FRAMOS D435e User Manual

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User Manual

FRAMOS Industrial Depth Camera D435e

V1.00

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Revisions

Version

Datum

Description

V1.00

05.09.2019

Initial documentation for zero series
release

V1.00

20.9.2019

Added pictures of the camera connectors

Referenced Documents

1. Intel® RealSense™ D400 Series Product Family, Revision 006, published in June 2019

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Inhalt

1. Description and Features ............................................................................................... 4

1.1. Description .............................................................................................................. 4

1.2. Features .................................................................................................................. 4

1.3. Minimum System Requirements .............................................................................. 4

2. Introduction .................................................................................................................... 5

2.1. Purpose of this Document ....................................................................................... 5

2.2. Terminology ............................................................................................................ 5

2.3. Stereo Vision Depth Technology Overview ............................................................. 6

3. Component Overview ..................................................................................................... 7

3.1. Stereo Depth Module .............................................................................................. 7

3.2. Left and Right Imagers ............................................................................................ 7

3.3. Infrared Projector .................................................................................................... 8

3.4. Color Sensor ........................................................................................................... 8

3.5. Labels on the Camera ............................................................................................. 9

3.6. Thermal Control ...................................................................................................... 9

3.7. Mechanical Dimensions .......................................................................................... 9

3.8. Storage and Operating Condition ...........................................................................10

3.9. PINs of M12 and M8 connectors ............................................................................11

3.10. Power consumption ............................................................................................11

4. Functional Specification .................................................................................................12

4.1. Image Formats .......................................................................................................12

4.2. Depth Field of View (FOV) ......................................................................................12

4.3. Minimum-Z Depth ...................................................................................................13

4.4. Depth Accuracy ......................................................................................................13

4.5. Depth Camera Functions........................................................................................13

4.6. Color Camera Functions ........................................................................................14

5. Firmware Updates .........................................................................................................15

6. Software ........................................................................................................................16

6.1. FRAMOS Camera Suite SDK .................................................................................16

6.2. Intel® RealSense™ Software Development Kit 2.0 ................................................17

7. Regulatory Compliance .................................................................................................18

8. Accessories ...................................................................................................................20

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1. Description and Features

1.1. Description

The FRAMOS Industrial Depth Camera D435e is built with Intel® RealSense™ technology.

The depth camera has industrial M12 ethernet and M8 power connectors and features a wide
field of view for depth and RGB sensors. Its water- and dust resistant housing is optimized for
industrial environments. The FRAMOS Industrial Depth Camera D435e is ideal for OEMs and
integrators who need 3D as well as 2D vision in their products and applications. The global
shutter of the depth sensors allows for applications with fast motion. The FRAMOS Industrial
Depth Camera D435e is compatible with the Cross-platform SDK for Intel® RealSense™
devices, enabling multiple programming languages, wrappers, sample code and tools.

1.2. Features

Resolution depth

1280 x 720 px (global shutter)

Resolution RGB

1920 x 1080 px (rolling shutter)

FOV depth (HxVxD)

86° x 57° x 94° (+/- 3°)

FOV RGB (HxVxD)

69° x 43° x 77° (+/- 3°)

Projector

Unstructured light in IR spectrum to
enhance depth quality

Operating range

0,2m – 10m+

Streaming speed

30 fps for simultaneous RGB and depth
streams @ 1280 x 720 px

Power consumption

6W (AUX) / 7W (PoE)

Housing material

Aluminium, anodized

Dimensions (LxHxW)

100mm x 47mm x 38mm

Mounting holes (backside)

4 x M3 ↧ 3,20mm

Connector 1*

M12 Ethernet, X-Coded (Datastream + PoE
possible)

Connector 2*

M8, 8 pin, A-Coded (Power supply + GPIO)

Housing Grade

IP66 / IP67 possible on project basis

Protection glass

AR coating, scratch resistant (6H)

Physical Interface

Gigabit ethernet

Camera weight

Ca. 250 grams

Recommendation: Cable connectors should be fixed with a tool (wrench/key) so that the
connectors do not rotate under force.

1.3. Minimum System Requirements

▪ Linux Ubuntu 16.04 / Windows 10
▪ Gigabit Network Interface Card

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2. Introduction

2.1. Purpose of this Document

This document captures the specifications and the design–in details for the FRAMOS Depth
Camera D435e. This document provides information necessary to understand and implement
the camera system.

