PMD flexx2 User manual

pmd 3D Sensing Family
exx2 | Getting Started
Guide

1. exx2Overview 4
2. exx2Specications 5
3. IncludedwiththeProduct 6
3.1.  OperationRequirements 7
4. Installation 7
4.1.  Windows10 8
4.2.  Linux 9
5. APIDocumentation(RoyaleDocumentation) 9
6. RoyaleViewer 10
7. UseCases-ModesThatChangetheRangeandFramerate 11
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 Overview 2. exx2 Specications
Parameter Flexx2
Dimensions 72.1mmx19.2mmx10.2mm
Time of Flight (ToF) Sensor IRS2381Inneon®REAL3™3DImageSensorIC
basedonpmdtechnology
Resolution 224x172DepthPixels
38,000DepthPoints
Weight, without USB Cable 13g
Measurement range 0.1–4m
Framerate Upto60fps(3Dframes);9pre-denedoperationmodes
Power consumption USB3.0compliant,average300mWforfullsystem
Illumination 940nm,VCSEL,LaserClass1
Software RoyaleSDK(C/C++based,supportsMatlab,OpenCV,ROS1/2)
Viewing angle (H x V) 56°x44°
Interface USB3.0(data&power)
Depth resolution <=1%ofdistance,allmodes
Sunlight Tolerance At100KLumens(FullSunlight),Loses~10%maxrangevs.Indoors
Operating System Windows10,Linux/ARM
• TheFlexx2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hasaUSB3
connectionwhichisplugged
intoaWindowsPCoran
embeddedLinuxdevelopment
systemsuchasaRaspberry
Pi3
• TheFlexx2has38,000depth
points,andthecameraout-
puts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

3. Included with the Product
1. exx2USB33DCamera
2. OneMeterUSB3CordwithUSBCatoneendforFlexx2,
theotherendUSB-B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isintendedforindooruse
• ConnectthismoduletoacompliantUSB3.0portonly.
• DonotusetheFlexx2inhot,cold,dustyorhumidenvironment.
• KeeptheFlexx2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.
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4.2. Linux
PleaseextracttheLinuxpackage(willresultina“libroyayle-4.X.-LINUX-x86-64Bit”or
“libroyale-3.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-ight(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MacOSX).
• C:\ProgramFiles\libroyale\4.X.\doc\html\index.html
• libroyale-4.X.-[platform]/doc/html/index.html
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4.1. Windows 10
• ThereareinstallersforinstallingsoftwareanddriversfortheFlexx2(libroyale-4.X.-
WINDOWS-x86-64Bit.exeandlibroyale-4.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Flexx2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Flexx2shouldshowupinthe„PMDDevices“section.Foreachconnected
  Flexx2anentryshouldexist.

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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Flexx2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Flexx2
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.
*Indoorestimate.Rangedependsonobjectreectivity,sunlightandacceptablenoiseoorofalgo-
rithm.Eachuserwillneedtoexperimentfortheirapplicationanduse-case.Outdooruseinfullsunlight
willlowermaxdistancebyabout10%.
Frequency
Pairs Mode Name Exposure Time (uS)
Number of Phases
(including dark phase) FPS Approximate Max Range*
Use the „5“ modes for faster processing, lower distance
20Mhz MODE_5_15FPS
Videohalf 1040 5 15 3Meters
20Mhz MODE_5_30FPS
Video 500 5 30 2
20Mhz MODE_5_45FPS 310 5 45 2.5Meters
20Mhz MODE_5_60FPS
VeryFastAcquisition 220 5 60 1Meter
Frequency
Pairs Mode Name Exposure Time (uS)
Number of Phases
(including dark phase) FPS Approximate Max Range*
Use the „9“ modes for longer distance, better depthmap
20Mhz-60Mhz MODE_9_10FPS 760 9 10 3.5Meters
20Mhz-60Mhz MODE_9_15FPS 500 9 15 3Meters
20Mhz-60Mhz MODE_9_20FPS 390 9 20 2.5Meters
20Mhz-60Mhz MODE_9_30FPS 220 9 30 2Meters
20Mhz-60Mhz MODE_9_5FPS
LowNoiseExtended 1500 9 5 4Meters
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Technical information subject to change without notice.
This document may also be changed without notice.
February 2022
©pmdtechnologiesag
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ofpmd,Siegenunlessotherwisenoticed.Nopartofthispublicationmaybereproducedortrans-
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informationstorageandretrievalsystem,withoutpermissioninwritingfromthepublisherpmd.