Lucid Helios Flex Technical Manual
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Lucid Helios Flex Technical Manual

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Helios Flex Technical Manual
V1.0.2
Revised on February 17, 2020

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Summary of Contents for Lucid Helios Flex

  • Page 1 Helios Flex Technical Manual V1.0.2 Revised on February 17, 2020...

  • Page 2: Table Of Contents

    FFC Cable ..............................10 JST Power Cable ............................11 Lens ................................. 11 Helios Flex Camera Adapter Board ......................11 Configuring the Jetson TX2 ......................... 12 Flashing the custom LUCID Linux4Tegra Image ..................12 Install CUDA on the Jetson TX2 ....................... 14 Install OpenCV on the Jetson TX2 ......................
  • Page 3 Time of Flight Invalidation ........................26 Multipath ............................26 High Reflectivity ..........................26 Low Reflectivity ........................... 26 Aliasing/Ambiguity ..........................26 Veiling Glare ............................26 Camera Specifications ..........................27 Power ..............................27 Temperature ............................27 Revision History ............................28 LUCID Helios Flex Camera Technical Manual...

  • Page 4: Product Specification

    Lens Field of View 59⁰ x 45⁰ (nominal) Illumination 4 x VCSEL laser diodes @ 850nm Camera Features Exposure Control Manual with 2 modes Output Formats 3D Point Cloud, Intensity and Confidence Platform Support NVIDIA Jetson TX2 LUCID Helios Flex Camera Technical Manual...
  • Page 5 +/- 5mm over range 0.3-1.5m (1.5m mode) Accuracy +/- 10mm over range 0.3-6.0m (6m mode) Distance (m) 1.5m Mode (mm) 6m Mode (mm) 0.69 0.53 1.25 3.11 2.24 Precision 3.17 6.81 10.8 16.8 25.4 LUCID Helios Flex Camera Technical Manual...

  • Page 6: Welcome

    TX2 platform can produce 3D point cloud data, confidence value as well as raw intensity image data. Safety and Precautions Follow these guidelines carefully before using your Helios Flex camera. Definitions and Symbols Below is some warning, safety, and/or tips icons used in this document.

  • Page 7: Laser Radiation

    Laser Radiation The Helios Flex camera emits infrared radiation that is invisible to the human eye. Helios has been tested to IEC / EN 60825-1: 2014 and classified as Class 1 (eye safe). The location and a sample of the laser safety classification label are shown in Figure 1.
  • Page 8 Figure 2. Location and Sample of Product Label Figure 3 Locations of 4 Laser Apertures LUCID Helios Flex Camera Technical Manual...

  • Page 9: Service And Maintenance

    Service and Maintenance Service Helios is a precision optical instrument and contains no user serviceable parts. If the unit sustains any damage or ceases to function as expected please contact Lucid Vision Labs, Inc. to begin the RMA process. Maintenance Ensure the Helios Flex is unpowered during inspection and cleaning.

  • Page 10: Installing The Camera Hardware

    • Safety warnings and procedures specified in this user manual must be observed. Mounting The camera is equipped with four pairs of M4 mounting holes. Each of the 4 side walls of Helios Flex is equipped with a pair of M4 holes.

  • Page 11: Jst Power Cable

    JST Power Cable The Helios Flex camera is powered via the interface PCB through a 4 pin JST cable • The manufacturer part number of the JST connector used is PAP-04V-S. • The manufacturer part number of the 4 wires are JST APAPA22K305.

  • Page 12: Configuring The Jetson Tx2

    Configuring the Jetson TX2 Flashing the custom LUCID Linux4Tegra Image This method will install a new Linux4Tegra image on your TX2 board with LUCID’s custom kernel. Note All data existing data on your TX2 will be lost in this flashing process. Back up any important items before proceeding.
  • Page 13 To confirm your TX2 is in recovery mode, you can use the command on your host PC and lsusb find your board in the output, for example: Bus 001 Device 008: ID 0955:7c18 NVidia Corp. LUCID Helios Flex Camera Technical Manual...

  • Page 14: Install Cuda On The Jetson Tx2

    1.0.0-5517_amd64 is the version of NVIDIA SDK Manager to be installed Once the NVIDIA SDK Manager tool is installed, you can launch it with the terminal command: sdkmanager Fill in your NVIDIA Developer Account credentials to log in. LUCID Helios Flex Camera Technical Manual...
  • Page 15 In Step 02 of the NVIDIA SDK Manager, we will select only the Jetson SDK Components. It is important to uncheck Jetson OS option because we do not want to replace the custom LUCID kernel that was just flashed to your Jetson TX2 board.

