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Related Manuals for Becom Argos3D P33 Series
Summary of Contents for Becom Argos3D P33 Series
- Page 1 Argos3D - P33x Software User Manual Version 10...
- Page 2 This document is protected by copyright. All rights reserved. No part of this document may be reproduced or transmitted for any purpose in any form or by any means, electronically or mechanically, without expressly written permission by BECOM Systems. Windows is a registered trademark of Microsoft. © BECOM Systems 2020 2 | 58...
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Page 3: Table Of Contents
Sliding Average Filter ....................................17 4.3.5 Frame Average Filter...................................... 17 ToF Image Enhancements ....................................18 4.4.1 Pixel invalidation ....................................... 18 4.4.2 Temperature compensation ................................19 4.4.3 Combine sequences (HDR) ..................................19 4.4.4 Vernier ..........................................19 © BECOM Systems 2020 3 | 58... - Page 4 4.11 Illumination Pre-Heating ....................................34 4.12 Distance Offset Calibration ................................... 34 4.13 Manual Frame Trigger ......................................35 4.13.1 Hardware Trigger ....................................... 35 4.13.2 Software Trigger ......................................35 4.13.3 ToF Snapshot Function ..................................35 © BECOM Systems 2020 4 | 58...
- Page 5 Illumination Configuration ..................................... 49 Test Commands ........................................49 5.10 Device Update .......................................... 50 5.11 Filter Configuration ......................................50 5.12 Advanced Image processing ..................................52 5.13 Ethernet configuration ...................................... 52 Firmware History ..........................................54 © BECOM Systems 2020 5 | 58...
- Page 6 MATLAB SDK ..........................................55 BltTofSuite ........................................... 55 Support............................................... 56 General Support ........................................56 Software Downloads ......................................56 Camera Development Package ................................. 56 Document Revision History ...................................... 57 List of Figures and Tables ......................................58 © BECOM Systems 2020 6 | 58...
- Page 7 BECOM Systems specifically disclaims any implied warranty of merchantability or fitness for a particular purpose. BECOM Systems takes no liability for any damages and errors causing of the usage of this board. The user of this board is responsible by himself for the functionality of his application.
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Page 8: General Information
General Information This guide applies to the Argos3D - P33x camera platform from BECOM Systems. Follow this guide chapter by chapter to set up and understand your product. If a section of this document only applies to certain camera parts, this is indicated at the beginning of the respective section. -
Page 9: Overview
The document describes the necessary steps and settings to work with the Argos3D - P33x and describes the firmware dependent interfaces. This document applies to firmware version 1.0.x. For a hardware compatibility list please refer to our support site. Software and documentation support.systems.becom-group.com © BECOM Systems 2020 9 | 58... -
Page 10: Interfacing
The data interface provides a continuous stream of ToF (and color) data depending on the configuration. Note BECOM Systems provides an abstraction of control and data interfaces by means of the BltTofApi . If you use this API, you need not be familiar with control and data interface in detail. -
Page 11: Data Interface
Be aware that a multicast stream may slow down your Ethernet network as the stream must be spread to all active links of switches/hubs and routers. Note The data interface is covered by the BltTofApi. For information please refer to support.systems.becom-group.com © BECOM Systems 2020 11 | 58... -
Page 12: Camera Discovery
3.5 External Illumination Interface Please contact BECOM Systems support for information about the external illumination interface. 3.6 GPIOs The camera features 2 general-purpose inputs and 2 or 4 general-purpose outputs. Please see the register description in chapter 5.3 for more information. -
Page 13: Poe Power Control