2.2. Terminology

Term

Description

6DOF

Six degrees of freedom (6DoF) refers to the freedom of
movement of a rigid body in three-dimensional space.
Forward/back, up/down, left/right, pitch, yaw, roll.

Stereo Depth

The distance between the center of the left and right imagers in a

Baseline

stereo camera.

Depth

Depth video streams are like color video streams except each
pixel has a value representing the distance away from the
camera instead of color information.

FOV

Field of View (FOV) describes the angular extent of a given
scene that is imaged by a camera. A camera's FOV can be
measured horizontally, vertically, or diagonally.

IR Projector

This refers to the source of infrared (IR) light used for illuminating
a scene, object, or person to collect depth data.

Imagers

Depth camera system uses a pair of cameras referred as imagers
to calculate depth. They are identical cameras configured with
identical settings.

Image Signal
Processor (ISP)

Image processing functions to enhance color image quality.

Left imager

From the perspective of the stereo camera looking out at the
world, the left imager is on the left side of the camera module.
Thus, when the user is facing the D4 camera, the left imager is
actually, on the right side of the camera module.

Lens

This refers to the optical component of an imager in the D4
camera. Its purpose is to focus the incoming light rays onto the
CMOS chip in the imager.

Platform camera

This refers to the two-dimensional (2D) color camera on platform.

RMA

Return material authorization.

TBD

To Be Determined. In the context of this document, information
will be available in a later revision.

DHCP

Dynamic Host Communication Protocol, it is used for network
configurations of clients by a server.

LLA

Link-local address, a network address that is valid only for
communications within the network segment or the domain that
the host is connected to.

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2.3. Stereo Vision Depth Technology Overview

The FRAMOS Industrial Depth Camera D435e uses stereo vision to calculate depth. The
stereo vision implementation consists of a left imager, right imager, and an optional infrared
projector. The infrared projector projects non-visible static IR pattern to improve depth
accuracy in scenes with low texture. The left and right imagers capture the scene and send
image data to the vision processor. The vision processor calculates depth values for each pixel
in the image by correlating points on the left image to the right image. The depth pixel values
are processed to generate a depth frame. Subsequent depth frames create a depth video
stream.

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3. Component Overview

3.1. Stereo Depth Module

The stereo depth module is the Intel® RealSense™ D430 with the following specification:

Baseline

50mm

Left/Right Imagers Type

Wide

Depth FOV HD (degrees)

H:87±3 / V:58±1 / D:95±3

Depth FOV VGA (degrees)

H:75±3 / V:62±1 / D:89±3

IR Projector

Wide

IR Projector FOV

H:90 / V:63 / D:99

Module Dimensions (mm)

X=70.7mm / Y=14mm / Z=10.53mm

NOTE:
H – Horizontal FOV, V – Vertical FOV, D – Diagonal FOV, X – Length, Y – Breadth, Z –

Thickness
Depth FOV specified at 2 meters
Due to mechanical tolerances of +/-5%, Max and Min FOV values can vary from lens to lens

and module to module by ~ +/- 3 degrees.

3.2. Left and Right Imagers

Image Sensor

OmniVision OV9282

Active Pixels

1280 X 800

Sensor Aspect Ratio

8:5

Format

10-bit RAW

F Number

f/2.0

Focal Length

1.93mm

Filter Type

None

Focus

Fixed

Shutter Type

Global Shutter

Horizontal Field of View

91.2 deg

Vertical Field of View

65.5 deg

Diagonal Field of View

100.6 deg

Distortion

<=1.5%

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3.3. Infrared Projector

The infrared projector improves the ability of the stereo camera system to determine depth by
projecting a static infrared pattern on the scene to increase texture on low texture scenes. The
infrared projector meets class 1 laser safety under normal operation. The power delivery and
laser safety circuits are on the stereo depth module. The infrared projector is referred as
Standard or Wide based on field of projection.

Projector

Infrared

Pattern Type

Static

Illuminating Component

Vertical-cavity surface-emitting laser
(VCSEL) + Optics

Laser Controller

PWM

Optical Power

360mW average, 4.25W peak

Laser Wavelength

850nm ± 10 nm nominal @ 20°C

Laser Compliance

Class 1, IEC 60825-1:2007 Edition 2, IEC
60825-1:2014 Edition 3

H. Field of Projection

86°±3°

V. Field of Projection

57°±3°

D. Field of Projection

94°±3°

3.4. Color Sensor

The color sensor on the stereo depth module in addition to color image provides texture
information. Usages for the texture information include overlay on a depth image to create a
color point cloud and overlay on a 3d model for reconstruction.

