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5.1.1 Direct Time of Flight

In the direct time-of-flight measurement method, a discrete pulse is emitted and one

or several timers are used to measure the time difference between the emitted pulse

and the return echo, based on threshold detection. This time difference can be directly

converted to a distance, based on the following equation:

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Содержание DCAM800

Страница 1: ...1 Vzense DCAM800 ToF Camera User Manual ...

Страница 2: ... 10 3 4 4 Coordinate of the Camera System 11 4 Interface with Host 12 4 1 M16 10 MFP Connector 12 4 2 M16 8 LAN Ethernet connector 15 4 3 LED indication 16 5 Principle of Time of Flight 17 5 1 Scope of remote sensing technology 17 5 1 1 Direct Time of Flight 18 5 1 2 Range gated Imaging ToF 19 5 1 3 Continuous Waveform ToF 19 5 1 4 Vzense ToF Principle 20 5 2 Noise Factors 21 5 2 1 Ambient Light 2...

Страница 3: ...6 Main screen 32 7 6 1 Image area 32 7 6 2 Control area 33 7 6 3 Information area 33 7 7 Connect devices 33 7 8 2D view 34 7 8 1 Depth Image 34 7 8 2 IR Image 35 7 9 3D view 35 7 10 Save Image 36 7 11 Camera Control 37 7 11 1 Mode switch 37 7 11 2 Range change 37 7 11 3 Exposure parameter modify 37 7 12 Filters Switch 38 7 13 WDR 38 8 DCAM800 Accessories and Package 41 9 Customization Service 41 A...

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: ...sed properly 2 2 Power If you are supplying camera power via the camera s 10 pin connector cable and the voltage is higher than 24 VDC 10 the camera may get damaged If the voltage is lower than 12V 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 2 A at 24V and 3A at 12V 2 3 Usage Don t try to open the camera housin...

Страница 6: ...M800 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 58 V 43 84 customizable Use Range 0 2m 10m customizable Accuracy 1 Power Consumption Average Max 10W Ref Illumination In door 850nm Out door 940nm 4 x Vcsel Dimension L W H 84mmx65mmx70mm Weight 400g...

Страница 7: ...4 V Input impedance 560 Ω Digital I O Exposure_timing EXT_OUTPUT Current OD mode 40 mA Voltage between pin CANH and CANL V CANH CANL 24 24 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 Units Current at near mode 250mm 1200mm 30 frame 307 4...

Страница 8: ...ngs of this specification is not promised Exposure to maximum rating conditions for extended periods may affect device reliability Parameter Symbol Conditions Min Typ Max Units Supply voltage on VDD VDD 9 28 V Digital I O EXT_Trigger EXT_INPUT Exposure_timing EXT_OUTPUT Vio Work mode 3 3 26 V Voltage between pin CANH and CANL V CANH C ANL 26 26 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: ...d Linux x86 x64 Android 5 0 or above Vzense ToF Driver The Vzense 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 ...

Страница 11: ...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 X Y ...

Страница 12: ...put signal power supply source and CAN bus interface can also be available in this interface The power adaptor in package can supply power to the camera via the M16 10 MFP connector The optional cable VZENSE MFP 10P A can source all the signals in MFP connector out the user can do more applications The pin assignments and pin numbering for the receptacle are as shown in below table The recommend d...

Страница 13: ... is available only when the camera works at slave mode in slave mode the camera will wait for the hardware trigger signal on Ext_Trigger The EXT_Trigger signal is opto isolated to driver the diodes External input trigger signal voltage should range 3 3V 24V moreover the signal driving capacity should be more than 60mA Camera input signal internal circuit You can use input pin Ext_Trigger to send a...

Страница 14: ...enable this feature according to customers requirement The EXT_INPUT pin is opto isolated to driver the diodes External input trigger signal voltage should range 3 3V 24V moreover the signal driving capacity should be more than 60mA Camera input signal internal circuit Exposure_timing Pin Description This pin is an output indicates the whole exposure period of the camera polarity can be predefined...

Страница 15: ...g to customers requirement The internal circuit of this pin is open drain so need a pull up resistor circuit to enable the feature The pull up voltage must follow host system voltage level 4 2 M16 8 LAN Ethernet connector The M16 8 LAN Ethernet connector provides 1000M Ethernet access to the camera In addition POE Power over Ethernet module is included in the camera Users can use POE as main power...

Страница 16: ...2 Media Dependent Interface 2 negative signal of differential pair 6 TD1 Media Dependent Interface 1 negative signal of differential pair 7 TD3 Media Dependent Interface 3 positive signal of differential pair 8 TD3 Media Dependent Interface 3 negative signal of differential pair POE parameters description CLASS MINIMUM W MAXIMUM Peak power W IEEE802 3at IEEE802 3bt Class 4 12 5 25 5 4 3 LED indica...

Страница 17: ...t does not need to be known but where its accurate speed is required e g for law enforcement applications Detection and ranging where the position of an object 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 po...

