FRAMOS D455e - Depth Camera Depth Origin Reference; Figure 4 - Depth Camera D415 E Depth Origin Reference; Figure 5 - Depth Camera D435 E Depth Origin Reference

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FRAMOS Industrial Depth Camera D400e Series - User Manual

Version 1.6.0

from 2021-10-15 23 of 64

4.7 Depth Camera Depth Origin Reference

Figure 4 – Depth Camera D415e Depth Origin Reference

Figure 5 – Depth Camera D435e Depth Origin Reference

Main Page

Table of Contents2
Description and Features8
Description8
Features8
System Requirements8
Introduction9
Purpose of this Document9
Terminology9
Table 1 - Terminology9
Stereo Vision Depth Technology Overview10
Component Overview11
Stereo Depth Module11
Table 2 - D430 Depth Module Properties11
Table 3 - D410 Depth Module Properties11
Table 4 - D450 Depth Module Properties11
Left and Right Imagers12
Table 5 - D430 Imager Properties12
Table 6 - D410 Imager Properties12
Table 7 - D450 Imager Properties12
Infrared Projector13
Table 8 - D430/D450 Infrared Projector Properties13
Table 9 - D410 Infrared Projector Properties13
Color Sensor14
Table 10 - D415E/D435E Color Sensor Properties14
Table 11 - D455E Color Sensor Properties14
Inertial Measurement Unit15
Image Signal Processor15
FRAMOS D4 Visual Processing Board15
Table 12 - IMU Specifications15
Table 13 - ISP Properties15
Table 14 - FRAMOS D4 Visual Processing Board Key Components16
Table 15 - FRAMOS D4 Visual Processing Board Dimensions16
FRAMOS Depth Camera D400E Series17
Depth Camera Properties17
Table 16 - FRAMOS Depth Camera D400E Series Properties17
Mechanical Dimensions18
Table 17 - D400E Series Camera Dimensions19
Physical Interfaces20
Ethernet M12 Connector, X-Coded, Female20
Figure 1 - M12 Connector PIN Layout20
Table 18 - M12 Connector PIN Layout and Description20
Power M8 Connector, A-Coded, Male21
Figure 2 - Example of Connecting M12 to RJ45, T568B Termination21
Figure 3 - M8 Connector PIN Layout21
Table 19 - M8 Connector PIN Layout and Description21
Thermal Control22
Storage and Operating Conditions22
Power Consumption22
Table 20 - Storage and Operating Conditions22
Table 21 - D400E Series Camera Power Consumption22
Depth Camera Depth Origin Reference23
Figure 4 - Depth Camera D415E Depth Origin Reference23
Figure 5 - Depth Camera D435E Depth Origin Reference23
Labels on the Camera24
Figure 6 - Depth Camera D455E Depth Origin Reference24
Table 22 - Camera Label Information24
FRAMOS Depth Camera D400E Module Variant25
D400E Module Components25
Figure 7 - FRAMOS D400E Module Components Overview25
D400E Module Variant Connectors Pinout26
Figure 8 - Connecting Interposer Cables to FRAMOS D4 Visual Processing Board26
Ethernet Connector J327
Figure 9 - FRAMOS D4 Visual Processing Board Ethernet Connector27
Table 23 - J3 Pin Assignment27
Power and IO Connector J628
Figure 10 - FRAMOS D4 Visual Processing Board Power and IO Connector28
Table 24 - J6 Pin Assignment28
Thermal Design Consideration29
Mechanical Drawings29
FRAMOS D4 Visual Processing Board29
Depth Module Interposer29
Figure 11 - FRAMOS D4 Visual Processing Board Dimensions29
Figure 12 - Depth Module Interposer Dimensions29
Depth Module Cable Bracket30
RGB Module Including Cover30
RGB Interconnect30
Figure 13 - D435E Depth Module Cable Bracket Dimensions30
Figure 14 - D415E Depth Module Cable Bracket Dimensions30
Figure 15 - D455E Depth Module Cable Bracket Dimensions30
Figure 16 - RGB Module Including Cover Dimensions30
Figure 17 - RGB Interconnect Dimensions30
Optimum Thermal Conditions31
Fundamentals of the Camera's Heat Dissipation31
Figure 18 - Hottest Part of the Camera Housing31
Table 25 - D400E Maximum Power Consumption31
Operating Conditions for Different Temperatures32
Table 26 - D400E Operating Temperature32
Table 27 - Operating Conditions for Different Temperatures32
Table 28 - Heat Dissipation Elements34
Maximum Operating Ambient Temperatures35
Summary of Operating Conditions and Temperatures35
Table 29 - Maximum Operating Ambient Temperatures35
Mounting and Deployment37
Camera Mounting37
Figure 19 - D400E Series Camera Body Back Side37
Application of External Cabling38
Cleaning Procedures38
Functional Specification39
Stream Configurations Possible39
Table 30 - Example of Possible Streams on Gigabit Ethernet Network39
Depth Field of View (FOV)40
Minimum-Z Depth40
Table 31 - Depth FOV40
Table 32 - Minimum-Z Depth40
Depth Quality Specifications41
Table 33 - Depth Quality Specifications for FRAMOS D400E Series Camera41
Depth Camera Functions42
Color Camera Functions42
Table 34 - Depth Camera Functions42
Inertial Measurement Unit Streams43
D400E Camera Specific Features43
Packet Size43
Table 35 - Color Camera Functions43
Table 36 - Inertial Measurement Unit Streams43
Inter Packet Delay44
Heartbeat Time44
Inter Cam Sync Mode44
Output Trigger Enabled45
User Output Level45
Line Debouncer Time45
Figure 20 - D400E M8 Pin 3 Behavior45
Rgb/Stereo Synchronization46
Figure 21 - D400E Line Debouncer Time46
Figure 22 - D400E Series Camera Synchronized Streams46
Syncer Mode47
Figure 23 - D400E Series Camera Streams out of Synchronization47
Figure 24 - Syncer Default Mode48
Figure 25 - Syncer Wait-For-Frameset Mode48
Firmware Updates49
Firmware Update Interactive Mode49
Figure 26 - Tool Updatefirmware Part 149
Parallel Firmware Update50
Figure 27 - Tool Updatefirmware Part 250
Figure 28 - Tool Updatefirmware Parallel Part 150
Firmware Update Non-Interactive Mode51
Figure 29 - Tool Updatefirmware Parallel Part 251
Figure 30 - Selecting One Device in Noninteractive Mode51
IP Address Conflict52
Interactive Mode52
Figure 31 - IP Address Conflict52
Figure 32 - IP Address Conflict When Selecting All Devices52
Non-Interactive Mode53
Figure 33 - IP Address Conflict, Procedure Terminated53
Software54
FRAMOS Camera Suite SDK54
Set IP Configuration54
Figure 34 - Tool Configureip Part 155
Figure 35 - Tool Configureip Part 255
Figure 36 - IP Address Conflict Warning Message56
Figure 37 - Configureip Tool Arguments56
Figure 38 - Verification of Status of DHCP Protocol56
Manage Camera Calibration Tables57
Figure 39 - Verification of Status of Persistent IP Address57
Figure 40 - Tool Calibrationtables Part157
Figure 41 - Tool Calibrationtables Part257
Intel® Realsense™ Software Development Kit 2.058
Troubleshooting59
Regulatory Compliance60
Accessories62
References63
Revision History64
Table 37 - Revision History64

FRAMOS D455e - Depth Camera Depth Origin Reference; Figure 4 - Depth Camera D415 E Depth Origin Reference; Figure 5 - Depth Camera D435 E Depth Origin Reference

Table of Contents