PMD flexx2 wide User manual

pmd 3D Sensing Family
exx2 wide | Getting
Started Guide

1. exx2wideOverview 4
2. exx2wideSpecications 5
3. IncludedwiththeProduct 6
3.1. OperationRequirements 7
7
8
9
9
10
11
4. Installation
4.1. Windows10/11
4.2. Linux
5. APIDocumentation(RoyaleDocumentation)
6. RoyaleViewer
7. UseCases-ModesThatChangetheRangeand
Framerate
8. Support
13
Table of Contents
32
Complies with FDA performance standards for laser products except for conformance with IEC
60825-1 Ed. 3., as described in Laser Notice No. 56, dated May 8, 2019
Compliant product labeling not axed to the product due to size restrictions. Compliant labeling
is provided here within the user information
• Noscheduledmaintenanceisnecessarytokeeptheproductincompliance.
• Noserviceisallowedbytheuser.Unitistobeservicedorrepairedonlybyfactoryauthorizedtechni-
cians.Pleasecontactpmddirectlyifyourequireservicing.
• Theproductandembeddedlaserisnevertobeoperatediftheunitisdefectiveorthecoverorseal
isbrokenordamaged.
• Productisnottobeopened.Disassemblyofproductmyresultineyeorskinexposuretolaser
radiation.
Usethedeviceinaccordancewithitsdesignateduse.Installationandconnectionmustcomplywith
applicablenationalandinternationalstandards.
Do not operate the device with a power supply other than a standard USB3.0 power supply.
Caution –useofcontrolsoradjustmentsorperformanceofproceduresotherthanthose
speciedhereinmayresultinhazardousradiationexposure

1. exx2 wide Overview 2. exx2 wide Specications
Parameter exx2 wide
Dimensions 85mmx23mmx17mm
Time of Flight (ToF) Sensor IRS2975Inneon®REAL3™3DImageSensorIC
basedonpmdtechnology
Resolution 240x180DepthPixels
43,200DepthPoints
Weight, without USB Cable 26g
Measurement range 0.1–10m
Framerate Upto60fps(3Dframes);9pre-denedoperationmodes
Power consumption USB3.Xcompliant,min 300mW, max. 1900mW
Illumination 940nm,VCSEL Laser Diode,LaserClass1, 0.8W
Software RoyaleSDK(C/C++based,supportsMatlab,Python, OpenCV,ROS1/2)
Viewing angle (H x V) 106°x86°
Interface USB Type C(data&power)
Depth resolution <=2.5%ofdistance,allmodes / <= 1,5% of distance, full FoV at 2m
Sunlight Tolerance At100KLumens(FullSunlight),Loses~50%maxrangevs.Indoors
Operating System Windows10/11,Linux/ARM, macOS* (Apple Silicon)
•Theexx2wideisa3Dimaging,
Time-of-Flight(ToF)USB
camerathatcanbeusedfor
experimentation,development,
orasacomponentinan
end-product
•
•
Theflexx2widehasaUSB3
connectionwhichispluggedinto
aWindowsPCoranembedded
Linuxdevelopmentsystemsuch
asaRaspberryPi
Theflexx2widehas43,200
depthpoints,andthecamera
outputstwodatastreams:the
depthmapandtheInfrared(IR)
image,bothofwhichcanbe
usedin3Dimagingalgorithms
Althoughtestedonmanydevices,wecannotguaranteeseamlessoperationwithall
USBchipsetsonthemarket.UtilizeanactiveUSBhubifproblemsoccurwithnotebook
ortabletoperation
54 *Requires Royale 5.9 and newer.

3. Included with the Product
1. flexx2wideUSB33DCamera
2. OneMeterUSB3cablewithUSB Type Catoneendfor
flexx2wide, and on theotherendUSB Type AforPCor
EmbeddedDevice
3. GettingStartedGuide
3.1. Operation Requirements
The camera development kit may be use under the following conditions:
•Theflexx2wideisintendedforindooruse
•ConnectthismoduletoacompliantUSB3.Xportonly.
•Donotusetheflexx2wideinhot,cold,dustyorhumidenvironment.
•Keeptheflexx2wideawayfrommoisture.
•Donottouchthelenswithyourhandoranysharpobjects.
•Useonlyaclean,dry,softclothforcleaning.
4. Installation
Pleaseusethesoftwaredownloadatwww.pmdtec.com/softwaretodownloadthe
softwarepackageincludingfullAPIdocumentationforRoyale,thepmdSoftware
DevelopmentKit(SDK).
Thepasswordforthedownloadis:Sh!2CBpf
UnpacktheZIPle.Youwillndseveralpackedlesinsidethatcorrespondtothe
supportedOSplatforms.ChoosetheleforyourOSandunpackittoalocationofyour
choicee.g.yourdesktoporafolderonyourPC.
76

