTM Swift G 3D camera It can save images to file and set or query any supported GenICamTM features as described in chapter 8 Online help is available usi...

Страница 13: ...downloads to install It installs to the x86 Pro gram Files directory as odos imaging StarStreamSwift SwiftCapture exe On Linux use either SwiftCapture i686 AppImage or SwiftCap ture x86 64 AppImage as...

Страница 14: ...lable for Windows 7 and higher and recent Linux distributions The target platforms available are Windows 7 32 bits i686 Windows 7 64 bits x86 64 Linux i686 Linux x86 64 Linux armhf Linux aarch64 The S...

Страница 15: ...TARGET suffix is removed for the x86 64 TARGET 3 4 SwiftUpdater Figure 3 4 SwiftUpdater The SwiftUpdater application is a Windows utility for updating the firmware on a StarFormTM Swift G 3D camera u...

Страница 16: ...with a swift file and associated documentation for convenience 3 5 StarFormTM Swift G Firmware Firmware updates for the StarFormTM Swift G 3D camera are dis tributed as swift files that can be instal...

Страница 17: ...later use 2 Connect an ethernet cable to a suitable host PC Base re quirements for the PC are 32bit Windows 7 8 10 with 4 MB memory and 50 MB of storage 3 Source 12V from a suitable power supply M12...

Страница 18: ...essary libraries and header files to compile user programs to control StarFormTM Swift G cameras The top level folder contains the compiled HTML file odos swift chm which contains details of the SDK c...

Страница 19: ...Figure 4 1 Overview of StarStream GUI program 11 of 76...

Страница 20: ...re not checked the corre sponding image no longer streams to the display windows 4 Each display window provide controls over the rendering of the streamed images Use the toolbar located at the top of...

Страница 21: ...4 3 2 Record Images The following steps outline how images and data can be saved from the StarFormTM Swift G camera to a host PC 1 Enable the save function within the StarStream GUI program by openin...

Страница 22: ...id exhausting available disk space 4 3 3 Access GenICamTM Features All properties of the StarFormTM Swift G camera can be accessed through the GenICamTM interface This interface is available within St...

Страница 23: ...nterrupted it is possible to leave the camera in a non working state Please ensure that the cam era power supply is stable during the update procedure 5 1 Firmware Update Steps 1 Select File to Upload...

Страница 24: ...Figure 5 1 Step 1 Valid swift selected showing label Figure 5 2 Step 1 No valid swift selected 16 of 76...

Страница 25: ...keys or support are required 4 Upload The next dialog is the upload dialog This uploads the swift file for installation on the camera If the upload key is incorrect an error dialog is displayed and t...

Страница 26: ...Figure 5 4 Step 3 Enter the update key as provided by Odos Imaging Figure 5 5 Step 4 Example of SwiftUpdater output after entry of an incorrect or invalid update key 18 of 76...

Страница 27: ...le in order to start the new camera firmware It is important to power cycle the StarFormTM Swift G camera after the installation process has been successfully completed 6 File Download Some swift file...

Страница 28: ...Figure 5 7 Optionally save the installation binary data for record and support requests 20 of 76...

Страница 29: ...wift G Cameras The StarFormTM Swift G 3D camera provides a number of GenICamTM properties that can be used to identify a specific unit These de tails are shown in the Camera Connect dialog in the Star...

Страница 30: ...Note however that connecting to a camera by IP address has the shortest execution time since in this case the GigE Vision discovery process can be avoided The MAC address and serial number are pre pr...

Страница 31: ...encoded strings using codes 32 to 126 decimal only This value is stored persistently to the flash memory of the camera immediately upon any change 6 2 2 Persistent IP Configuration The GigE Vision pro...

Страница 32: ...own persistent IP configuration be stored and enabled on a StarFormTM Swift G 3D camera there are several ways in which access to the camera may be regained 1 The GigE Vision Discovery command is able...

Страница 33: ...Figure 6 2 StarStream GUI Property Browser showing valid Persistent IP configuration 25 of 76...

Страница 34: ...faultGateway persistent properties will be used for the IP configuration 2 Otherwise the camera will attempt to obtain an address via DHCP 3 If IP configuration cannot be achieved via DHCP the camera...

Страница 35: ...n of the IP address by the above mechanism it is also possible that the IP address of a camera can change during use In some cases where the camera was assigned a link local address but a conflict is...

Страница 36: ...Figure 6 3 StarStream GUI Connect and Set Static IP dialogs 28 of 76...

Страница 37: ...n the network In this way IP addresses will not change during operation once initiali sation has completed Systems can be readily identified by the DeviceUserID The same software can be used across mu...

Страница 38: ...ensity and return time of each pulse at each pixel The data is processed internally and at the end of each acquisition cycle the camera produces two images a Range and an Intensity image The entire ac...

