Fotonic E-series User Manual
Contents
1. lt gt FOTONIC Fotonic E series User Manual Document number 402660 Rev F 24 06 2015 WARNING Do not under any circumstances use the camera without first reading the entire Quick Start Guide and User Manual 1 Or oe et o MVE OCG CIO 1 tse sslreecae certs E R E oal ele acral naeacd a ae eaw sa ease cho uaniaeees 1 1 1 OVE E Wiot oihiceetec ta aienedeneuteni E E 1 CNIS EGE odiar N eas 1 2 1 Package Contento sanaieaenna feleh Sica cae N T E AN 1 2 2 instalation and SCCUD eae esscen ccs a N 1 2 2 1 Downloading and installing SOTtWALE ccccsssccccessececeeseccceeescceceeeceeseeeceeseesecesseneceesenes 1 2 2 2 Connecting FOtONIC E series CAMELAS csccsscceseccscccsecesecesccesecescccseccsecesecsseesseetsecteenes 1 2 2 3 Mounting the Fotonic E series CAMEL AS sseccccssececcesecccceesececsusececseeccesausecessuneceesenes 3 General about Time On FIC AY eein a a avexmaastelalactacnsmieorshwenut laden 4 3 1 High dynamic range Mode akin de acinnia Rien kano wen he Wasi ek 4 SVSUCIN OF COO GIN GLCS inizes tinccessantiesaunnede a E AEA 5 9 DE BIS 6 ka see ener eae Oc vO nr a eR oo eee ee 6 5 1 settings CONTONE E Wanaecealaulgeneatoummeanssomient 6 5 1 1 SENSOR EUNE a a A A E eels 6 SMOE T E 7 ESCO anan Aa a a E oeansie eee aaae se eateeecesasaaecoe 7 Median Tite rasene n Tadleaitunes eeealadavaiiend gan wha Seveetea poasn iat Veomnce smi Nees 7 5 1 2 Visualization Setn eenn eS viesie eared needles esate n2. Reset Plane button 5 2 Save Load Control Save Load settings I me The Save Load settings window is used to save data from eee er the camera You can save either one image or a sequence of Location ZOPET n images The Replay saved images checkbox will replay all Format Fam saved images within a folder in a loop Default the files are Eres eee rel located in My Documents Fotonic savedimages and Save data a named after camera serial number and current date and r Vee time For each sequence one human readable text file is save 0 inf saved containing the camera settings used when recording Replay saved images Pause Step When saving images on a slow computer some frames may be lost since 3DDisplay makes no attempt to buffer images There are two different file formats supported PGM Each frame is saved as four different files containing the X Y Z and Active Brightness information Each consecutive new frame in a sequence is saved in the same files PNG Each frame is saved as four new files for X Y Z and Active Brightness The PNG format is compressed lossless and requires less storage Please read the documentation on FZ_GetFrame in the FZ API Reference Manual for more information about how the camera data is formatted 3D Display v1 08 File View Help Drawing framerate 49 63 Camera framerate 50 Frame 50358 Chip temperature 39 0 C 6 Ethernet settings Fotonic ca
3. 16W Signal interface 8 position M12 SPEEDCON A code 10 100 1000 Mbps Ethernet IEC 61076 2 101 E70 40 48W 4 position M12 Pluglink T code power Pini 24V Pin4 GND Pin 2 3 NC IEC 61076 2 101 Signal interface 8 position M12 SPEEDCON A code 10 100 1000 Mbps Ethernet IEC 61076 2 101 Please refer to our Quick start guide for information on how to setup the camera M12 Signal interface pin out for connection to RJ45 T568B M12 rans 1 WH OG 2 OG 5 3 WH GN 6 GN 5 WH BU 4 BU 7 WH BN 8 BN 2 2 3 Mounting the Fotonic E series cameras The Fotonic E series cameras are designed for passive cooling and shall at all times of operation be connected to a heat sink Please refer to the datasheet for details on mounting thread positions 3 General about Time of Flight In Time of Flight systems the distance to objects in front of the sensor is measured by analyzing the time for a light pulse to travel from an illumination source to the object and back to the sensor The illumination source in Fotonic cameras has a wavelength that is invisible to the human eye By modulating the light source and comparing the phase with the received signal the distance can be determined at each pixel of the sensor Light Source Off Bright l I Returning Light Dark Active _ _ _ Le Receptor A The difference Off 7 7 7 between A and B Active _ __ o _ correlate to the Receptor B distance Off 7 T
4. example source code Matlab import scripts and documentation For information on how to develop your own software to interface the Fotonic cameras read the FZ API Reference Manual 9 Hardware Description Technical Data See product leaflet at www fotonic com for technical data for each Fotonic camera model Physical Dimensions See product leaflet at www fotonic com for physical dimensions for each Fotonic camera model 10
