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Delta DMV-T Operation Manual
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Delta DMV-T Operation Manual

Delta DMV-T Operation Manual

3d tof smart camera
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DMV-T
3D ToF Smart Camera
Operation Manual
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Summary of Contents for Delta DMV-T

  • Page 1 DMV-T 3D ToF Smart Camera Operation Manual www.deltaww.com...
  • Page 2 Version History Manual DMV-SDK Manual Description Version Version Issued Date V1.0 Edition V1.3.3 2024/07/11 DMV-T Operation Manual...
  • Page 3 GenICam. The user can control the various functions provided by the camera through the XML file, such as changing the acquisition mode, exposure value, and others. At the same time, the DMV-T also provides an 8-pin I/O port, which contains two input signals and two output signals, allowing for flexible industrial camera applications.
  • Page 4 Table of Content Chapter 1. Product Overview ............1-1 1.1 DMV-T Product Specifications ..................1-1 1.2 Product Profile ....................... 1-2 1.2.1 Name of Parts ....................... 1-2 1.2.2 DMV-T Dimensions ....................1-3 1.2.3 Cable Dimensions ....................1-3 1.3 Installation ........................1-4 1.4 Caution ...........................
  • Page 5 4.6.1 Basic scan parameters ..................4-26 4.6.2 Function parameter of the filter ..............4-32 4.6.3 Calibration related parameters ............... 4-34 Appendix A Enable Image Acquisition with DMV-T and DIAVision ..Appendix A-1 Appendix B DIAVision Project Upload ..........Appendix B-1 DMV-T Operation Manual...
  • Page 6 Delta' s 3D ToF Smart Camera DMV-T integrates imaging, sensing and computing functions in a compact design. With ambient light immunity, the DMV-T processes the image data in real time with a built-in dual-core CPU and provides quality images and accurate 3D depth information in millimeters.
  • Page 7 Chapter 1. Product Overview 1.2 Product Profile The DMV-T equipped one X-Code connector, one A-Code connector, and two M5 fixed keyholes. 1.2.1 Name of Parts Name Name VCSEL X-Code connector Lens A-Code connector Delta service QR code (H-1) Opto-isolated input 0 (White)
  • Page 8 Chapter 1. Product Overview 1.2.2 DMV-T Dimensions 1.2.3 Cable Dimensions X-code Cable Model Name L± T DMV-CAFM1MG6 1000± 5% mm DMV-CAFM3MG6 3000± 5% mm DMV-CAFM5MG6 5000± 5% mm DMV-CAFM10MG6 10000± 5% mm DMV-CAFM15MG6 15000± 5% mm A-Code Cable Model Name L±...
  • Page 9 Chapter 1. Product Overview 1.3 Installation The DMV-T is secured using two M5 screws, as shown in the picture below. Please be aware of  the length of the screws. Please leave about 90mm of space for wires during installation, as shown in the picture below.
  • Page 10 10. When using the camera, the ambient temperature is recommended to be 0~45 °C to ensure stable operation of the camera. 11. Restriction area for installing DMV-T A. Reflective area. This area must always be kept clear and none of object which would reflect light.
  • Page 11 DMV-CAFM1ML8 / DMV-CAFM3ML8 / DMV-CAFM5ML8 / DMV-CAFM10ML8 / DMV-CAFM15ML8 (cable length 1/3/5/10/15 meters). Network card. The images captured by the DMV-T camera will be transmitted to the host through the Ethernet cable. Therefore, the host must have a network card installed.
  • Page 12 The user may begin the DMV-T hardware installation after preparing the required components stated in Chapter 2.1. 1. The working distance of the DMV-T is 0.2 meters to 6 meters. The view angles of the DMV-T are 67 degrees (horizontal) * 51 degrees (vertical). Different working distances will result in different viewing dimensions, as shown in the following diagram.
  • Page 13 Horizontal viewing dimension (mm) 1108 1386 1479 4435 5543 22175 Vertical viewing dimension (mm) 2. The DMV-T is secured using two M5 screws, as shown in the following diagram. Please be aware of the length of the screws. DMV-T Operation Manual...