Image Sensor

OmniVision OV2740

Color Image Signal Processor

Discrete

Active Pixels

1920 X 1080

Sensor Aspect Ratio

16:9

Format

10-bit RAW RGB

F Number

f/2.0

Focal Length

1.88mm

Filter Type

IR Cut Filter

Focus

Fixed

Shutter Type

Rolling Shutter

Horizontal Field of View

69.4 deg

Vertical Field of View

42.5 deg

Diagonal Field of View

77 deg

Distortion

<=1.5%

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3.5. Labels on the Camera

The label on the sticker of the camera indicates two numbers:

PC = Product Code

With this number you can purchase the exact same product at
FRAMOS.

SN = Serial Number

This is the unique identifier of a single camera. For support and
RMA cases, this number is necessary.

3.6. Thermal Control

The camera has thermal sensors implemented that prevent the camera from taking damage
by overheating. The temperature is mainly regulated by the measured housing temperature.
Once it exceeds 60°C, the intensity of the projector is reduced and eventually it will be switched
OFF.

Most of the heat is conducted to the rear plate of the camera. Therefore, heat conductive
material for mounting the camera is recommended.

3.7. Mechanical Dimensions

Front View

Side View

Back View

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3.8. Storage and Operating Condition

Condition

Description

Min

Max

Unit

Storage (not
operating)

Temperature
(Sustained,
Controlled)

-20

70

°C

Relative
Humidity

5

95

% non
condensing

Case Temperature
(operating)

Temperature

0

60

°C

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3.9. Connectors and PINs of M12 and M8

Ethernet M12 connector, X-Coded, Female

M12 Pin

RJ 45

1

1

(MX0+)

2

2

(MX0-)

3

3

(MX1+)

4

6

(MX1-)

5

7

(MX3+)

6

8

(MX3-)

7

5

(MX2-)

8

4

(MX2+)

Power M8 connector, A-Coded, Male

M8 Pin

Description

1

DC Power supply, 12-24V
DC (+/- 10%)

2

Opto isolated IN

3

Opto isolated OUT

4

GND for opto isolated I/O

5

Direct coupled I/O 1
(optional)

6

Direct coupled I/O 2
(optional)

7

Not used

8

Power GND

3.10. Power consumption

C o nd ition

Typical

Max

Power via M8

5.5W

7W

Power via M12 (PoE)

6.9W

8W

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4. Functional Specification

4.1. Image Formats

Possible Streams with Gigabit Ethernet

Depth

RGB

90fps

60fps

30fps

25fps

15fps

6fps

1280x720

1920x1080

- - - - ok

ok

1280x720

1280x720

- - ok

ok

ok

ok

960x540

960x540

- - ok

ok

ok

ok

848x480

848x480

-

ok

ok

ok

ok

ok

848x480

1920x1080

- - - - ok

ok

640x480

640x480

ok

ok

ok

ok

ok

ok

640x360

640x360

ok

ok

ok

ok

ok

ok

424x240

424x240

ok

ok

ok

ok

ok

ok

NOTE: The zero series firmware (v.1.3.4) will have only 1280x720 @ 30fps implemented. The
other options will follow with later firmware releases.

4.2. Depth Field of View (FOV)

Format

FOV

Horizontal FOV (VGA 4:3)

74

Vertical FOV (VGA 4:3)

62

Diagonal FOV (4:3)

88

Horizontal FOV (HD 16:9)

86

Vertical FOV (HD 16:9)

57

Diagonal FOV (HD 16:9)

94

NOTE:
Due to mechanical tolerances of +/-5%, Max and Min FOV values can vary from lens to lens

and module to module by ~ +/- 3 degrees.
The Depth FOV specified is at 2 meters distance.

Depth Field of View (Depth FOV) at any distance (Z) can be calculated using the equation:

Depth FOV = Depth Field of View
HFOV = Horizontal Field of View of Left Imager on Depth Module
B = Baseline

Z = Distance of Scene from Depth Module

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4.3. Minimum-Z Depth

The Minimum-Z Depth is the minimum distance from depth camera to scene for which Vision
Processor D4 provides depth data.