5. wheel to zoom in and out The 2D view shows a 2D picture 10000 Reset Plane Color mode There are different options regarding how the pixels are colored This ae is done using the options within the Pixel Representation box Using the Color or Gray option the pixels are colored depending on their Z value The control to the right of these boxes defines the distance represented by each color The IR reflectivity mode colors each pixel based on its brightness value For the P70 camera there is also an option to color the pixels from its RGB sensor The Vertex Size slider defines the size of each pixel when displayed in the 3D view Brightness limiter The brightness limiter hides pixels below a certain brightness value in the visualization Pixels with low brightness are often more unreliable Distance limiter The distance limiter defines the minimum and maximum distance at which pixels are drawn The color encoding for Z values is changed according to the limited Z range Define Plane Define Plane is a simple tool to illustrate the measured distance from a plane in the scene instead of from the camera First press the Define Plane button when in 2D mode Click on three clockwise pixels in a plane surface in the 2D view In the 3D view the distance used for pixel coloring will now be calculated from the defined plane instead of from the camera To restore this setting to the default press the
6. 3 2 pea ixel pitch size i i aoe Lens a f Pal a le 7 r rows from the pr center of imager p Y row r One column of sensor The depth distance Z produced by the API is the perpendicular distance from a target point to the front glass of the camera The depth distance is different from the range distance which is the straight line distance from a target point to the camera Note that if the target lies on the optical axis of the camera lens the depth and range distances are the same See picture above The camera performs the necessary conversion from the range data to depth data for off center targets 5 3D Display 3DDisplay is an example application which can be used to test and evaluate the Fotonic cameras Under the settings menu there are two different control windows which can be activated or deactivated The functions of each control window are described in the subsections below There are also options to show more sensor information and statistics 5 1 Settings Control 5 1 1 Sensor Settings The top section of the settings window contains controls used to select camera and change camera settings The drop down list is used to switch between detected cameras When 3DDisplay is started the first camera in the list is selected It is also possible to manually enter the IP number of Ethernet cameras that cannot be found because they reside on a different network The Pause Play button is used to start and stop pl
7. 5 E The maximum measurement distance is given by the modulation frequency 3 1 High dynamic range mode The E series camera has a high dynamic range mode that uses two different shutter settings to achieve a higher dynamic range The decision which shutter to use for each pixel is made internally in the camera 4 System of coordinates In order to introduce X Y and Z coordinates we need to define a coordinate system relative to the camera As shown in the picture below the center of the camera coordinate system is defined as the center of the camera lens The x and y coordinates are defined as shown in the picture below with the eye of the observer behind the sensor Note that x and y coordinates when mapped to the display monitor are defined as shown in the lower picture below Pixel lt 0 0 gt in the display will map to the upper left corner of the display Observers eye Pixel at lt c r gt Target point ___ __ 9 a nn Optical axis Pixel at lt 0 0 gt a Pixel at lt 0 0 gt apponnnnnonaaee ARR Baap GL iole elete siais app infetatabalalelyj at om E The next picture shows the same information as above in a two dimensional view Only one column of the sensor is shown A target or object T is mapped to a row r in the figure The value of each pixel is the distance Z to the target i Depth Z Target T ja emmim E i p i we i a i p m a i ae YT 7 i pa i a a i ae z
8. ayback from the camera The Step button takes one image and then pauses The Disconnect button disconnects from the currently active camera 6 Shutter Shutter time is the same as exposure time in an analogous camera The Shutter time is the duration while the shutter will be opened and the camera chip is exposed to light The Shutter time is set in milliseconds ms By selecting Activate Multishutter a second i Pauze shutter timer becomes available Pause Shutter settings Edge filter k The edge filter is an edge preserving filter used to remove flying Shutter oF pixels Flying pixels are pixels which lie on the border between two Shutter 01i objects and therefore have signal contribution from both If the Filters objects are not on the same distance from the camera such pixels Edge Median will take on a value in between Yisualzation Median filter Mai 3D 5 2D The median filter is a spatial filter within the camera which Point representation a Color Gray 3 9 m color CO 1F reflectivity AGE Vertex size smoothens the depth values 5 1 2 Visualization Settings 3DDisplay has two main views 2D and 3D which can be chosen by selecting the corresponding mode in the visualization settings Range Limit brigthess I f Limit range in viewer The 3D view shows a 3D representation of the data received from the camera You can use the mouse to rotate the view and the scroll 40