4.2. Linux
PleaseextracttheLinuxpackage(willresultina“libroyayle-X.X.-LINUX-x86-64Bit”or
“libroyale-X.X.-LINUX-x86-32Bit”folder).Thentransferthecompletefoldertoyour
computer.
MakesurethatyouhaveproperpermissionstotheUSBdevice.Theinstallation
packagecontainsaproperruleslewhichcanbeused.Itislocatedinthe/driver/udev
directory.MakesuretoreadtheREADMEleformoredetails.
5. API Documentation (Royale Documentation)
TheRoyalesoftwarepackageprovidesalight-weightcameraframeworkfor
Time-of-Flight(ToF)cameras.Whilebeingtailoredtopmdcameras,theframework
enablespartnersandcustomerstoevaluateand/orintegrate3DTOFtechnologyon/in
theirtargetplatform.Thisreducestimetorstdemoandtimetomarket.
Thefullhtmldocumentationcanbefoundwithinthedocsubfolderintheinstallation
path(Windows)orintheunpackedfolder(Linux,Android,andmacOS).
•C:\ProgramFiles\libroyale\X.X.\doc\html\index.html
•libroyale-X.X.-[platform]/doc/html/index.html
98
4.1. Windows 10/11
•Thereareinstallersforinstallingsoftwareanddriversfortheexx2wide(libroyale-
X.X.-WINDOWS-x86-64Bit.exeandlibroyale-X.X.-WINDOWS-x86-32Bit.exe).
•Pleasefollowtheinstructionsoftheinstallationassistant.Choose“Weiter”/
”Continue”ontherstscreen,thenacceptthelicenseagreementonthesecond
screen(“Annehmen”/”Accept”).
•MakesurethatthecheckboxesforDesktopiconandinstallofthedriversonthe
thirdscreenarechecked.
•Onthefourthscreenyoumaychangetheinstallationpath.
•Aftersuccessfulinstallationyoumay
Connecttheexx2widetoyourPCviaUSB
Openthedevicemanager(onaconsoleorintheWindowssearchtype
„mmcdevmgmt.msc“andhitRETURN)
Theexx2wideshouldshowupinthe„PMDDevices“section.
Foreachconnectedexx2wideanentryshouldexist.

1110
7. Use Cases - Modes That Change the Range
and Framerate
TheexibilityofTime-of-Flightisthatitisnotlockedintoonedistance.Throughthe
useofUseCases,ausercanchangethedistanceandframeratetodialinamodethat
isbestfortheirapplication.Onaworkingsystemittakesoneframeratetochange
betweenmodes,allowingasingleToFcameradevicetochangefromnearrange,far
range,orinbetweenwithinasingleframerate.
•The“5”modes(5sub-frames)arebetterforshortdistances,orinthecasewhere
processorloadingisaconcern.TheMode5casesuseabout30%lessprocessing
overheadthantheMode9Cases
•The“9”modes(9sub-frameshavelongerrangeanddepthqualityastheyusetwo
modulationfrequencies
6. Royale Viewer
Oncetheexx2wideisattachedtoafreeUSBport,andthedriversareinplace,you
maystarttheRoyaleviewerapplicationwhichgivesyouarstindication,iftheexx2
wideisworkingonyourtargetsystem.TheRoyaleviewerdisplaysa2Danda3D
representationofthecaptureddepthdata.
Inanapplication,theuserwouldusetheC/C++compatibleRoyaleAPI.
PleaserefertotheseparateRoyaleViewer.pdfforanexplanationofthefunctionality.

8. Support
Anyissuesorproblempleasesendanemailto[e-mail].
Wetrytoanswerallemailswithinonebusinessday.
TochangethecamerarangeintheRoyaleViewer,gotoTools->UseCase(FPS),
andselectoneofthemodesonthefollowingpage.
*Actualmeasurementrangecanvarywithambientlightconditionsandreectivity.
Frequency
Pairs Mode Name Exposure Time (uS)
Number of Phases
(including dark phase) FPS Unambiguous Range*
Use the „5“ modes for faster processing, lower distance
48Mhz Short_Range_15FPS 4000 5 15 3.12m
48Mhz Short_Range_30FPS 2000 5 30 3.12m
48Mhz Short_Range_60FPS 1000 5 60 3.12m
Use the „9“ modes for longer distance, better depthmap
60Mhz-48Mhz Long_Range_5FPS 6000 9 5 12.5m
60Mhz-48Mhz Long_Range_10FPS 3000 9 10 12.5m
60Mhz-48Mhz Long_Range_15FPS 2000 9 15 12.5m
60Mhz-48Mhz Long_Range_30FPS 1000 9 30 12.5m
Use the „5/9“ Mixed Mode
120Mhz-
60Mhz-48Mhz
Short_Long_Interleaved_
30_5FPS 600/3000 5/9 30/5 1.2m/12.5m
13
12
120Mhz Ultra_Short_Range_60FPS 1000 5 60 1.2m

Technical information subject to change without notice.
This document may also be changed without notice.
October 2023
©pmdtechnologiesag
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ofpmd,Siegenunlessotherwisenoticed.Nopartofthispublicationmaybereproducedortrans-
mittedinanyformorbyanymeans,electronicormechanical,includingphotocopy,recording,orany
informationstorageandretrievalsystem,withoutpermissioninwritingfromthepublisherpmd.