Resolution

Min-Z (mm)

1280x720

280

960x540

195

848x480

175

640x480

150

640x360

120

424x240

105

NOTE: The zero series firmware (v. 1.3.4) will have only 1280x720 @ 30fps implemented.
The other options will follow with later firmware releases.

4.4. Depth Accuracy
For depth accuracy and the optimum settings of the camera, please refer to:

https://dev.intelrealsense.com/docs/tuning-depth-cameras-for-best-performance

Generally, z-accuracy of the camera should be < 2% of the measured distance.

4.5. Depth Camera Functions

Control

Description

Min

Max

Manual Exposure(1) (ms)

Control sensor exposure period

1

165

Manual Gain(1)
(Gain 1.0 = 16)

Control sensor digital gain

16

248

Laser Power (on/off)
(On = 1)

Power to IR Projector

0

1

Manual Laser Power
(mW)

Laser Power setting (30mW
steps)

0

360

Auto Exposure Mode
(Enable = 1)

Auto Exposure Mode. When Auto
Exposure is enabled, Exposure
and Gain are set based on the
environment condition

0

1

Auto Exposure ROI

Auto Exposure on a

selected
ROI

T-0
L-0
B-1
R-1

T-719
L-1279
B-720
R-1280

NOTES:

(1) – Not supported in Auto Exposure Mode
T - Top, L – Left, B - Bottom, R – Right

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4.6. Color Camera Functions

Control

Description

Min

Max

Auto-Exposure
Mode

Automatically sets the exposure time
and gain for the frame.

0x1

0x8

Manual Exposure
Time

Sets the absolute exposure time when
autoexposure is disabled.

41

10000

Brightness

Sets the amount of brightness applied
when autoexposure is enabled.

-64

64

Contrast

Sets the amount of contrast based on the
brightness of the scene.

0

100

Gain

Sets the amount of gain applied to the
frame if autoexposure is disabled.

0

128

Hue

Sets the amount of hue adjustment
applied to the frame.

-180

180

Saturation

Sets the amount of saturation
adjustment applied to the frame.

0

100

Sharpness

Sets the amount of sharpening
adjustment applied to the frame.

0

100

Gamma

Sets amount of gamma correction
applied to the frame.

100

500

White Balance
Temperature
Control

Sets the white balance when AWB is
disabled.

2800

6500

White Balance
Temperature Auto
(AWB)

Enables or disables the AWB algorithm.

0

1

Power Line
Frequency

Specified based on the local power line
frequency for flicker avoidance.

0

3

Backlight
Compensation

Sets a weighting amount based on
brightness to the frame.

0

1

Low Light Comp

Low Light

0

1

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5. Firmware Updates
The firmware contains the operational instructions. Firmware on the camera can be upgraded

via Ethernet interface. This allows implementing new features and potential bug fixes using
the firmware update tool.

Firmware update tool
The firmware update tool is used to update the firmware on FRAMOS Industrial Depth

Cameras. The firmware update file is verified by the tool for compatibility with selected camera
before firmware update process is initiated.

Usage example on Linux:
./UpdateFirmware FRAMOS_D435e_r1111_v1_3_4_0.fw_update

Select camera from list, and confirm to initiate firmware update procedure:

When the progress information reaches 100%, firmware update is complete.

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6. Software
Instructions how to quickly start up the camera can be found in the quick start guide: LINK

6.1. FRAMOS Camera Suite SDK
The FRAMOS CameraSuite Software Development Kit (SDK) provides a set of tools, guides

and samples, used for configuration and image acquisition from GigE Vision cameras. The
CameraSuite SDK consists of the following components:

• CameraSuite API - Application Programming Interface (API) for configuration and

image acquisition from GigE Vision cameras

• FRAMOS GigE Vision filter driver - High-performance network filter driver designed to

ensure optimal performance of the GigE Vision cameras

• Sample code - Example source code for various CameraSuite API functions

• Tools - tools used for operating the FRAMOS Industrial Depth Cameras

FRAMOS CameraSuite API, assisted by FRAMOS GigE Vision filter driver, acts as a middleware
between FRAMOS Industrial Depth Camera D435e and Intel® RealSense™ SDK 2.0, allowing
D435e camera to be used by tools based on the Intel® RealSense™ SDK 2.0.

Set IP Configuration
ConfigureIP tool is used to configure the IP address of a FRAMOS Industrial Depth Camera.