9. de a a AN 7 COO igloo aaeeterrrn ene tree ren Eee erent nen O Een Tarr enon eee eer ee ern E 7 Bremnes slinte nsen ol Sautceaaalaloeteas taste a olsen iota ues 7 Distance MUI ICO dese ccicscatce E E E N deoet decreas scant seed ett tenets Vuia cece densal ve aaddeatvaagih ves 7 NGF US Pel Cia aaccastevacing octonensudteteasbasaunauenceumans ode enan ucaamanood teas E A 8 5 2 SVS GAC CON Oise tases a occas aaa aetna ste ae eects an a ae Gee 8 Ethernet camera crana ee rtach maenaaawhanndoamtyamesaus cone ncmenmnanasecoeneatnsaawess 9 NGEWONICCONMPUNATI ON nc sciaccetivcucavdclectceteuauidudedcuatadivceeaucudaruostedsvadodedsenbeleiee dds darabeastencdededsaneetiecwcees 9 Software development for FOCONIC CAMEL AS c ccessccccessececeesececcesececceueccecsusecessueceeseneceeseneeeetas 10 Hardaware DESCrIDUOMN csecserciseniuei aA wtanuoscan aust waaueiesuese queounacaasecneieaes 10 TECHM CA Dataene de sssesousicaslene soso usnssccaoi lesespaceuseaeub esata cents agen S aonb avers weotmoneoaecnepeens 10 Pd A AvAcT Syel el BATA a cd alc ON S eee me reece a ED ee i ee Ee E en ee ee 10 1 Introduction This is the Fotonic E series User s Manual Please read this document carefully as it will be your guide when installing and using your Fotonic camera 1 1 Overview Fotonic E series is a series of 3D cameras that use the Time of Flight technology Variations within the E series include different Illumination power and lens angle of view In the Fot
10. meras support both dynamic IP configuration via DHCP and static IP assignment A new camera is default set to DHCP configuration A camera can always be started in a fallback mode by connecting only the power cable to the camera and wait 30 seconds before connecting the Ethernet cable The camera will then start with the following IP settings IP 192 168 1 10 NETMASK 255 255 255 0 Note that in order to connect the camera directly to a computer the network settings of both the camera and the PC must be configured manually 7 Network configuration utility The FZ Ethernet Config utility is installed with the Fotonic FZ installer and is located in the bin folder of the installation path IF Config The FZ Ethernet Config utility is used to change a camera network EAEE configuration When the tool is started a camera must first be o o chosen by clicking in the drop down list at the top or by entering 132 165 1 1 the IP address of the camera When a camera is connected its 0 0 0 0 current IP configuration is shown and can also be changed The 1269 Uze DHCP Use DHCP checkbox is used to enable or disable the DHCP functionality It is also possible to connect to the camera by manually by entering its IP in the drop down box in case it can t be detected automatically 8 Software development for Fotonic cameras The software installer will install the API for the camera including its source code an example 3D viewer application
11. onic E series datasheet you find detailed information about the different products The camera measures the surrounding in front of it in a single snapshot and sends the measurements to a computer for display or further processing With the E series camera you can run continuous measurements of up to 58 images per second All E series cameras are smart cameras meaning that it s possible to use the cameras internal ARM CPU for embedded image processing You can read more about this in chapter 8 2 Quick start 2 1 Package contents See Quick Start Guide for a complete list of package contents and accessories 2 2 Installation and Setup 2 2 1 Downloading and installing software Software for supported OS can be downloaded from the Fotonic homepage www fotonic com There you can also download the SDK for embedded software development An example application called 3DDisplay is included in the installation 3DDisplay is a 3D viewer which can be used to visualize the camera data as a 3D point cloud It can also be used for recording and playback of image sequences and some basic data analysis You can read more about 3DDisplay in section 5 2 2 2 Connecting Fotonic E series cameras The Fotonic E series cameras need to be connected to a power supply and an Ethernet network Power supply power cable and Ethernet cable are optional accessories to the Fotonic E series cameras The camera uses the following interfaces and pinout E40 70 4W
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