Vzense DCAM500 Скачать руководство пользователя страница 11 | Manualshive

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11

CCS: CCS 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 Vzense software or SDK method.

4 Interface with Host

DCAM500 ToF Camera is equipped with Type-B, LED,6pin connector at the back of

its housing as shown in below figure.

For more information about pin assignments and connector types, see the following

sections.

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Содержание DCAM500

Страница 1: ...1 Vzense DCAM500 ToF Camera User Manual ...

Страница 2: ...rdinate of the Camera System 10 4 Interface with Host 11 4 1 6pin power and signal Connector 12 4 2 Type B USB2 0 Connector 13 4 3 LED indication 14 5 Principle of Time of Flight 15 5 1 Scope of remote sensing technology 15 5 1 1 Direct Time of Flight 15 5 1 2 Range gated Imaging ToF 16 5 1 3 Continuous Waveform ToF 17 5 1 4 Vzense ToF Principle 18 5 2 Noise Factors 19 5 2 1 Ambient Light 19 5 2 2...

Страница 3: ...on on Frameviewer 28 8 1 Main screen 28 8 1 1 Image area 29 8 1 2 Command and information area 29 8 2 Connect devices 30 8 3 2D view 30 8 3 1 Depth Image 30 8 3 2 IR Image 31 8 4 3D image store 31 8 5 Camera Control 32 8 5 1 Mode switch 32 8 5 2 Range change 32 8 6 WDR 33 9 DCAM500 Accessories and Package 35 10 Customization Service 36 Appendix 36 ROHS Declaration 36 Eye Safety Declaration 36 Reli...

Страница 4: ...ng 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 charging Transport in original packaging Transport and store the camera in its original packaging only Do not discard the...

Страница 5: ...ower If you are supplying camera power via the camera s 6 pin connector cable and the voltage is higher than 11VDC 10 the power supply will be cut off to protect the camera from damage If the voltage is lower than 4 5V the camera may not work as expected and you may not be able to start the camera Use a power supply with a minimum output current of 3 A at 5V or 3A at 9V 2 3 Usage Don t try to open...

Страница 6: ...AM500 Technology ToF Time of flight Depth Camera Depth Sensor Resolution and Frame rate 640 x 480 VGA 30FPS Output Formats Depth IR Map RAW12 Depth Sensor Field of View H Horizontal V Vertical degree H 69 V 51 customizable Use Range 0 2m 6m customizable Accuracy 1 Power Consumption Average Max 5W Ref Illumination In door 850nm Out door 940nm 2 x Vcsel Dimension L W H 78mm x 57mm x 23 5mm Weight 12...

Страница 7: ...20 50 C Operating humidity 20 80 Storage humidity 20 80 Storage temperature 30 70 C 3 2 2 Power Consumption Parameter Conditions Average Max Units Current at near mode 250mm 1200mm 30 frame mA Current at far mode 800mm 4300mm 30frame mA Current at xfar mode 1200mm 6300mm 15frame mA Note 12V input voltage 3 2 3 Absolute Maximum Ratings This is a stress rating only and functional operation of the de...

Страница 8: ...8 Parameter Symbol Conditions Min Typ Max Units 6pin connector power VDD 4 11 V USB2 0 USB 0 3 6 V Digital I O Ext_Trigger Vin 0 3 20 V RS232 13 2 13 2 V Operating Temperature Ta 20 50 C ...

Страница 9: ...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 Unit mm ...

Страница 10: ...des 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 80 relative Heat Dissipation Users can provide sufficient heat dissipation like mounting the camera on a substantial thermally conductive component ...

Страница 11: ...ternal parameters Fig 3 Origin of the Coordinate System Meshlab and CloudCompare tools are recommended to analyze the point cloud data saved by Vzense software or SDK method 4 Interface with Host DCAM500 ToF Camera is equipped with Type B LED 6pin connector at the back of its housing as shown in below figure For more information about pin assignments and connector types see the following sections ...

Страница 12: ...receptacle part number 535170630 The recommended mating connector is a Molex plug part number 511030600 The recommend detailed external signal connection ways please refer to section 3 4 and 3 4 Pin Designation 1 RX232 RXD 2 RX232 TXD 3 Ext_Trigger 4 Exposure_timing 5 GND 6 VDD Pin Description Pin Designation Direction Description 1 RX232 RXD INPUT RX232 Receive rx Data 2 RX232 TXD OUTPUT RX232 Tr...

Страница 13: ... acquisition start A hardware debouncer circuit shall be considered on the EXT_Trigger line By default the hardware trigger is rising edge activated refer to below exposure timing T1 Exposure Exposure EXT_Trigger Camera Exposure T1 The requirement to T1 should be from 1us to 1ms Exposure_timing Pin Description This pin is an output indicates the whole exposure period of the camera The internal cir...

Страница 14: ...14 4 3 LED indication An LED locates in the back side of the camera LED animation indicates the camera status The LED animation table is shown as below Power off limbo USB Mode Upgrading 200ms 2800m s ...

