Blue Technix Argos3D - P100 User manual

Argos3D – P100
User Manual
Version 1.5

Bluetechnix GmbH
Waidhausenstraße 3/19
A-1140 Vienna
AUSTRIA
[e-mail]
www.bluetechnix.com
Argos®3D – P100 – User Manual
Document No.: 900-308 / A
Publication date: August 22, 2013
Applicable to: SDK release ≥2.2
Subject to change without notice. Errors excepted.
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 Bluetechnix GmbH.
Windows is a registered trademark of Microsoft.
© Bluetechnix 2013

Table of Contents
1General Information.......................................................................................................................... 5
1.1 Symbols Used........................................................................................................................... 5
1.2 CE Declaration .......................................................................................................................... 6
1.3 FCC Declaration........................................................................................................................ 6
1.4 Eye Safety ................................................................................................................................. 6
Illumination: LEDs ................................................................................................................................ 6
Wavelength .......................................................................................................................................... 6
850nm (typ) .......................................................................................................................................... 6
In accordance with EN62471:2008 resp. IEC62471:2006................................................................... 6
Output power ....................................................................................................................................... 6
TBD ...................................................................................................................................................... 6
2Overview........................................................................................................................................... 7
2.1 In the box .................................................................................................................................. 7
2.2 Interfaces & Connectors ........................................................................................................... 7
3Quick Start........................................................................................................................................ 8
4Hardware Installation ....................................................................................................................... 9
5Software ......................................................................................................................................... 10
5.1 Demo Application.................................................................................................................... 10
5.2 Software Development Kit (SDK) ............................................................................................ 10
6Camera Features............................................................................................................................ 11
6.1 Camera Data Format............................................................................................................... 11
6.2 Modulation Frequency ............................................................................................................ 12
6.3 Ambiguity Range..................................................................................................................... 12
6.4 Frame-rate vs. Integration Time.............................................................................................. 12
6.5 External Trigger and Modulation Signal Interface .................................................................. 12
6.5.1 External Modulation Signal .............................................................................................. 12
6.5.2 External Hardware Trigger Signal.................................................................................... 12
7Appendix ........................................................................................................................................ 13
7.1 Operating Conditions .............................................................................................................. 13
7.1.1 Input current..................................................................................................................... 13
7.2 Optical Characteristics............................................................................................................ 14
7.3 Measurement Specifications .................................................................................................. 14
7.3.1 Measurement Environmental Conditions ........................................................................ 14
7.3.2 Typical Reproducibility .................................................................................................... 14
7.3.3 Typical Integration Time .................................................................................................. 16
7.3.4 Typical Range .................................................................................................................. 16
© Bluetechnix 2013

7.3.5 Accuracy of Distances ..................................................................................................... 17
7.4 Environmental considerations................................................................................................. 17
7.4.1 Case Temperature ........................................................................................................... 17
7.4.2 Integration Time vs. Frame-rate ...................................................................................... 18
7.5 Connector Description ............................................................................................................ 18
7.5.1 Modulation Light Interface (a) .......................................................................................... 18
7.5.2 USB Micro B Connector (b) ............................................................................................. 19
7.5.3 Power connector (c)......................................................................................................... 19
7.5.4 Tripod Socket (d) ............................................................................................................. 20
7.5.5 Mounting Holes (h)........................................................................................................... 20
7.6 Mechanical Outline.................................................................................................................. 20
7.7 Support ................................................................................................................................... 20
7.7.1 General Support............................................................................................................... 20
7.8 Software Packages ................................................................................................................. 21
8Product History .............................................................................................................................. 22
8.1 Version Information ................................................................................................................. 22
8.1.1 Argos3D – P100 ............................................................................................................... 22
8.2 Anomalies................................................................................................................................ 22
8.3 Document Revision History .................................................................................................... 22
9Index............................................................................................................................................... 23
© Bluetechnix 2013

© Bluetechnix GmbH 2013
All Rights Reserved.
The information herein is given to describe certain components and shall not be considered as a guarantee
of characteristics.
Terms of delivery and rights of technical change reserved.
We hereby disclaim any warranties, including but not limited to warranties of non-infringement, regarding
circuits, descriptions and charts stated herein.
Bluetechnix makes and you receive no warranties or conditions, express, implied, statutory or in any
communication with you. Bluetechnix specifically disclaims any implied warranty of merchantability or fitness
for a particular purpose.
Bluetechnix 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. He is allowed to use the board only if
he has the qualification. More information is found in the General Terms and Conditions (AGB).
Information
For further information on technology, delivery terms and conditions and prices please contact Bluetechnix
(http://www.bluetechnix.com).
Warning
Due to technical requirements components may contain dangerous substances.
© Bluetechnix 2013

Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
1General Information
This guide applies to all smart cameras based on the Argos® smart camera platform from Bluetechnix
GmbH. Follow this guide chapter by chapter to set up and understand your product. If a section of this
document only applies to certain camera models, this is indicated at the beginning of the respective section.
1.1 Symbols Used
This guide makes use of a few symbols and conventions:
Warning
Indicates a situation which, if not avoided, could result in minor or moderate injury and/or
property damage or damage to the device.
Caution
Indicates a situation which, if not avoided, may result in minor damage to the device, in
malfunction of the device or in data loss.
Note
Notes provide information on special issues related to the device or provide information that will
make operation of the device easier.
Procedures
A procedure always starts with an headline
1. The number indicates the step number of a certain procedure you are expected to
follow. Steps are numbered sequentially.
This sign indicates an expected result of your action.
References

This symbol indicates a cross reference to a different chapter of this manual or to an
external document.
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
1.2 CE Declaration
Bluetechnix GmbH hereby declares that this Argo3D-P100 product is in compliance with the essential
requirements and other relevant provisions of Directive 1999/5/EC.
(http://www.bluetechnix.com/goto/argos3d-p100)
1.3 FCC Declaration
This device complies with part 15 of the FCC rules. Operation is subject to the following two conditions: (1)
this device may not cause harmful interference, and (2) this device must accept any interference received,
including interference that may cause undesired operation.
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to
part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial environment. This equipment generates, uses,
and can radiate radio frequency energy and, if not installed and used in accordance with the instruction
manual, may cause harmful interference to radio communications. Operation of this equipment in a
residential area is likely to cause harmful interference in which case the user will be required to correct the
interference at his own expense.
(http://www.bluetechnix.com/goto/argos3d-p100)
FCC ID: SSZ-A3DP100150200
Trade Name: Bluetechnix GmbH
Model: Argos3D - P100
Classification of ITE (EN55022)
This is a class A product. In a domestic environment this product may cause radio interference
in which case the user may be required to take adequate measures.
1.4 Eye Safety
Illumination: LEDs
Wavelength
850nm (typ)
In accordance with
EN62471:2008 resp.
IEC62471:2006
Output power
TBD
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
2Overview
2.1 In the box
•Argos3D - P100
•Micro USB Cable
•5VDC/3Apower supply
•Tripod
•Quick Start Guide
•Argos3D - P100 Support CD including SDK, Visualizer, manuals etc.
•Argos3D - P100 ADAF Basic CD
2.2 Interfaces & Connectors
Figure 2-1: Argos3D – P100 views
a. Modulation Light Interface
b. USB Micro B Connector
c. Power Connector
d. Tripod Socket
e. Camera Window
f. IR LED Window
g. Cooling Plate
h. Mounting Holes (Use M4 screws for mounting the device to an additional cooling plate)
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
3Quick Start
Your Argos3D - P100 comes with a printed Quick Start Guide. Please follow this guide for your first
installation. The Quick Started Guide can also be found on our support page:
Quick Start

https://support.bluetechnix.at/wiki/Argos%C2%AE3D_P100_Camera
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
4Hardware Installation
Caution
Cooling plate may become hot!
If the Argos3D - P100 is used without any additional heat sink attached to the cooling plate, the
recommended minimum spacing between casing and surrounding is 10mm in each direction.
Note
By mounting the camera onto a heat sink, it’s allowed to decrease the recommended minimum
spacing. In this case the customer is responsible for an adequate cooling.
Figure 4-1: Recommended minimum spacing for air circulation
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
5Software
5.1 Demo Application
For the first evaluation of the camera and to evaluate different settings and configurations a demo application
is provided. The demo application can be downloaded from our support web site. Refer to the “Quick Start
Guide” for more information and visit our support site.
Software and documentation

https://support.bluetechnix.at/wiki/Argos%C2%AE3D_P100_Camera
5.2 Software Development Kit (SDK)
To evaluate the camera and to integrate it in your own application a powerful software development kit is
provided. The software development kit runs under Linux and Windows. Refer to our support site for
downloading the SDK and for additional information and documentation.
Software and documentation

https://support.bluetechnix.at/wiki/Argos%C2%AE3D_P100_Camera
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
6Camera Features
6.1 Camera Data Format
The camera provides an array of depth data in meters and an array of grayscale values for each pixel. In
addition also a 3D XYZ point-cloud is provided. The following image shows the coordinate system from a
cameras point of view:
27,5mm
14mm
Optical axis
X
Y
Z
19199 19198
0
...
1
2
10mm
Figure 6-1: Argos-P100 Coordinate System
For information about the data and buffer format please refer to the software documentation site.
Support Link

https://support.bluetechnix.at/wiki/Argos%C2%AE3D_P100_Camera
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
6.2 Modulation Frequency
The modulation frequency is set to 30 MHz per default. Other modulation frequencies can be set using the
SDK. Be aware that this changes also the ambiguity range of the camera. Refer to our software
documentation to see how to change the modulation frequency.
Software and documentation