The Argos3D - P33x camera features an OpenSSH server listening to TCP port 22. Root account User account Username root user Default password root user Table 3-3: Default login credentials 3.9.1 Change default password Change default password © BECOM Systems 2020 13 | 58... -
Page 14: Debug Uart
Flow control none Table 3-4: Debug UART settings The Debug UART also allows to log in to the camera’s Linux OS. Please see chapter 3.9 for the default login and how to change it. © BECOM Systems 2020 14 | 58... -
Page 15: Camera Features
The following flow diagram shows the image processing chain of the camera for the ToF sensor data. Filters can be applied individually to distance data. XYZ point cloud data is calculated from distance data on demand. © BECOM Systems 2020 15 | 58... -
Page 16: Tof Image Filters
The iteration count for each filter can also be configured. The filters can be ImgProcConfig2 enabled or disabled by writing the ImgProcConfig (distance data) and (amplitude data) registers. © BECOM Systems 2020 16 | 58... -
Page 17: Median Filter
A sliding average filter over up to 255 frames can be applied. The number of frames is configurable. An increasing number of frames will not decrease the frame rate but may add blurring effects. 4.3.5 Frame Average Filter FilterFrameAverageConfig Register: © BECOM Systems 2020 17 | 58... -
Page 18: Tof Image Enhancements
0. Y and Z values are set to 0 as well. If the ACF plausibility check classified the pixel’s distance as invalid, the X value of the appropriate pixel is set to 1. Y and Z values are set to 0. © BECOM Systems 2020 18 | 58... -
Page 19: Temperature Compensation
: To configure integration times of up to 4 • sequences ModulationFrequency ModFreqSeq1 ModFreqSeq2 ModFreqSeq3 : To configure modulation • frequencies of the sequences ImgProcAdvanced • , bit 7: To enable combine mode © BECOM Systems 2020 19 | 58... -
Page 20: Vernier + Combine Sequences (Hdr)
Point cloud data contains X, Y and Z coordinates for each ToF pixel. Point cloud data is calculated via intrinsic lens parameters for the ToF sensor and optical system, and via extrinsic parameters. The reference point of the camera © BECOM Systems 2020 20 | 58... -
Page 21: Figure 4-2 Argos3D - P33X Default Coordinate System (1)
X=Y=Z=0, is the front-top-right edge of the camera, seen from the camera’s point of view. Figure 4-2 Argos3D - P33x Default Coordinate System (1) Figure 4-3: Argos3D - P33x Default Coordinate System (2) © BECOM Systems 2020 21 | 58... -
Page 22: Color Overlay
Software User Manual - Argos3D - P33x Last change: 29 June 2020/Version 10 Note On protocol level the coordinate system may differ. Please contact BECOM Systems support for more information. For point cloud calculation, the camera requires proper calibration files (Lens calibration, Geometric Model HardwareConfiguration Parameters). -
Page 23: Configuration
The factory default setting provides an array of distance data and an array of amplitude data. Alternatively, a 3D XYZ point cloud can be provided. Refer to chapter 4.4 for a description of the coordinate system of the camera. © BECOM Systems 2020 23 | 58... - Page 24 Overlay color data: Each point of the XYZ point cloud, measured by the ToF sensor, gets assigned a color • value from the color sensor by means of back-projection and ray-tracing to the color sensor. The color format is always RGB565. © BECOM Systems 2020 24 | 58...
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Page 25: Distances And Amplitudes
(channel 2). The stream starts always with pixel #0. The distances are coded in millimeters as Uint16, the amplitudes also as Uint16. The color sensor pixels are coded in RGB565 (raw) or JPEG compressed format. © BECOM Systems 2020 25 | 58... -
Page 26: Distances And Color
The distances are coded in millimeters as Uint16, the color sensor pixels are coded in RGB565 (raw) or JPEG compressed format. The resolution, format, and frame rate of the color sensor are set via register ColorStreamParams © BECOM Systems 2020 26 | 58... -
Page 27: Xyz Point Cloud
In this mode the XYZ point cloud will be transferred in progressive mode, first the X coordinate array (channel 0) then the Y (channel 1) and Z (channel 2) coordinate array. The stream starts always with pixel #0. The coordinates are coded in millimeters as Int16. © BECOM Systems 2020 27 | 58... -
Page 28: Xyz Point Cloud And Amplitudes
(channel 0), then the Y (channel 1) and Z (channel 2) coordinate array, then the amplitude array (channel 3). The stream starts always with pixel #0. The coordinates are coded in millimeters as Int16 the amplitudes as Uint16. © BECOM Systems 2020 28 | 58... -
Page 29: Distances And Xyz Point Cloud
(channel 0), then X (channel 1), Y (channel 2), and Z (channel 3) coordinate arrays. The stream starts always with pixel #0. The distances are coded in millimeters as Uint16. The coordinates are coded in millimeters as Int16. © BECOM Systems 2020 29 | 58... -