  • Page 14 I/O functions are not used, this step can be skipped. 6. Turn on the power. Once the above steps are completed and confirmed to be correct, power can be supplied and the DMV-T camera can be turned on. When the power is on, the power indicator will become green.
  • Page 15 Intel i350 series  2.6 Network Setup This chapter will explain the IP configuration mode for the DMV-T camera and the process after connection. 2.6.1 IP setup mode The three IP configuration modes for connecting the DMV-T camera are as follows: 1.
  • Page 16 In the default IP mode of the DMV-T camera, DHCP and LLA are enabled and persistent IP is disabled. Please note that the DMV-T camera IP mode will be saved, and the same IP mode will be loaded when powered on again.
  • Page 17 Chapter 2. Hardware and Software Installation Instructions 2.7 Delta DMV-SDK Installation Users can download the DMV-T camera SDK software from the Download Center on the Delta website by using the model name “DMV-SDK” for searching the software. After downloading the SDK, the installation steps are as follows: 1.
  • Page 18 Chapter 2. Hardware and Software Installation Instructions 2. The software will prepare for installation. 3. Click next to continue with the installation process. 4. Choose the install type. By choosing Complete, it will install the Delta Camera SDK and Delta Viewer. DMV-T Operation Manual...
  • Page 19 6. After the software is installed, an installation complete message is displayed. Click Finish to complete the installation process. 7. DMV-SDK is automatically installed in the following location. C:\Program Files\Delta Industrial Automation\DIAVision\DMV-SDK The SDK sample code can be find in Development folder. 8. DMV-Viewer location: C:\Program Files\Delta Industrial Automation\DIAVision\DMV-SDK\Applications\bin 9.
  • Page 20 Image_DMV-TI300GSM_2023-08-08-11-54-24_FrameId-34 Log setting: The log saving path: C:\Users\UserName\Documents\Delta\DMV-Viewer\Log File retain days: define the days for log file retention. File count limit: define the limit for the number of log files retained. III. File size limit(MB): define the size of a single log file, if the size exceeds this size, a new log file will be added.
  • Page 21 IP will be restored to the original setting and the fixed IP of the camera can be set. Please refer to Chapters 4-5. The device LED will show its status: ：Connectable ：Connecting ：Connected by other device DMV-T Operation Manual 2-11...
  • Page 22 In addition, when clicking on each parameter, the parameter's information will also be displayed in the information field below. When using DMV-SDK to compile an application, you can quickly query related information about parameters through this method. DMV-T Operation Manual 2-12...
  • Page 23 DMV-Viewer at the same time, as shown below, the left is the intensity image and the right is the depth image. DMV-T Operation Manual 2-13...
  • Page 24 I/O functions and configuration methods for the DMV-T camera. 3.1 I/O Contact Definitions The DMV-T camera is equipped with an 8-pin GPIO port. It allows for direct power input and I/O input and output functions. The definition table of the different pins of the port is as follows.
  • Page 25 Chapter 3. I/O Input and Output Configuration 3.2 I/O Circuit Diagram The DMV-T camera provides two sets of optics isolated input and two sets of optics isolated output circuits. They can be connected according to different requirements during use. Input signal (when...
  • Page 26 DMV-T camera. The input and output signal line format of the DMV-T camera is based on an OptoCoupled design. Therefore, the user cannot customize the circuit input and output signals through other methods.
  • Page 27 Line3 = Output signal, yellow cable.  Line Mode: Output and input mode. The 4 pins have been defined for the DMV-T camera. This column only shows the I/O mode of the line number selected by Line Selector. For example, if the Line Selector selects Line0, Line Mode will show Input.
  • Page 28 ExternalTrigger0/1Active: The camera is currently being triggered externally.  Line Format: Shows the line format selected by the Line Selector. The line formats for the DMV-T camera are OptoCoupled. Line Debounce Time: Set the line debounce time. Debounce can filter signal interference to avoid invalid signals from triggering the camera.
