Vzense DCAM710 User manual

Vzense DCAM710 ToF Camera
User Manual

Table of Contents
1General Information............................................................................................ 4
1.1 Terms of Use............................................................................................ 4
1.2 Description and Features ......................................................................... 5
2Precautions ........................................................................................................ 6
2.1 Safe Usage Instructions ........................................................................... 6
2.2 Power....................................................................................................... 6
2.3 Usage....................................................................................................... 6
2.4 Temperature............................................................................................. 7
3Specifications and Requirement......................................................................... 7
3.1 General Specifications.............................................................................. 7
3.2 Electrical Specifications............................................................................ 8
3.2.1 Recommended Operating Conditions............................................. 8
3.2.2 Power Consumption....................................................................... 8
3.3 Mechanical Specifications ........................................................................ 9
3.4 Working Condition Requirements........................................................... 10
3.4.1 Hardware Requirements............................................................... 10
3.4.2 Software Requirements................................................................ 10
3.4.3 Environmental Requirements ....................................................... 10
3.4.4 Coordinate of the Camera System ................................................11
4Interface with Host............................................................................................ 12
4.1 Connectors............................................................................................. 12
4.2 LED indication........................................................................................ 13
5Principle of Time of Flight ................................................................................. 14
5.1 Scope of remote sensing technology...................................................... 14
5.1.1 Direct Time of Flight ..................................................................... 14
5.1.2 Range-gated Imaging ToF............................................................ 15
5.1.3 Continuous Waveform ToF........................................................... 16
5.1.4 Zense ToF Principle...................................................................... 17
5.2 Noise Factors......................................................................................... 18
5.2.1 Ambient Light............................................................................... 18
5.2.2 Multipath Propagation .................................................................. 18
5.2.3 Reflectivity of the Target............................................................... 18
5.2.4 Scattering Effect........................................................................... 19
6Installation........................................................................................................ 19
6.1 Hardware Installation.............................................................................. 19
6.2 Software Installation............................................................................... 20
6.2.1 Operating system......................................................................... 20
6.2.2 VZense SDK and VZenseUtool.................................................... 20
6.2.3 Firmware Upgrade........................................................................ 20
7Features........................................................................................................... 23
7.1 Multiple Camera Synchronization........................................................... 23
7.2 Range Customization............................................................................. 23

7.3 Wide Dynamic Range............................................................................. 23
7.4 Data Filtering.......................................................................................... 24
7.5 IR Image................................................................................................. 25
8DCAM710 Accessories and Package ............................................................... 26
9Customization Service...................................................................................... 26
Appendix................................................................................................................. 26
ROHS Declaration............................................................................................ 26
Eye Safety Declaration..................................................................................... 27
Reliability Declaration....................................................................................... 27
Revision History...................................................................................................... 27

1 General Information
The purpose of this document is to familiarize the customer with the correct operation
of the Zense ToF Camera. This document provides important information about the
camera’s features, hardware specification, safe use of the camera, and installation
procedures.
DCAM710 camera is a standalone ToF module, developed by Vzense team. It is
packaged into small factor and a perfect choice for evaluation or study to the ToF
technology. Of course the reliability is enough for many consumer or even industrial
scenario.
1.1 Terms of Use
Zense offers a 1-year-warranty for this camera.
Warranty Information
Please do follow the following guidelines when using the Zense camera:
Do not remove the product’s serial number label
Warranty must be void, if the label is damaged or removed and the serial number can’t
be read from the camera’s registers.
Do not open the camera housing
Do not open the housing. Touching any internal components may damage the camera.
Prevent any objects or substances from entering the camera housing. Otherwise
the camera may fail or damaged.
Avoid electromagnetic fields
Do not use the camera near strong electromagnetic fields. Prevent from electrostatic
charging.
Transport in original packaging
Transport and store the camera in its original packaging only. Do not discard the
packaging.
Clean with care
If you have to clean the housing of the camera, follow the guidelines in the notice as
below:
Use a soft, dry cloth that won’t generate static during cleaning;
To remove tough stains, use a soft cloth dampened with a small amount of neutral
detergent(Pure water); after that wipe dry;
Make sure no any residual detergent after cleaning, before reconnecting the
camera to power
Read the manual
Do read the manual carefully before using the camera.