  • Page 16: Install Opencv On The Jetson Tx2

    Install OpenCV on the Jetson TX2 LUCID’s ArenaFlex software uses a custom version of OpenCV, so we will need to purge the pre-installed OpenCV installation from your Jetson TX2. On your Jetson TX2, run sudo apt-get update first to make sure your board has the latest repositories cached.

  • Page 17: Setting Up Flexview

    Setting up FlexView Initial Setup The following steps will set up FlexView, the viewer software used by the Helios Flex, on your Jetson TX2. 1. On your Jetson TX2, install the dependencies used by FlexView: sudo apt-get install libglfw3 libglew2.0 2.

  • Page 18: Running Flexview

    ArenaFlex can find the ArenaFlex libraries and run ~/.bashrc the functions in to apply the changes for the current terminal session ~/.bashrc export LD_LIBRARY_PATH=~/ArenaFlexSDK_Tx2/lib:$LD_LIBRARY_PATH source ~/.bashrc 3. Run FlexView by navigating to the ArenaFlexSDK_Tx2/flexview/output directory cd ~/ArenaFlexSDK_Tx2/flexview/output ./flexview LUCID Helios Flex Camera Technical Manual...

  • Page 19: Flexview Window Controls

    Zoom in and out of the point cloud data. You can also zoom with your mouse wheel if present. Point Size Increase or decrease the point cloud point size Helios Flex Information Information about the connected Helios Flex is presented in the Helios Flex Info section. LUCID Helios Flex Camera Technical Manual...

  • Page 20: Helios Flex Settings

    Using Arena Flex SDK The Arena Flex Software Development Kit (SDK) is designed from the ground up to provide customers with access to the latest in computer technology. The SDK supports the LUCID Helios Flex camera on the Jetson TX2 ARM platform.

  • Page 21: Camera Features

    Under 1.5m mode, the camera can generate depth data at 30fps; under the 6m mode, the camera is capable of generating depth data at 15fps. Operating Mode can be adjusted in Helios Flex Settings  Device Params. LUCID Helios Flex Camera Technical Manual...

  • Page 22: Exposure Time

    Shorter exposure time should be used for scenes closer to the camera, or objects appearing over saturated. Exposure Time can be adjusted in Helios Flex Settings  Device Params. Gain The HLS003S camera allows the user to adjust to two gain settings. High gain settings should be used for objects that are further away or objects with low reflectivity.

  • Page 23: Image Accumulation

    Coord3D_ABCY16s pixel format). Values below the threshold will have their X, Y, Z and intensity values set to 0x8000 (denoting invalid). Confidence Threshold can be toggled and adjusted in Helios Flex Settings -> Stream Params. LUCID Helios Flex Camera Technical Manual...

  • Page 24: Pixel Formats

    The HLS003S processing pipeline includes a bilateral Spatial Filter that can be enabled to improve the range data noise, for instance to obtain smoother edges. Spatial Filter can be toggled in Helios Flex Settings -> Stream Params. Amplitude Gain The HLS003S allows digital gain to be added to the amplitude image (intensity image) by adjusting the Amplitude Gain feature.

  • Page 25: Amplitude Image (Intensity Image)

    The following pixel format is available: Confidence16 Confidence map, 16 bits Note ArenaFlex captures data in Coord3D_ABCY16s. ArenaFlex does not have an option to change Pixel Format. Pixel Formats can be changed using ArenaFlex SDK only. LUCID Helios Flex Camera Technical Manual...

  • Page 26: Time Of Flight Invalidation

    When imaging a dark spot next to a bright spot (e.g. black text and white paper), veiling glare from the bright spot will cause the depth calculation for the dark spots to be less accurate. LUCID Helios Flex Camera Technical Manual...

  • Page 27: Camera Specifications

    Camera Specifications Power The Helios Flex can be powered via the JST connector. Average Camera Power Consumption < 15W Recommended Power Supply Voltage 15W, 12V – 24Vdc via GPIO Average Current Peak Pulse Current 2.8A Temperature The HLS003S should be kept in the following storage, operating, and humidity conditions.

  • Page 28: Revision History

    Revision History Version Number Date Changes V1.0.0 November 20, First internal release of this document. 2019 V1.0.1 November 29, Updated drawings. 2019 V1.0.2 February 17, 2020 Added TX2 installation instructions Added ArenaFlex documentation LUCID Helios Flex Camera Technical Manual...

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