Page 30: Coordinate And Amplitudes
In this mode, raw distance values are transferred in channel 0, and amplitude values are transferred in channel 1. Raw distance values are forwarded as retrieved from the TIM. No conversion to millimeters and no corrections are performed on the values. Filter settings for raw distance values are ignored as well. © BECOM Systems 2020 30 | 58... -
Page 31: Distance, Amplitudes, And Confidences
In this mode distances and amplitudes from the ToF sensor, confidence values, as well as the color sensor image will be transferred in progressive mode, first the distance array (channel 0), then the amplitude array (channel 1), © BECOM Systems 2020 31 | 58... -
Page 32: Color
The following modulation frequencies can be selected: Frequency Unambiguity Range 5.004 MHz ~30m 7.5 MHz ~20m 10.007 MHz ~15m 15 MHz ~10m 20.013 MHz ~7,5m 25.016 MHz © BECOM Systems 2020 32 | 58... -
Page 33: Frame Rate And Integration Time
The corrected value can be read back via the same register. Also, if any correction of integration time or frame rate took place because of PoE constraints, Bit[10] of the Status register will be set. © BECOM Systems 2020 33 | 58... -
Page 34: Sequencing
The camera has also a built-in offset calibration function, which is described in the following procedure. You let the camera know the real distance and the camera will calculate the correct absolute offset. It uses a square of 4x4 pixels in the center of the distance image. © BECOM Systems 2020 34 | 58... -
Page 35: Manual Frame Trigger
(which depends on filter settings), after which the ToF sensor is stopped again. NofSequ In case more than 1 sequences are configured (register ), one frame is produced for each sequence per snapshot request. © BECOM Systems 2020 35 | 58... -
Page 36: Temperature Sensors
(RGB565 or JPEG compressed), and frame rate of the color sensor in register UDP Color Sensor Stream: Send color data with the data streaming protocol, but independent from ToF sensor data. A separate destination IP address and destination UDP port can be configured. © BECOM Systems 2020 36 | 58... -
Page 37: Udp Color Sensor Stream
In use cases where a continuous color sensor stream is required, but only sporadic ToF sensor images, the camera features a second UDP stream that is dedicated to send color sensor data only. It is compliant to the data interface format in chapter 3.2 and hence compatible to tools and libraries provided by BECOM Systems. ColorStreamParams The UDP color sensor stream is enabled in register , bit 2. -
Page 38: Save Registers
4.17 Ethernet/IP Settings 4.17.1 MAC Address A dedicated Ethernet MAC address from BECOM Systems MAC address pool is assigned to each Argos3D - P33x by factory default. This MAC address is saved in the OTP and cannot be changed by the user. -
Page 39: Firmware Update
The Argos3D - P33x is capable of updating its firmware (as well as the boot loader). The update procedure is executed using dedicated TCP/IP command frames over the control interface connection. BECOM Systems provides the “Downloader” tool within the BltTofSuite for updating the Argos3D - P33x firmware over Ethernet. - Page 40 Bit 14: Indicates a temperature measurement error on the base board. The bit is automatically cleared if • the error disappears. Bit 15: Indicates a communication error with the TIM, or an error with triggering the TIM. This bit is • automatically cleared if the error disappears. © BECOM Systems 2020 40 | 58...
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Page 41: Register Description
1 … Distances, Amplitudes, and Confidences 2 … Distances, Amplitudes and Color 3 … XYZ Point Cloud 4 … XYZ Point Cloud and Amplitudes 5 … X/Y/Z coordinates and color Information for each pixel (Overlay) © BECOM Systems 2020 41 | 58... - Page 42 Amplitude threshold for valid distance data 001B LedboardTemp Temperature of LIMs in 0.01[°C] (FFFF: Sensor not available). 001C MainboardTemp Temperature of ToF sensor in 0.01[°C] (FFFF: Sensor not available). 0020 RealWorldXcoordinate 0000 Distance to the calibration target [mm]. © BECOM Systems 2020 42 | 58...
- Page 43 [mm] = a/100000 * x³ + b/10000 * x² + c/1000 * 0032 TimVersion IRS1020 sensor ID 0033 CmdExec 0000 Initiate an operation: 0xC2AE…Clear RegMap in flash 0x9E20…Read RegMap from flash 0x909A…Read factory RegMap 0xDD9E…Save RegMap in flash © BECOM Systems 2020 43 | 58...
- Page 44 0047 RgbLedColor 0300 RGB565 color value of RGB LED 0048 Lim1Status 0000 Status word of LIM #1 or external illumination. Bits[0..4]: Overcurrent on LED segments 0..4 Bits[8..12]: Open load on LED segments 0..4 © BECOM Systems 2020 44 | 58...