1.2 Description and Features
VZense TOF RGBD Camera Module DCAM710 is a long range depth camera that
outputs depth video stream. In addition to depth video stream, it can provide RGB
video streams. The small size of the DCAM710 subassembly provides system
integrators flexibility to design into a wide range of products.The DCAM710 is ideal for
system integrators, OEMs, ODM and HVM. Perfect for indoor/outdoor usage with long
range depth sensing, e.g. SLAM (Simultaneous Localization and Mapping), Home
Automation, Robotics, Augmented Reality, Virtual Reality, TV Entertainment, Drones
or Automotive.
DCAM710 comprehend device position and orientation, providing the ability to map
and navigate in the world. VZense Depth Camera Middleware enables the ability to
Locate, Sense, Identify, and Interact in both the real and virtual world. DCAM710
comes with VZense Depth Camera SDK, an open source and cross platform enabling
suite including rappers, sample code and tools.
DCAM710 Features:
- TOF (Time of flight) Camera technology
- Can output RGB Image and Depth Map
- Depth Camera support image size: up to 640*480@30FPS
- RGB Camera support image size: up to 1920*1080@30FPS
- Support for output formats: RAW12 (Depth), NV12 (RGB)
- 2 x Microphone to capture sound, record audio(optional)
- 6 x Axis IMU supported(optional)
- Micro USB2.0 interface
- Support OS: Android / Linux / Windows7/8/10
- Depth Sensor SDK, sample code and tools (Open NI SDK Compatible)
- Switchable short and long range modes
- IR VCSEL security level is Class 1
Usages/Markets
- SLAM (Simultaneous Localization and Mapping)
- Home Automation & Robotics
- Augmented Reality & Virtual Reality
- TV Entertainment & Micro-projection
- Drones
- Surveillance
- Automotive

2 Precautions
2.1 Safe Usage Instructions
DANGER
Electric Shock Risk
Non-standard and improper power supplies may result in fire and
electric shock.
You must confirm the camera power supply used that meets the
Safety Extra Low Voltage(SELV) and Limited Power Supply (LPS)
requirements.
CAUTION
Invisible Radiation
This camera uses laser to work, improper use may damage the eye. Lasers are
classified as risk group 1 (low risk) according to EN 60825 which means that the
product presents no risk related to exposure limits under normal usage
conditions. Eye safety is only guaranteed when the camera is used properly
2.2 Power
The DCAM710 camera can be powered by standard USB Micro USB, for longer
distance application which needs higher power consumption, there is an additional DC
Jack power which can accept 5V~6V power. 2 A power adaptor is suggested to be in
use.
2.3 Usage
Don’t try to open the camera housing. Each camera has been calibrated at the factory
to achieve precise measurements. Touching internal components may damage the
camera and cause calibration data lost.
Incorrect plugging in and unplugging of the camera’s power cable can damage the
camera.
Don’t try to change the position of the lens, may cause damage to the camera.

Do store the camera carefully when not in use, in original package the best.
2.4 Temperature
To avoid damaging the camera and to achieve best performance, please observe the
maximum and minimum housing temperatures in Section 3.1
3 Specifications and Requirement
3.1 General Specifications
Specification
DCAM710
Technology
TOF (Time-of-flight) Depth Camera
Depth Sensor Resolution and
Frame rate
640 x 480 (VGA)@30 fps
Depth Sensor Lens Focus Type
Fix Focus
Depth Sensor Field of View (FOV)
Horizontal: 69.3°(±3°)
Vertical: 51°(±3°)
Depth Lens Distortion
<-2.6%
RGB Sensor Resolution and
Frame rate
1920 x 1080 (1080P) @30 fps
1280 x 720 (720P) @30 fps
640 x 480 (480P) @30 fps
640 x 360 (360P) @30 fps
RGB Sensor Field of View (FOV)
Horizontal: 73°(±3°)
Vertical: 40°(±3°)
RGB Lens Distortion
<-8%
Output Formats
Depth Map: RAW12
RGB Camera: H.264/MJPEG
Use Range
0.35m to 4.40m
Accuracy
<1%*
MMI
RGB LED (Indicator when stereo module is
streaming data)
System reset button