Supported IP configurations are:

• Persistent IP - fixed IP address which is stored in camera non-volatile memory

• DHCP - camera attempts to acquire IP address via DHCP protocol

• LLA - camera attempts to acquire IP address via LLA protocol, always enabled

The camera and network interface card (NIC) that is used to connect to the camera need to
be on the same subnet for the camera to be accessible by the software. For this reason, the
ConfigureIP tool allows to temporarily change the current IP address of the camera. This is
useful in situations where NIC and camera are on different subnets, and IP configuration of the
NIC cannot be changed.

Usage example on Linux - setting persistent IP address, disable DHCP:
./ConfigureIp

Select camera from list, and then set the desired IP configuration:

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Note that the newly set IP configuration will not be active until camera is restarted.

6.2. Intel® RealSense™ Software Development Kit 2.0

FRAMOS provides a modified version of the SDK 2.0, which includes a wrapper of the Camera
Suite as described above. The modified version of the SDK 2.0 can be downloaded here: LINK

The SDK at a minimum includes:
Intel® RealSense™ Viewer - This application can be used view, record and playback depth

streams, set camera configurations and other controls.
Depth Quality Tool - This application can be used to test depth quality, including: distance to

plane accuracy, Z accuracy, standard deviation of the Z accuracy and fill rate.
Debug Tools - These command line tools gather data and generate logs to assist in debug of

camera.
Code Examples - Examples to demonstrate the use of SDK to include D400 Series camera

code snippets into applications.
Wrappers -Software wrappers supporting common programming languages and environments

such as ROS, Python, Matlab, node.js, LabVIEW, OpenCV, PCL, .NET and more.
Additional documentation and instructions on the Intel SDK can be found here:

https://dev.intelrealsense.com/docs/docs-get-started

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7. Regulatory Compliance
Certification statement
This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition 3

(2014) internationally and IEC60825-1, Edition 2 (2007) in the US. This product complies with
US FDA performance standards under 21 CFR 1040.10 for laser products except for deviations
pursuant to Laser Notice No. 50 dated June 24, 2007.

Cautionary Statement
Do not power on the product if any external damage was observed.
Do not attempt to open any portion of this laser product.
Invisible laser radiation when opened. Avoid direct exposure to beam.
There are no user serviceable parts with this laser product.

Modification or service of the stereo module, specifically the infrared projector, may cause the
emissions to exceed Class 1.

No magnifying optical elements, such as eye loupes and magnifiers, are allowed.
Do not try to update camera firmware that is not officially released for specific camera module

and revision.

Waste Electrical and Electronic Equipment (WEEE)
In the EU, this symbol means that this product must not be disposed of with household waste.

It is your responsibility to bring it to a designated collection point for the recycling of waste
electrical and electronic equipment. For more information, contact the local waste collection
center or your point of purchase of this product.

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Other Certifications

Shock
DIN EN 60068-2-27

Vibration
DIN EN 60068-2-6, DIN EN 60068-2-64

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8. Accessories
Recommended Cables

M12 - Connector
M12_to_RJ45 cable, 2m (Order Number: 79 9723 020 08) -> https://www.binder-

connector.com/en/products/automation-technology-speciality-connectors/m12-d-m12­x/connecting-cable-male-cable-connector-m12-x-1-rj45-male-connector-shielded­ip67/#79972302008

Connection line M12 X-coded, 2.0 m M12 plug angled - RJ45 plug straight 8-pole, position of
coding 225°" (https://www.metz-connect.com/en/products/142m2xc5020)

M8 - Connector
M8 female cable connector, Contacts: 8, 2m (Order Number: 77 3406 0000 50008-0200) ->

https://www.binder-connector.com/en/products/automation-technology/m8/female-cable­connector-overmoulded-screw-type-m8x1-with-hexagonal-die-cast-threaded-ring­pur/#7734060000500080200

Sensor/actuator cable - SAC-8P- 1,5-PUR/M 8FS SH – 1404147
(https://www.phoenixcontact.com/online/portal/pi?uri=pxc-oc-

itemdetail:pid=1404147&library=pien&tab=1)

M8: Sensor/actuator cable - SAC-8P- 1,5-PUR/M 8FR – 1404191
(https://www.phoenixcontact.com/online/portal/us/?uri=pxc-oc-

itemdetail:pid=1404191&library=usen&pcck=P-18-01-01&tab=1&selectedCategory=ALL)