  • Page 29 Chapter 3. I/O Input and Output Configuration logic. Output Configuration Process: 1. When using Delta Viewer to enter output function settings, please go to Settings in Digital I/O Control. 2. Select Line2 or Line3 with Line Selector. Please note that the line number for configuration must match the physical connection position.
  • Page 30 Output Value All are from 0 to 2. Entering 3 will have no effect. The mask function is only limited to User Output Value All. When the user directly sets the output signal through User Output Value, the mask will not limit the value. DMV-T Operation Manual...
  • Page 31 The DMV-T camera currently provides 7 types of function parameters, including: 1. Device Control: Provides the general information of the DMV-T camera used, such as model name, camera version, and the user name of the camera.
  • Page 32 Beginner SHA-Format Description of Functions Device Scan Type: The scanning type of the sensor. DMV-T uses the area scan type of sensor. Vendor Name: The vendor is Delta Electronics. Model Name: Displays the model name of the camera. DMV-T Operation Manual...
  • Page 33 Device User ID: The user-defined device number, which is blank by default. The number is written to the device and saved once a value is entered. Device Reset: Restarts the DMV-T. After restarting, the camera has to be reconnected. Device Temperature Selector: Selects the temperature sensing position of the DMV-T. The options are as follows, with the default being Sensor.
  • Page 34 Trigger Delay: Configures the delay time after triggering. The unit is microseconds (µ s). 10. Exposure Time: Sets the exposure time of the camera. The unit is microseconds (μs). The exposure time range for the DMV-T series cameras is 1μs to 4000μs. DMV-T Operation Manual...
  • Page 35 If the exposure time is 3ms~4ms, the maximum frame rate can be set to 10Hz. 7. Acquisition Frame Rate Result Max: Displays the theoretical maximum frame rate. 8. Acquisition Frame Rate Abs: Displays the absolute value of the frame rate. DMV-T Operation Manual...
  • Page 36 Chapter 4. Function and Parameter Settings 4.2.3 Acquisition control function parameters The acquisition modes and trigger modes of the DMV-T camera can be combined into various usage methods, and applied in various settings. Before configuring acquisition settings, the user can refer to the following 9 acquisition examples to further configure the various function parameters.
  • Page 37 Parameter Acquisition Mode Continuous Trigger Mode Trigger Selector Acquisition Status Selector Trigger Source Run process: 1. Execute “Acquisition Start”. The camera will start to capture images continuously. 2. Execute “Acquisition Stop". The camera stops acquisition Run icon: DMV-T Operation Manual...
  • Page 38 Parameter settings: Function Name Parameter Acquisition Mode Single Frame Trigger Mode Trigger Selector Acquisition Status Selector Trigger Source Run process: 1. The camera captures an image once and automatically stops when “Acquisition Start” is executed. Run icon: DMV-T Operation Manual...
  • Page 39 Function Name Parameter Acquisition Mode Multi Frame Acquisition Frame Count Trigger Mode Trigger Selector Acquisition Status Selector Trigger Source Run process: 1. The camera captures two images and automatically stops when “Acquisition Start” is executed. Run icon: DMV-T Operation Manual...
  • Page 40 4. Execute “Acquisition Stop". The camera stops acquisition Run icon: Note: When using the continuous acquisition mode, the camera frame rate can be configured. The parameters are Acquisition Frame Rate Enable and Acquisition Frame Rate in 4.2.1. DMV-T Operation Manual 4-10...
  • Page 41 Acquisition Trigger Wait Trigger Source Input Line0 Run process: 1. Execute “Acquisition Start" 2. "Acquisition Status" signal switches to True 3. The camera captures an image once and automatically stops when “I/O trigger” is executed. Run icon: DMV-T Operation Manual 4-11...
  • Page 42 Acquisition Status Selector Acquisition Trigger Wait Trigger Source Software Run process: 1. Execute “Acquisition Start" 2. "Acquisition Status" signal switches to True 3. The camera captures two images and automatically stops when “Trigger Software” is executed. Run icon: DMV-T Operation Manual 4-12...
  • Page 43 3. The camera captures an image once when “I/O trigger” is executed. 4. After "Acquisition Status" is switched to True 5. The camera captures an image once again when “I/O trigger” is executed. 6. Execute “Acquisition Stop". The camera stops acquisition Run icon: DMV-T Operation Manual 4-13...