Страница 15: ...ect relative to the sensor needs 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 app...

Страница 16: ... the required accuracy for the 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 m...

Страница 17: ...ient 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 phas...

Страница 18: ...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 Vzense ToF Principle Vzense DCAM500 product principle is based on range gated imaging ToF solution and the sensor in...

Страница 19: ...cted 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...

Страница 20: ...caused by multiple reflection inside the lens of camera or the cover of camera To eliminate the scattering light effect you should 1 Keep the cover glass of the camera clean 2 Do NOT place any other cover glass in front of the camera 3 Keep the camera working environment as clean as possible ...

Страница 21: ...istance the USB2 0 host can supply power to camera for the application of long distance which needs more power consumption the multiple functional cable VZENSE MFP 6P B shall be in use The steps are as below 1 Mount the camera in an appropriate fixture e g a camera bracket 2 Plug the type B end of the USB2 0 type B cable VZENSE USB TYPEB CABLE into the type B jack at the back of the camera and plu...

Страница 22: ...ode is for advanced users who require customization to the software and application the applications can run on the processor inside the camera and output the result data by either RS232 or EXT_OUTPUT pin NRE fee shall be charged if you need Vzense team to do software or application customization In this mode the cable VZENSE MFP 6P B shall be used in this mode ...

Страница 23: ...Windows SDK Linux SDK have different project repository Download or clone uTool evaluation tool from our GitHub Gitee China https gitee com Vzense UTool Oversea https github com Vzense UTool 6 2 2 Frameviewer Frameviewer is an opensource application in SDK project that can guide user how to call the SDK APIs It has a pre build version app in Tools folder the source code is in Samples folder See th...

Страница 24: ...pth IR_30 Three default range range0 0 35m 1 5m range2 0 8m 4 4m range5 1 2m 6 2m User can use Frameviewer to try the different command or can use the APIs to control the camera The details please reference the SDK documents 6 5 USB Connection DCAM500 use UVC profile to transfer image and control command 7 Features 7 1 Multiple Camera Synchronization If you need to use more than one camera in a sa...

Страница 25: ...ple 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 technology has range limitation to nearest and furthest distance due to the sensor saturation of weak light strength to far objects One range mode of the Vzense DCAM500 camera can fulfill furthest distance be at most 5 times to nea...

Страница 26: ...are SDK and Frameviewer we implemented data filtering to improve the depth data performance The filtering algorithm includes Median filtering Gaussian filtering Bilateral filtering Timing filtering Flying pixel removing 7 5 IR Image Besides the depth image Vzense DCAM500 camera can also output a VGA resolution IR image And the IR image is strictly timing synchronized with the depth image Pixel to ...

Страница 27: ...27 ...

Страница 28: ...in 30fps Depth IR 30 both depth and ir in 30fps WDR see the detail in below Range Change Range 0 7 different depth detect range Exposure parameter modify Pulse count laser pulse parameter Gamma gain IR image gamma gain Filters switch different image filters IR_BG the background light swtich 8 1 Main screen Frameviewer have some areas for different function for example image windows command and inf...

Страница 29: ...area is the area of showing depth image IR image 8 1 2 Command and information area Frameviewer use CMD shell for camera control and information output Like the image below switch mode change detect range save 3D image and so on ...

Страница 30: ...ut the base information on the window 8 3 2D view The display area can show different type image 8 3 1 Depth Image Depth image is covert to a rainbow image for real distance showing Depth Image with color map COLORMAP_RAIN BOW Color_Map_Mi n 255 0 Color_Map_Ma x 8bit 16bit ...

Страница 31: ...31 8 3 2 IR Image 8 4 3D image store When the depth image is showing input s S to store the point cloud file User can use CloudCompare to viewer the 3D image ...

Страница 32: ... 8 5 2 Range change DCAM500 have 8 detect ranges in it but by default there are 3 different range modes calibrated please see below table for more information Range number Distance range Range 0 0 35m 1 5m Range 2 0 8m 4 4m Range 5 1 2m 6 2m Please do NOT use uncalibrated modes the measurement data will not be guaranteed If you need other range mode requirement you can ask Vzense team to do range ...

Страница 33: ... example if you want to get the distance from 0 35m to 4 4m only one range mode can t cover the whole distance Use range 0 and 2 WDR can match this requirement Configure the WDR mode If you have some particular requirement and want to use WDR mode you can contract with Vzense FAE first Change mode to WDR mode Depth image in range 0 ...

Страница 34: ...34 Depth image in range 2 Merged depth image in WDR mode ...

Страница 35: ...r guide 1 You can ask Vzense to do customization to the cable for any reason for example extending the cable length Please do NOT use the accessories from other parts except Vzense Company otherwise warranty will void Optional item list Item Component Description Quantity 1 VZENSE MFP 6P B Multiple Functional Cable Power RX232 EXT IO 1 2 VZENSE EU HUB External Powered USB HUB 1 Optional items need...

Страница 36: ...oF 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 Eye Safety Declaration Reliability Declaration Revision History ...

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