Страница 39: ...en the TriggerSoftware property is executed Line0 A hardware trigger where a user defined transition on the StarFormTM Swift G GPIO trigger pin causes a camera trigger The TriggerActivation property c...

Страница 40: ...er the camera These are available in the TriggerActivation property RisingEdge A rising edge from logical 0 to logical 1 triggers the camera FallingEdge A falling edge from logical 1 to logical 0 trig...

Страница 41: ...Mode Run It takes a single trigger to generate a single pair Range and Intensity of images as the acquisition cycles are continuously running in the background the required frames for filtering are be...

Страница 42: ...mance specification for measurement 7 4 3 Configure Hardware Trigger To configure the hardware trigger we will use the Trigger Control view in the StarStream GUI as follows 1 Select Camera Connect 2 S...

Страница 43: ...riggering edges on the hardware trigger input For each edge that the Trigger Control Trigger Activation setting has enabled the camera will send the next set of images produced at the end of the acqui...

Страница 44: ...Figure 7 1 Default Trigger Control Figure 7 2 Example Hardware Trigger Control 36 of 76...

Страница 45: ...ect Trigger Control Wait Mode Pause 8 Select Trigger Control Trigger Mode On 9 Image streaming will stop and the illumination windows on the front of the camera the outer ring of opaque windows will g...

Страница 46: ...disabled The camera can only accept trig gers at equal to or less than the acquisition cycle rate See section 7 1 Camera Acquisition Cycle for details Some triggers will be ig nored if received faste...

Страница 47: ...bility level Values possible values 8 1 Categories 8 1 1 AcquisitionControl Category for the acquisition and trigger control features Name Descripton AcquisitionMode Sets the acquisition mode of the d...

Страница 48: ...ied to provide stabilization of the sensor tempera ture SensorTemperatureRegulationStatus Indicates state of sensor temperature regulation SensorTemperatureRegulationTarget Center of operating tempera...

Страница 49: ...tus Device status information DeviceStatusSelector Selector for device status information DeviceTLType Transport Layer type of the device DeviceTLVersionMajor Major version of the Transport Layer of t...

Страница 50: ...sistentIP Controls whether the PersistentIP configuration scheme is acti vated on the given logical link GevCurrentSubnetMask Reports the subnet mask of the given logical link GevMACAddress MAC addres...

Страница 51: ...Scan3dCalibrationXaUrl File URL for XA calibration data Scan3dCalibrationYaUrl File URL for YA calibration data Scan3dCalibrationZaUrl File URL for ZA calibration data Scan3dCoordinateOffset Range co...

Страница 52: ...acquisition stops Continuous Frames are captured continuously until stopped with the AcquisitionStop command 8 2 2 AcquisitionStart Name AcquisitionStart Category AcquisitionControl Interface Command...

Страница 53: ...ess Read Unit Visibility Expert Values Serial number of camera for calibration data Used to identify calibration in camera 8 2 5 CalibrationDate Name CalibrationDate Category CalibrationControl Interf...

Страница 54: ...elector Name ChunkComponentSelector Category ChunkDataControl Interface IEnumeration Access Read Unit Visibility Expert Values Intensity Range PointCloudMultiplierX PointCloudMulti plierY PointCloudMu...

Страница 55: ...he stable calibrated range Error Serious error in camera status or configuration con tact Odos Imaging for support 8 2 10 ChunkDeviceStatusSelector Name ChunkDeviceStatusSelector Category ChunkDataCon...

Страница 56: ...Expert Values Activates the inclusion of Chunk data in the payload of the image Some camera interface software may need this setting disabled if they cannot handle Chunk data The Odos SDK requires th...

Страница 57: ...ultiplierX The image used to multiply a raw Range image to convert to a point cloud X coordinate En abling this will disable all other components and enabling a different component will disable this P...

Страница 58: ...s Version of the firmware in the device 8 2 16 DeviceLicenseName Name DeviceLicenseName Category DeviceLicenses Interface IString Access Read Unit Visibility Guru Values Package name for license 8 2 1...

Страница 59: ...se to view 8 2 19 DeviceLicenseSelector Name DeviceLicenseSelector Category DeviceLicenses Interface IInteger Access Read Write Unit Visibility Guru Values 0 Selects the license to view 8 2 20 DeviceM...

Страница 60: ...Interface IInteger Access Read Unit Visibility Beginner Values Major version of the Standard Features Naming Convention that was used to create the device s GenICam XML 8 2 23 DeviceSFNCVersionMinor...

Страница 61: ...mber Category DeviceControl Interface IString Access Read Unit Visibility Expert Values Serial number of the device This string is a unique identifier of the device 8 2 26 DeviceStatus Name DeviceStat...

Страница 62: ...n TimingStabilization Illumina tionTemperature CalibrationValidity Selector for device status information All Summary of all DeviceStatus entries TemperatureRegulation Indicate state of sensor tempera...