https://support.bluetechnix.at/wiki/Argos%C2%AE3D_P100_Camera
6.3 Ambiguity Range
The ambiguity range of the camera is per default approximately 5m. If you have objects which are more than
5 meters away from the camera, they will be shown as to be very close to the camera. If you need an
enhancement of the ambiguity range without changing the modulation frequency please contact our support
team at [e-mail].
6.4 Frame-rate vs. Integration Time
The camera integration time is limited by default to 2.7ms. It can be enhanced by using the command
DisableIntegrationTimeCheck (Refer to 7.7.1).
Caution
Be careful when disabling the integration time limit.
Higher integration times may require enhanced cooling. Be aware to provide enough cooling in
that case! (Refer to 7.4.2).
6.5 External Trigger and Modulation Signal Interface
6.5.1 External Modulation Signal
The camera provides an external connector (refer to 7.5.1) where the modulation signal is provided as LVDS
signal to synchronize with an external light source. This signal must be enabled by software before it can be
used. Please refer to our software documentation (see 7.7.1) to see how to activate the external modulation
signal.
6.5.2 External Hardware Trigger Signal
The camera provides an external connector (Refer to 7.5.1) where a hardware trigger can be applied. The
hardware trigger must be enabled by software. Please refer to our software documentation (see 7.7.1) to see
how to enable the hardware trigger. Refer to 7.5.1 for the signal description.
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
7Appendix
7.1 Operating Conditions
Symbol
Parameter
Min
Typical
Max
Unit
VIN
Input supply voltage
4.9
5.0
5.2
V
I
IN
Input current 1)
TBD
900 1)
TBD
mA
T
OP
Operating Temperature
0
+652)
°C
T
STG
Storage Temperature
-40
+125
°C
FITP3)
Frame-rate Integration Time Product
550
Table 7-1: Operating Conditions
1) Note
Valid for a frame-rate of 40fps and an integration time of 1500µs. The input current depends on
the applied frame-rate and integration time. Please refer to 7.1.1.
2) Note
The maximum operating temperature depends on the frame-rate and integration time. Refer to
Figure 2-1 for recommended integration time to frame-rate combinations.
3) Note
Refer to 7.4.2 for valid frame-rate to integration time combinations.
7.1.1 Input current
The input current depends on the selected frame-rate (fps) and the integration time (tINT). The following figure
shows typical values. The values for the x axis shows the Frame-rate Integration Time Product (FITP) which
is calculated as follow:
 = [] 1
4
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
Figure 7-1: Input current depending on frame-rate integration time product
7.2 Optical Characteristics
Symbol
Parameter
Min
Typical
Max
Unit
#LEDs
Nr. of LEDs
2
ΛCENTROID
Centroid-Wavelength of Illumination
850
nm
Δλ
Spectral Bandwidth
30
nm
Ie
Radiant intensity
W/sr
FoVH
Horizontal Field of View
90
Deg
FoVV
Vertical Field of View
67,5
Deg
7.3 Measurement Specifications
7.3.1 Measurement Environmental Conditions
All the following measurements have been acquired at the following constant environmental conditions.
Parameter
Value
Temperature
23 °C
Humidity
35 %
Ambient light
2 kLux
Modulation Frequency
30 MHz
Frame-rate
15 fps
Table 7-2: Environmental Specification
7.3.2 Typical Reproducibility
The following table shows the standard deviation over 100 samples.
Measuring range
[mm]
White target (90%)
[mm]
Integration time
[ms]
Gray target (18%)
[mm]
Integration time
[ms]
100
±1,5
0,5
300
±0,5
0,5
±1,5
0,5
500
±1
0,5
±3
0,5
700
±2
0,5
±3
1,0
0
0.5
1
1.5
2
2.5
3
0200 400 600 800 1000
Input Current [A]
Frame-rate Integration Time Product
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
Measuring range
[mm]
White target (90%)
[mm]
Integration time
[ms]
Gray target (18%)
[mm]
Integration time
[ms]
900
±3,5
0,5
±7
1,0
1100
±2,5
1,0
±7
1,5
1300
±3,5
1,0
±11
1,5
1500
±5
1,0
±11
2,0
1700
±5
1,5
±12
5,0
1)
1900
±5
1,5
±14
5,0
1)
2100
±6,5
1,5
±14
10,01)
2300
±6,5
2,0
±15
10,01)
2500
±9
2,0
±23
10,01)
2700
±10
2,0
±31
10,01)
2900
±14
2,0
±49
10,01)
Table 7-3: Typical Reproducibility
1) Note
The integration time limit can be disabled with the source command
DisableIntegrationTimeCheck. Otherwise the max integration time is limited to 2,7ms. Refer to
our support internet site for information how to apply this command (see 7.7.1).