  • Page 44 Frame Trigger Wait Trigger Source Software Run process: 1. Execute “Acquisition Start" 2. "Acquisition Status" signal switches to True 3. The camera captures an image once and automatically stops when “Trigger Software” is executed. Run icon: DMV-T Operation Manual 4-14...
  • Page 45 3. The camera captures an image once when “I/O trigger” is executed. 4. "Acquisition Status" signal switches to True 5. The camera captures the second image and automatically stops after two images are captured when “I/O trigger” is executed. Run icon: DMV-T Operation Manual 4-15...
  • Page 46 Width: Displays the maximum width of the transmitted image (pixel unit). Height: Displays the maximum height of the transmitted image (byte unit). Delta's ToF camera provides three different types of images, namely Intensity Image, Range Image, and Confidence Image. The user can specify the desired image type through the parameter group in section 4.3.2.
  • Page 47 Chapter 4. Function and Parameter Settings 4.3.2 Pixel format function parameters Delta's ToF camera provides three different types of images, namely Intensity Image, Range Image, and Confidence Image. The user can use this parameter group to define the transmission of the three images and the pixel format of the images.
  • Page 48 / False Mono16 Bpp16 Mono32f Bpp32 Coord3D_C12p Bpp12 UncalibratedC / CalibratedC Coord3D_C16 Bpp16 Coord3D_C32f Bpp32 True Range / False Coord3D_ABC12p Bpp36 CalibratedABC_Grid Coord3D_ABC16 Bpp48 Coord3D_ABC32f Bpp96 Confidence12p Bpp12 False Confidence True / Confidence16 Bpp16 Confidence32f Bpp32 DMV-T Operation Manual 4-18...
  • Page 49 User Set Save: Save the user parameters selected in User Set Selector. User Set Default: Set the default user mode after camera startup. User Set Error Code: Displays the error code when loading user parameters. The possible codes are as follows. DMV-T Operation Manual 4-19...
  • Page 50 MedianFilterEnable AcquisitionFrameRate MedianFilterKSize AcquisitionFrameRateEnable BilateralFilterEnable Scan 3D Control TriggerSelector BilateralFilterD Acquisition Control TriggerMode BilateralFilterSigmaColor TriggerSource BilateralFilterSigmaSpace TriggerActivation ExponentialFilterEnable TriggerDelay ExponentialFilterSmoothFactor TriggerDelayEnable RangeMode ExposureTime Scan3dOutputMode LineSelector Interoperability LineInverter LineDebounceTime LineSource Digital I/O Control UserOutputSelector UserOutputValue UserOutputValueAll UserOutputValueAllMask DMV-T Operation Manual 4-20...
  • Page 51 IInteger Read Beginner xxx.xxx.xxxx.xxx GEV Current Default Gateway IInteger Read Beginner xxx.xxx.xxxx.xxx GEV Persistent IP Address IInteger Read/Write Beginner xxx.xxx.xxxx.xxx GEV Persistent Subnet Mask IInteger Read/Write Beginner xxx.xxx.xxxx.xxx IInteger Read/Write Beginner xxx.xxx.xxxx.xxx GEV Persistent Default Gateway DMV-T Operation Manual 4-21...
  • Page 52 4. When the power is turned off and the Ethernet cable is re-plugged in, the persistent IP mode is enabled after reboot. The camera uses the persistent IP and network card for connection. Please confirm that the IP and subnet mask used by the network card matches the camera to ensure a normal connection. DMV-T Operation Manual 4-22...
  • Page 53 Event EventData PendingAck GEV Supported Option Selector IEnumeration Read/Write Expert Action ExtendStatusCodes DiscoveryAckDelay DiscoveryAckDelayWritable TestData ManifestTable CCPApplicationSocket LinkSpeed HeartbeatDisable SerialNumber UserDefinedName TRUE GEV Supported Option Iboolean Read Expert FALSE GEV MAC Address IInteger Read Beginner xx.xx.xx.xx.xx.xx DMV-T Operation Manual 4-23...