Страница 63: ...0 DeviceTLVersionMinor Name DeviceTLVersionMinor Category DeviceControl Interface StructEntry Access Read Unit Visibility Beginner Values Minor version of the Transport Layer of the device 8 2 31 Devi...

Страница 64: ...iceTemperatureSelector Category DeviceControl Interface IEnumeration Access Read Write Unit Visibility Expert Values Sensor Mainboard Illumination IlluminationBoard Selects the location within the dev...

Страница 65: ...Name DeviceUserID Category DeviceControl Interface IString Access Read Write Unit Visibility Beginner Values User programmable device identifier This is stored persistently and can be used to easily i...

Страница 66: ...me GevCurrentDefaultGateway Category GigEVision Interface IInteger Access Read Unit Visibility Beginner Values Reports the default gateway IP address to be used on the given logical link 8 2 39 GevCur...

Страница 67: ...guration scheme is activated on the given logical link 8 2 41 GevCurrentSubnetMask Name GevCurrentSubnetMask Category GigEVision Interface IInteger Access Read Unit Visibility Beginner Values Reports...

Страница 68: ...ss Name GevPersistentIPAddress Category GigEVision Interface IInteger Access Read Write Unit Visibility Beginner Values Controls the Persistent IP address for this logical link It is only used when th...

Страница 69: ...evPersistentDefault Gateway is the broadcast address for the subnet Set to address in subnet or all zero IPAddressIsZero Invalid GevPersistentIPAddress is all zero SubnetMaskIsZero Invalid GevPersiste...

Страница 70: ...SCPSPacketSize Name GevSCPSPacketSize Category GigEVision Interface IInteger Access Read Write Unit B Visibility Expert Values 256 1500 This GigE Vision specific feature corresponds to DeviceStream Ch...

Страница 71: ...sitionControl Interface IInteger Access Read Write Unit Visibility Beginner Values 256 Sets the emission and exposure counts When changed this will cause the DeviceStatus for TimingStabilization to go...

Страница 72: ...of the Transport Layer to configure Line0 Index of the physical line and associated I O control block to use Line1 Index of the physical line and associated I O control block to use 8 2 54 LineSource...

Страница 73: ...neStatusUpdate Name LineStatusUpdate Category DigitalIOControl Interface Command Access Read Write Unit Visibility Expert Values Trigger a read of the current LineStatus from the camera 8 2 57 Payload...

Страница 74: ...the pixels provided by the device It represents all the information provided by PixelSize PixelColorFilter combined in a single feature Mono16 Monochrome 16 bit Coord3D ABC32f 3D coordinate A B C 32 b...

Страница 75: ...8 2 61 Scan3dCalibrationZaUrl Name Scan3dCalibrationZaUrl Category Scan3dControl Interface IString Access Read Unit Visibility Expert Values File descriptor for ZA calibration data 8 2 62 Scan3dCoordi...

Страница 76: ...ntConverter Access Unit Visibility Beginner Values Length of filter to apply number of frames for Scan3dFilterMode other than None Greater lengths result in a greater influence of the filter on the ra...

Страница 77: ...re Behaviour may change in future revisions of the firmware as we continue to make improvements 8 2 66 Scan3dRangeSpan Name Scan3dRangeSpan Category Scan3dControl Interface IEnumeration Access Read Wr...

Страница 78: ...ll be reached or too cool maximum heating effort will be reached for the chosen Sensor TemperatureRegulationTarget 8 2 69 SensorTemperatureRegulationStatus Name SensorTemperatureRegulationStatus Categ...

Страница 79: ...temperatures relate to the temperature of the system housing after a warm up period The relationship between system housing temperature and ambi ent temperature depends on several factors such as air...

Страница 80: ...trigger is considered valid on the rising edge of the source signal FallingEdge Specifies that the trigger is considered valid on the falling edge of the source signal AnyEdge Specifies that the trigg...

Страница 81: ...ition 8 2 75 TriggerSoftware Name TriggerSoftware Category AcquisitionControl Interface Command Access Write Unit Visibility Beginner Values Generates an internal trigger TriggerSource must be set to...

Страница 82: ...Specifies that the acquisition cycle is paused waiting for a trigger no illumination In order to allow the camera to run internal calibration routines and maintain accuracy the trigger should be suppl...

Страница 83: ...ean Access Read Write Unit Visibility Expert Values Sets the value of the bit selected by UserOutputSelector 8 2 80 Width Name Width Category ImageFormatControl Interface IInteger Access Read Unit Vis...

Страница 84: ...ocument History Date Version Changelog 16 05 2018 2 0 2 Updated to 2 0 2 firmware release 27 05 2019 2 0 3 Updated to 2 0 3 firmware release Manual Build e736e1185062c8f2e5a31af98435a9ec3d76d8f8 76 of...

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