Страница 18: ...nt method a discrete pulse is emitted and one or several timers are used to measure the time difference between the emitted pulse and the return echo based on threshold detection This time difference can be directly converted to a distance based on the following equation ...

Страница 19: ...ly with CCD or CMOS imagers By measuring the energy received in successive integration intervals it is possible to extrapolate the distance between the sensor and the measured object based on the ratio of energy received in the different intervals The difficulty with range gated imaging is that CCD and CMOS imagers have a limited dynamic range therefore strong ambient light can easily cause satura...

Страница 20: ...stance to the object to be measured Of course a phase difference 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 DCAM800 product principle is base...

Страница 21: ...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 22: ...n 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 6 1 1 Ethernet Mode Installation In this mode the camera transmits the required data to host by Ethernet cable so the power adaptor shall be used...

Страница 23: ... of having electrical power cabling installed Network cables do not require a qualified electrician to fit them and can be located anywhere Flexibility without being tethered to an electrical outlet devices such as IP cameras and wireless access points can be located wherever they are needed most and repositioned easily if required Safety POE delivery is intelligent and designed to protect network...

Страница 24: ...o regular non POE network links Midspans can be used to upgrade existing LAN installations to POE and provide a versatile solution where fewer POE ports are required Upgrading each network connection to POE is as simple as patching it through the midspan and as with POE switches power injection is controlled and automatic Midspans are available as multi port rack mounted units or low cost single p...

Страница 25: ...h or PoE injector 3 Connect the PoE switch or PoE injector to your host processor by Ethernet cable 4 Connect the PoE switch or PoE injector to power source 6 1 3 Standalone Mode Installation This mode 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 CAN_BUS or EXT_OUTPUT...

Страница 26: ...load the application zip file and unzip it Start the VzenseUTool exe file 6 2 2 Frameviewer Frameviewer is an opensource application that can guide user how to call the SDK APIs You can open it from the project the SDK package have different demo code for different system 6 2 3 SDK Download it from our website China https gitee com Vzense Oversea https github com Vzense Please chose the suitable v...

Страница 27: ...ade product upgrade the firmware mode 6 4 Software Command Set DCAM800 support different work mode like depth_30 IR_30 depth IR_30 Three default range range0 0 35m 1 5m range2 0 8m 4 4m range5 1 2m 6 2m User can use UTool to try the different command or can use the APIs to control the camera The details please reference the SDK documents 6 5 IP Address Configuration You can connect the camera to t...

Страница 28: ...which has no DHCP capability The default IP address of the camera is 192 168 1 101 subnet mask 255 255 255 0 The user can change the default IP with the tool provided by Vzense team The host IP has to be in the same network segment as the camera 6 5 2 DHCP Connection The camera can be allocated an IP by the network router which runs a DHCP server ...

Страница 29: ...range mode requirement you can ask Vzense team to do range customization reasonable NRE fee will be charged One range mode of the Vzense DCAM800 camera can fulfill furthest distance be at most 5 times to 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 te...

Страница 30: ...r 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 DISTANC...

Страница 31: ...xel removing 7 5 IR Image Besides the depth image Vzense DCAM800 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 ...

Страница 32: ...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 7 6 Main screen UTool have some areas for different function for example image area control area information area 7 6 1 Image area Image area is th...

Страница 33: ...l switch mode change detect range 2D 3D display filters enable or disable pulse count or gamma gain get set 7 6 3 Information area Information area show some camera information like SN firmware version 7 7 Connect devices Find devices Chose devices Connect devices ...

Страница 34: ...ew The display area can show different type image 7 8 1 Depth Image Change mode to depth mode Chose depth image show enable Adjust color map optional COLORMAP_RAIN BOW Color_Map_Mi n 255 0 Color_Map_Ma x 8bit 16bit ...

Страница 35: ...35 Depth Image with color map 7 8 2 IR Image Change mode to IR mode Chose depth image show enable 7 9 3D view Make sure depth image alive ...

Страница 36: ...36 Chose point cloud show enable 7 10 Save Image click button will save the current showing image The save image will store in SaveImage folder ...

Страница 37: ...er 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 customization reasonable NRE fee will be charged 7 11 3 Exposure parameter modify Vzense ToF camera have two exposure parameters can be adjusted There are pulse count an...

Страница 38: ...oice Unless user have more professional algorithm to make image better 7 13 WDR WDR mode can merge the multi range image to extend the detect range For 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 y...

Страница 39: ...39 Adjust WDR merge threshold optional Depth image in range 0 Depth image in range 2 ...

Страница 40: ...40 Merged depth image in WDR mode ...

Страница 41: ...wise warranty will void Optional item list Item Component Description Quantity 1 VZENSE MFP M10 CABLE Multiple usage cable M12 10 pin 3m Power CAN BUS INPUT OUTPUT signals 1 2 VZENSE POE AT Injector IEEE802 at standard POE Injector 1 3 VZENSE POE AT Switch IEEE802 at standard POE Switch 1 Optional items need customer to pay for 9 Customization Service Vzense team has rich experience in ToF product...

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