Lucid Helios Flex User manual

Helios Flex Technical Manual
V1.0.2
Revised on February 17, 2020

LUCID Helios Flex Camera Technical Manual 2
Contents
Product Specification .................................................................................................................................... 4
Welcome ....................................................................................................................................................... 6
Safety and Precautions ................................................................................................................................. 6
Definitions and Symbols ........................................................................................................................... 6
General Safety Notices.............................................................................................................................. 6
Laser Radiation.......................................................................................................................................... 7
Service and Maintenance.............................................................................................................................. 9
Service....................................................................................................................................................... 9
Maintenance ............................................................................................................................................. 9
Contact Us..................................................................................................................................................... 9
Contact Sales............................................................................................................................................. 9
Contact Support ........................................................................................................................................ 9
Installing the Camera Hardware .................................................................................................................10
Mounting.................................................................................................................................................10
FFC Cable................................................................................................................................................. 10
JST Power Cable ......................................................................................................................................11
Lens ......................................................................................................................................................... 11
Helios Flex Camera Adapter Board ......................................................................................................... 11
Configuring the Jetson TX2 .........................................................................................................................12
Flashing the custom LUCID Linux4Tegra Image...................................................................................... 12
Install CUDA on the Jetson TX2............................................................................................................... 14
Install OpenCV on the Jetson TX2 ...........................................................................................................16
Setting up FlexView.....................................................................................................................................17
Initial Setup ............................................................................................................................................. 17
Running FlexView....................................................................................................................................18
FlexView Window Controls..................................................................................................................... 19
Helios Flex Information........................................................................................................................... 19
Helios Flex Settings ................................................................................................................................. 20
Using Arena Flex SDK ..............................................................................................................................20
Camera Features......................................................................................................................................... 21
Image Processing Controls...................................................................................................................... 21

LUCID Helios Flex Camera Technical Manual 3
Operating Mode..................................................................................................................................21
Exposure Time..................................................................................................................................... 22
Gain .....................................................................................................................................................22
Image Accumulation ...........................................................................................................................23
Confidence Threshold .........................................................................................................................23
Pixel Formats...........................................................................................................................................24
Range Data.......................................................................................................................................... 24
Amplitude Image (Intensity Image) ....................................................................................................25
Confidence Data.................................................................................................................................. 25
Time of Flight Invalidation ......................................................................................................................26
Multipath ............................................................................................................................................ 26
High Reflectivity ..................................................................................................................................26
Low Reflectivity................................................................................................................................... 26
Aliasing/Ambiguity..............................................................................................................................26
Veiling Glare........................................................................................................................................26
Camera Specifications................................................................................................................................. 27
Power ......................................................................................................................................................27
Temperature ...........................................................................................................................................27
Revision History .......................................................................................................................................... 28

LUCID Helios Flex Camera Technical Manual 4
Product Specification
Basic Information
Model
HLF003S-001
Resolution
0.3MP (640 x 480 px)
Framerate
30fps
Sensor
Sony DepthSense™ IMX556PLR CMOS
Optical Format
½”
Pixel Size
10um
Physical, Interface and Power Information
Interface
4-Lane MIPI D-PHY CSI-2 (FFC)
Dimension
55 x 55 x 43.7 mm
Lens Mount
Integrated S-mount lens (not user changeable)
Weight
107 g
Power Consumption
<15W
Imaging Properties
Working Range
Near Mode: up to 1.5m; Far Mode: up to 6m
Lens Field of View
59⁰x 45⁰(nominal)
Illumination
4 x VCSEL laser diodes @ 850nm
Camera Features
Exposure Control
Manual with 2 modes
Output Formats
3D Point Cloud, Intensity and Confidence
Platform Support
NVIDIA Jetson TX2

LUCID Helios Flex Camera Technical Manual 5
Standard and Certification
Compliance
RoHS, REACH, WEEE, Eye Safety IEC 60825-1:2014
Operating Case Temperature
-10⁰C to 60⁰C (case temperature)
Accuracy & Precision
Accuracy
+/- 5mm over range 0.3-1.5m (1.5m mode)
+/- 10mm over range 0.3-6.0m (6m mode)
Precision
Distance (m)
1.5m Mode (mm)
6m Mode (mm)
0.5
0.69
0.53
1
1.6
1.25
1.5
3.11
2.24
2
-
3.17
3
-
6.81
4
-
10.8
5
-
16.8
6
-
25.4