  • Page 54 GEV CCP: Control Channel Privilege. When the usage setting involves multiple applications connected to the same DMV-T camera, only one application can write and control the DMV-T camera. The other applications can only read the camera parameters. Open Access: When a camera is not controlled by any application, it shows Open Access.
  • Page 55 The general payload formula is Height * Width * Pixel size. For example, with a resolution of 640*960 for the DMV-T camera, the payload is 640 * 960 * 12 (bits/pixel) / 8 (bits/byte) = 921,600 bytes.
  • Page 56 0 to 4095 (0 by default) Axis Min IFloat Read Expert Axis Max IFloat Read Expert Coordinate Threshold Min IFloat Read/Write Expert Coordinate Threshold Max IFloat Read/Write Expert Coordinate Threshold Filter TRUE IBoolean Read/Write Beginner FALSE Enable DMV-T Operation Manual 4-26...
  • Page 57 2. Coordinate System: Shows the coordinate system used by the device. It currently uses Cartesian coordinates, 3-axis orthogonal, right-handed X-Y-Z, with the origin located at the front plane of the front casing, as shown in the diagram below. DMV-T Operation Manual 4-27...
  • Page 58 5. Coordinate Scale: Displays conversion ratio of the pixel units of the axis selected by the Coordinate Selector to the world coordinates. 6. Coordinate Offset: Displays the offset of the pixel units of the selected axis when converted to world coordinates. DMV-T Operation Manual 4-28...
  • Page 59 20. Over Exposure Invalid Value: Output values for overexposed areas in the Intensity image. When the user enables Exposure Filter, if there is overexposure in the Intensity image, the overexposed area is automatically filled with the Over Exposure Invalid Value, as shown in the following diagram. DMV-T Operation Manual 4-29...
  • Page 60 Dual-frequency technology expands the measurement range by introducing an additional frequency. Both frequencies have different measurement ranges, but the true position of the object lies at the same location for both frequencies. In the diagram below, 100+75MHz dual-frequency is used. DMV-T Operation Manual 4-30...
  • Page 61 24. Working Distance Offset: Displays the shortest operating distance from the casing surface to the object. The unit is mm. 25. Interoperability: Enables the multi-device anti-interference function. When multiple ToF cameras are used at the same frequency, enabling this function prevents interference from one to another. DMV-T Operation Manual 4-31...
  • Page 62 Chapter 4. Function and Parameter Settings 4.6.2 Function parameter of the filter Delta's ToF camera provides four types of filters, including median, bilateral, and exponential filters. These are primarily for smoothing and noise reduction of the range image. The relevant parameters are as follows.
  • Page 63 In the example below, a ToF camera captures the sole of black shoes. The point cloud in the following image was captured as a single image with exposure time of 1000 microseconds and the exponential filter disabled, resulting in unstable depth variations. DMV-T Operation Manual 4-33...
  • Page 64 When every ToF camera is manufactured, it is calibrated on the production line and the related calibration parameters are written into the ToF camera. Parameter Name Interface Access Level Intrinsic Fx IFloat Read Guru Intrinsic Fy IFloat Read Guru DMV-T Operation Manual 4-34...
  • Page 65 6. Distortion k1: Lens radial distortion coefficient K1. 7. Distortion k2: Lens radial distortion coefficient K2. 8. Distortion k3: Lens radial distortion coefficient K3. 9. Distortion p1: Lens tangential distortion coefficient P1. 10. Distortion p2: Lens tangential distortion coefficient P2. DMV-T Operation Manual 4-35...
  • Page 66 The Appendix describes how to quickly enable and perform image acquisition with Delta Machine Vision Platform DIAVision for the first-time power on Delta ToF camera. If you wish to start using the Delta ToF camera, you need the following software and hardware: Delta ToF camera.  Delta ToF M12 X-Code Ethernet cable.
  • Page 67 Appendix A Enable Image Acquisition with DMV-T and DIAVision Configure the computer’s Ethernet port to automatically obtain the IP. Run DIAVision and log in. The password is 2222. DMV-T Operation Manual Appendix A -2...