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
7.3.3 Typical Integration Time
Measuring range [mm]
Integration time for white target
(90%) [ms]
Integration time for gray target
(18%) [ms]
500
1,0
1,0
1000
1,0
1,5
1500
1,5
2,0
2000
1,5
3,0
2500
2,0
5,0 1)
3000
2,5
10,0 1)
Table 7-4: Typical Integration Time
7.3.4 Typical Range
Integration time
[ms]
Minimum distance
for white target
(90%) [mm]
Maximum
distance for white
target (90%) [mm]
Minimum distance
for gray target
(18%) [mm]
Maximum
distance for gray
target (18%) [mm]
0,5
300
1500
100
500
1,0
300
2000
100
1000
1,5
300
2000
300
1500
2,0
500
3000 1)
300
2000
2,5
500
3000 1)
300
2000
3,0 1)
500
3000 1)
300
2000
5,0 1)
500
4000 1)
300
3000 1)
10,0 1)
500
6000 1)
500
3000 1)
Table 7-5: Typical Range
1) Note
The integration time limit can be disabled with the source command
DisableIntegrationTimeCheck. Otherwise the max integration time is limited to 2,7ms. Refer to
our support internet site for information how to apply this command (see 7.7.1).
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
7.3.5 Accuracy of Distances
The following table has been determined by calibrating the device at a distance of 1500mm and an
integration time of 1,5ms. For applications with specific environment optimized calibration may improve the
error results.
Measuring
range [mm]
White target (90%)
[mm]
Integration time [ms]
Gray target (18%)
[mm]
Integration time
[ms]
500
±5
1,0
±10
1,0
1000
±1
1,0
±1
1,5
1500
±1
1,5
±5
2,0
2000
±1
1,5
±10
3,0 1)
2500
±20
2,0
±25
5,0 1)
3000
±20
2,5
±80
10,0 1)
Table 7-6: Accuracy of Distances
1) Note
The integration time limit can be disabled with the source command
DisableIntegrationTimeCheck. Otherwise the max integration time is limited to 2,7ms. Refer to
our support internet site for information how to apply this command (see 7.7.1).
7.4 Environmental considerations
7.4.1 Case Temperature
The following figure shows the expected case temperature depending on the frame-rate and integration time
product (FITP). The values for the x axis are calculated as follow:
 = [] 1
4
Figure 7-2: Expected case temperature depending on frame-rate integration time product (FITP)
0
10
20
30
40
50
60
70
0200 400 600 800 1000
Case Temperature [°C]
Frame-rate Integration Time Product
Environment temperature
25°C
Environment temperature
45°C
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
7.4.2 Integration Time vs. Frame-rate
The following table shows recommended frame-rate integration time combinations depending on the
environment temperature.
Figure 7-3: Integration Time vs Frame-rate
The limit of the frame-rate and integration time combinations is given by the Frame-rate Integration Time Product (FITP) which
is calculated as follow:  = [] 󰇣
󰇤4.
The maximum possible
FITP
at 25°C for the Argos-P100 is
550!
Caution
Be careful to not stress the device beyond the limits, otherwise you may damage the device.
7.5 Connector Description
7.5.1 Modulation Light Interface (a)
Mating Connector Type: MQ172X-4SA-CV
The Modulation Light Interface provides the modulation signal for an external illumination module (differential
LVDS, 3V).
Caution
Overvoltage on the Modulation Light Interface will destroy the Argos3D - P100.
Pin No.
Signal Name
Power Domain
Type
Description
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Hardware User Manual - Argos3D – P100 Last change: 22 August 2013
Version 1.5
Pin No.
Signal Name
Power Domain
Type
Description
1
HARDWARE_TRIGGER 1)
3V
I
Camera trigger input
2
EXT.MOD_N
3V
DP
Modulation signal output-
3
EXT.MOD_P
3V
DP
Modulation signal output+
4
SGND
-
PWR
Ground
Table 7-7: Modulation Light Interface
7.5.1.1 Timing diagram of the Hardware-Trigger signal
t
LAT
t
PH
t
PL
HW trigger edge
Illumination modulation signal
Figure 7-4: Timing diagram of the hardware trigger signal
Timing value
Description
Min
Typical
Max
Unit
tPL
Pulse Low Time before Trigger
50
ns
t
PH
Pulse High Time
50
ns
t
LAT
Trigger Edge to Frame Capture Latency
TBD
60
TBD
µs
Table 7-8: Timing specification for the hardware trigger signal
7.5.2 USB Micro B Connector (b)
A standard micro USB B Connector is used for connecting the Argos3D - P100 to a host computer.
7.5.3 Power connector (c)
Connector Type: 2.1mm ID / 5.5mm OD
Polarity:
Note
Only use the provided power supply.
© Bluetechnix 2013 Page | 19