LUCID Helios Flex Camera Technical Manual 6
Welcome
HLF003S is a Time of Flight camera module featuring Sony’s DepthSense ToF sensor, along with 4 VCSEL
laser diodes operating at 850nm. The camera module along with the Jetson TX2 platform is capable of
computing depth data by measuring the time it takes for light emitted from the diodes to reflect off
objects in the scene and return to the sensor for each point of the image. HLF003S along with the Jetson
TX2 platform can produce 3D point cloud data, confidence value as well as raw intensity image data.
Safety and Precautions
Follow these guidelines carefully before using your Helios Flex camera.
Definitions and Symbols
Below is some warning, safety, and/or tips icons used in this document.
The Warning icon indicates a potentially hazardous situation. If not avoided, the
situation can result in damage to the product.
The ESD icon indicates a situation involving electrostatic discharge. If not avoided, the
situation can result in damage to the product.
This symbol is used in this manual to indicate a procedure that may cause hazardous
exposure to laser radiation.
The Help icon indicates important instructions and steps to follow.
The Light Bulb icon indicates useful hints for understanding the operation of the
camera.
The Computer icon represents useful resources found outside of this documentation.
General Safety Notices
Powering the Camera
The camera may not work, may be damaged, or may exhibit unintended behavior if
powered outside of the specified power range.
The supplied power must be within the stated voltage range.
See the Power section for further information.
Operating Temperature
The camera may not work, may be damaged, or may exhibit unintended behavior if
operated outside of the specified temperature range.
See the Temperature section for further information.

LUCID Helios Flex Camera Technical Manual 7
•Caution, use of controls or adjustments or performance of procedures other
than those specified herein may result in hazardous radiation exposure.
•Do not open the Helios camera housing.
•Do not contact the laser apertures with any objects. Damage to the laser
modules could produce hazardous radiation levels.
Electrostatic Discharge
Ensure proper precautions are implemented to prevent damage from an electrostatic
discharge.
Image Quality
Dust or fingerprints on the sensor may result in a loss of image quality.
Work in a clean and dust-free environment.
Use only compressed ionized air or an optics cleaner to clean the surface of the sensor
window. Pleaser refer to the Maintenance section for details.
Laser Radiation
The Helios Flex camera emits infrared radiation that is invisible to the human eye. Helios has been
tested to IEC / EN 60825-1: 2014 and classified as Class 1 (eye safe). The location and a sample of the
laser safety classification label are shown in Figure 1. The location and a sample of the product label are
shown in Figure 2.
Emission is produced by 4 VCSEL (Lasers) with integrated diffusers that illuminate the field of view. The
laser apertures are shown in Figure 3.
The diffusers are integral to the eye safety classification and must not be damaged or
removed. The emission characteristics are as follows:
•Wavelength: 850 nm +/- 10 nm
•Divergence (FWHM): 60°×45°
•Maximum average power: 2.2 mW (through IEC / EN 60825-1: 2014 limiting
aperture)
Figure 1. Location and Sample of Laser Safety Classification Label

LUCID Helios Flex Camera Technical Manual 8
Figure 2. Location and Sample of Product Label
Figure 3 Locations of 4 Laser Apertures

LUCID Helios Flex Camera Technical Manual 9
Service and Maintenance
Service
Helios is a precision optical instrument and contains no user serviceable parts.
If the unit sustains any damage or ceases to function as expected please contact Lucid
Vision Labs, Inc. to begin the RMA process.
Maintenance
Ensure the Helios Flex is unpowered during inspection and cleaning.
The laser apertures should be kept clear and clean.
The laser apertures should only be cleaned with a gentle dust blower such as a hand-
squeeze type lens blower. Do not contact the laser apertures during cleaning or any
other process. Do not use solvents to clean the laser apertures. If a laser aperture
becomes contaminated, e.g., splattered with paint, oils or other hard to remove
sources, contact LUCID Vision Labs, Inc. to begin the RMA process.
To achieve the specified accuracy of the Helios, the lens (see Figure 3) must be kept clean. Avoid
touching the lens – fingerprints will significantly degrade performance. Dust should be blown off with a
gentle clean air source (do not use aerosol cans) and or lens brush if necessary. Any smudges on the
glass should subsequently be removed by applying a very small amount of optical grade lens cleaning
solution or isopropanol to an optical grade swab and gently removed.
Contact Us
Think LUCID. Go LUCID.
Contact Sales
https://www.thinklucid.com/contact-us/
Contact Support
https://thinklucid.com/support/

LUCID Helios Flex Camera Technical Manual 10
Installing the Camera Hardware
Camera Installation
•Systems must be installed and operated by trained personnel.
• Safety warnings and procedures specified in this user manual must be observed.
Mounting
The camera is equipped with four pairs of M4 mounting holes. Each of the 4 side walls of Helios Flex is
equipped with a pair of M4 holes.
FFC Cable
•The Helios Flex camera interfaces with the Jetson TX2 board via the 4-Lane MIPI D-PHY CSI-2
interface via an FFC cable
•The manufacturer part number of the FFC cable that is included in the Helios Flex kit is 15021-
1233.
When using the included FFC cable, make sure the blue side is facing toward the locking
tab. Engage the FFC connector’s locking tab to its horizontal position to lock it.