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Page 45: Distance Offset
An offset for distance values when operating at modulation frequency 20 MHz 00C6 DistOffset5 An offset for distance values when operating at modulation frequency 25 MHz 00C7 DistOffset6 An offset for distance values when operating at modulation frequency 30 MHz © BECOM Systems 2020 45 | 58... -
Page 46: Gpio Control
This register configures various options to transmit data from the color sensor. Bit[1]: Color channel format 0 … RGB565 1 … JPEG compressed Bit[2]: 1…Enable autonomous UDP data stream Bit[4..6]: Color sensor resolution 0 … QCIF (176x144) © BECOM Systems 2020 46 | 58... -
Page 47: User Defined
For any purpose 0105 UserDefined5 For any purpose 0106 UserDefined6 For any purpose 0107 UserDefined7 For any purpose 0108 UserDefined8 For any purpose 0109 UserDefined9 For any purpose Table 5-5: User Defined registers © BECOM Systems 2020 47 | 58... -
Page 48: General
10°C). MainboardTemp 011E TempSensorConfig 0000 Bit [0]: Sensor input for 0…Use ToF sensor built-in temperature sensor (not available for integration times smaller than 82us) 1…Use temperature sensor on TIM Table 5-6: General registers © BECOM Systems 2020 48 | 58... -
Page 49: Sequencing
Pre heating time in microseconds for all phases except the very first after a trigger Table 5-8: Registers for Illumination Configuration 5.9 Test Commands Addr Register Default Description (hex) Name Value (hex) 01C0 TestConfig 0000 Bit[1]: 1… Watchdog Test © BECOM Systems 2020 49 | 58... -
Page 50: Device Update
Bit[0]: 1…enable Median Filter for Distance Image Bit[1]: 1… enable Average Filter Bit[3]: 1…enable Bilateral Filter for Distance Image Bit[4]: 1…enable Sliding Average for Distance Image Bit[6]: 1…enable wiggling compensation for Distance Image © BECOM Systems 2020 50 | 58... -
Page 51: Table 5-11: Register For Filter Configuration
Bit[0]: 1… enable Median Filter for Amplitude Image Bit[1]: 1… enable Bilateral Filter for Amplitude Image Bit[2]: 1… enable Sliding Average Filter for Amplitude Image Bit[3]: 1… enable FrameAverage Filter for Amplitude Image Table 5-11: Register for filter configuration © BECOM Systems 2020 51 | 58... -
Page 52: Advanced Image Processing
FFFF High word of subnet mask Writing this register has no immediate effect (see register 0x0249). 0248 Eth0Gateway0 0001 Low word of gateway Writing this register has no immediate effect (see register 0x0249). © BECOM Systems 2020 52 | 58... -
Page 53: Table 5-13: Registers For Ethernet Configuration
Writing this register will update the IP address. 0258 Eth0UdpColorStreamPort 2716 UDP port for Color sensor UDP data stream 0259 Eth0UdpPacketSize 0578 Packet size for UDP data interface 025A Eth0LinkSpeed 03E8 Link speed [Mbps] Table 5-13: Registers for Ethernet configuration © BECOM Systems 2020 53 | 58... -
Page 54: Firmware History
After switching “ACF plausibility check” off, pixel which was masked invalid stays invalid. Workaround: Switch “ACF plausibility check” off save registers permanently and reboot the camera. <=1.2.0 Dec 2017 After switching modulation frequency the camera may stop streaming. Table 6-2: Firmware anomalies © BECOM Systems 2020 54 | 58... -
Page 55: Software
For the first evaluation of the camera and to evaluate different settings and configurations a .NET demo BltTofSuite application for Microsoft Windows is provided: . The demo application can be downloaded from our support web site. Software and documentation support.systems.becom-group.com © BECOM Systems 2020 55 | 58... -
Page 56: Support
General support for products can be found at BECOM Systems´ support site Support Link support.systems.becom-group.com 8.2 Software Downloads Camera support packages are available for registered customers only. Please contact BECOM Systems support if you do not yet have an account. Software Download Portal support.systems.becom-group.com 8.3 Camera Development Package... -
Page 57: Document Revision History
2016 04 26 Updated document for firmware V0.4.0 Added chapter 3.3 (Device discovery) • • Added chapter 4.13.3 “ToF Snapshot Function” 2016 01 13 Initial version of the document Table 9-1: Revision history © BECOM Systems 2020 57 | 58... -
Page 58: A List Of Figures And Tables
Table 5-12: Registers for Advanced Image Processing ..............................52 Table 5-13: Registers for Ethernet configuration ..................................53 Table 6-1: Overview Argos3D - P33x firmware changes ..............................54 Table 6-2: Firmware anomalies ..........................................54 Table 9-1: Revision history ............................................57 © BECOM Systems 2020 58 | 58...
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