  • Page 68 Appendix A Enable Image Acquisition with DMV-T and DIAVision Enter Manage > Platform Settings. After clicking “Scan”, the screen shows all devices connected to the Ethernet port. Press the “+” button on the back of the ToF camera to add the ToF camera to the device list.
  • Page 69 Appendix A Enable Image Acquisition with DMV-T and DIAVision Click “Image” and the screen displays the 2D intensity image. Click Depth Map and the screen displays the range image. Move your cursor to any point on the image and the height information (mm) of the point is displayed immediately under the image.
  • Page 70 Appendix A Enable Image Acquisition with DMV-T and DIAVision Click Point Cloud and the screen displays the 3D point cloud image. Move your cursor to any point on the image and the 3D coordinates of the point is displayed immediately under the image (the center of the ToF camera lens is the origin point and the unit is mm).
  • Page 71 Appendix A Enable Image Acquisition with DMV-T and DIAVision Relevant acquisition parameters: a. Exposure time: The exposure time can be found in the parameters of AcquisitionControl. Longer exposure times result in more adequate reflection information obtained from objects. To avoid overexposure, extend the exposure time as much as possible. As shown in the image below, when the exposure time is 400 microseconds, large black areas appear on the material.
  • Page 72 Appendix A Enable Image Acquisition with DMV-T and DIAVision b. Range mode: Range mode is found in the parameters of Scan3dControl. The iToF camera changes the maximum detectable distance by modulating the frequency of the light source. Delta ToF cameras provide the following range modes: 1500mm: 100MHz ⚫...
  • Page 73 Appendix A Enable Image Acquisition with DMV-T and DIAVision c. Confidence filter: Confidence filter is found in the parameters of Scan3dControl. If you wish to use the confidence filter, first set Confidence Filter Enable to Enable. This function is primarily used to filter out noise in the space. In the example below, confidence values are set to 0.02, 0.14, and 0.6, showing the differences in the point cloud...
  • Page 74 Appendix A Enable Image Acquisition with DMV-T and DIAVision d. Mean Filter: Mean filter is found in the parameters of Scan3dControl, but the user level must be set to User Guru. If you wish to use the mean filter, first set Mean Filter Enable to Enable.
  • Page 75 Appendix A Enable Image Acquisition with DMV-T and DIAVision e. Median Filter: Median filter is found in the parameters of Scan3dControl, but the user level has to be set to User Guru. If you wish to use the median filter, set Median Filter Enable to Enable.
  • Page 76 Enter Remote > Client Layout > Visual to define the image types and annotation to be displayed in the Web UI. Specify the default displayed image. It can show up to four image components at the same time. DMV-T Operation Manual Appendix B -1...
  • Page 77 The images are updated at the end of the process by default. c. Enter Remote > Client Layout > Output to define the related parameters displayed in the Web UI, including the input parameters, output parameters, and self-defined variables of the inspection tools. DMV-T Operation Manual Appendix B -2...
  • Page 78 Enter Remote > Remote Manager The project list on the left of the screen shows the projects on the computer. The project list on the right shows the projects in the ToF camera. Both lists also show the current software version. DMV-T Operation Manual Appendix B -3...
  • Page 79 Appendix B DIAVision Project Upload Select the project to upload. After clicking Deploy, the screen shows the restart message. Click Yes to start the upload. DMV-T Operation Manual Appendix B -4...
  • Page 80 If the following message is displayed, please refresh the page or repower the ToF camera. Once it is restarted, keep the camera idle for 60 seconds before reconnecting. DMV-T Operation Manual Appendix B -5...
  • Page 81 ToF camera is not connected, please press CONNECT for connection. e. Click the DIAVision icon to enter the operation screen. The page displays the image type, annotation, and parameters, which is the Web UI configured in step 1. DMV-T Operation Manual Appendix B -6...
  • Page 82 Delta Electronics Industry Co., Ltd Mechanical and electrical business group 33068 No. 18, Xinglong Road, Taoyuan District, Taoyuan City TEL: 886-3-3626301 FAX: 886-3-3716301 *The contents of this manual are subject to change without notice...

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