Power Supply
5V (Micro USB2.0)
Power Consumption
2W Ref. (3m)
Illumination
Indoor: 850nm/ Outdoor 940nm VCSEL
Dimensions (L*W*H)
Module: 103mm x 33mm x 22mm
PCBA: 93mm x 28mm x 17mm
Weight
71g
Interface
Micro USB 2.0
Conformity
CE, FCC, FDA, Safety EN 60825-1:2014
Working/Storage Temperature
-10℃-50℃/-40℃-70℃
Development Environment
C/C++ SDK, OpenNI, ROS
Operation System
Windows 7, 8 and 10, Android, Linux
3.2 Electrical Specifications
3.2.1 Recommended Operating Conditions
Parameter
Symbol
Conditions
Min
Typ.
Max
Units
Supply voltage on USB
VBUS
VDD
4.75
5
5.25
V
Supply voltage on DC
power
VDC
5
5.5
6
V
Operating Temperature
Ta
-20
50
°C
Operating humidity
20
80
%
Storage humidity
20
80
%
Storage temperature
-30
70
°C
*: Please consider Vf range is about 1.3V
3.2.2 Power Consumption
Parameter
Conditions
Average
Max
Units
Current at
near mode
250mm-1200mm @30 frame
307
455
mA
Current at
far mode
800mm-4300mm @30frame
482
1011
mA
Current at
xfar mode
1200mm-6300mm@15frame
508
1986
mA
Note: 5V input voltage

3.3 Mechanical Specifications
This drawing contains information about the dimensions and user mounting location of
the ToF Camera.
Fig. 1: ToF Camera Dimensions
Fig. 2: PCB Module Dimension
Unit: mm

3.4 Working Condition Requirements
3.4.1 Hardware Requirements
DCAM710 ToF Camera
Micro USB Cable (Included in package)
If you need to user your own micro USB cable for some reason, make sure the cable
itself can meet the USB standard requirement, otherwise the product may not function
well.
Or
5V~6V/2A DC Adaptor (Not included in package)
3.4.2 Software Requirements
Operating system
32-bit Windows 7/10
64-bit Windows 7/10 (recommended)
Linux (x86, x64)
Android 5.0 or above
Zense ToF Driver
The Zense ToF Driver software is available for Windows, Linux and Android operating
systems and includes the following:
SDK code
Sample code
Software user manual
3.4.3 Environmental Requirements
Temperature and Humidity
Housing temperature during operation:
Humidity during operation:
Storage temperature:
Storage humidity:
-20–50 °C
20–80 %, relative
-30–70 °C
20–80 %, relative
Heat Dissipation
Users can provide sufficient heat dissipation, like mounting the camera on a substantial,
thermally conductive component that can act as a heat sink. Or a fan can be used to
provide an air flow over the camera.

3.4.4 Coordinate of the Camera System
There are two coordinate system need to be understood, one is camera coordinate
system (CCS), one is world coordinate system (WCS).
CCS: CCS describe the two-dimensional data, the origin of coordinates is the optic
center.
WCS: WCS describe the three-dimensional information.
The CCS data can switch to the WCS data using the camera internal parameters.
Fig. 3: Origin of the Coordinate System
Meshlab and CloudCompare tools are recommended to analyze the point cloud data
saved by Zense software or SDK method.
X
Y

4 Interface with Host
4.1 Connectors
DCAM710 ToF Camera is equipped with Micro USB 2.0 and DC power connector at
the rear side of its housing as shown in below figure.
Fig. 4: DC Jack Connector

4.2 LED indication
Power supply
Working Mode
(Powered by usb2.0)
Solid Green
Working Mode
(Powered by AC Adaptor)
Solid Red
Standby Mode Solid Blue
LED indication

5 Principle of Time of Flight
5.1 Scope of remote sensing technology
· Presence or proximity detection, where the absence or presence of an object in a
general area is the only information that is required (e.g., for security applications).
This is the simplest form of remote sensing;
· Speed measurement, where the exact position of an object does not need to be
known but where its accurate speed is required (e.g., for law enforcement applications);
· Detection and ranging, where the position of an object relative to the sensor needs
to be precisely and accurately determined.
This document will concentrate on technologies capable of providing a detection and
ranging functionality, as it is the most complex of the three applications. From the
position information, presence and speed can be retrieved so technologies capable of
detection and ranging can be universally applied to all remote sensing applications.
5.1.1 Direct Time of Flight
In the direct time-of-flight measurement method, a discrete pulse is emitted and one
or several timers are used to measure the time difference between the emitted pulse
and the return echo, based on threshold detection. This time difference can be directly
converted to a distance, based on the following equation:

The difficulty in implementing the direct time-of-flight measurement method resides in
the time intervals to be measured. In order to resolve a distance to centimeter-level
accuracy, the required accuracy for the timers is 67 ps. Implemented in digital logic,
this would require a 15 GHz clock speed, which is obviously not practical. Therefore,
various time-to-digital conversion methods are typically used.
5.1.2 Range-gated Imaging ToF
Whereas direct time-of-flight relies on measurements made on the immediate value of
the received signal, range-gated imaging uses signal integration methods, typically
with CCD or CMOS imagers.

By measuring the energy received in successive integration intervals, it is possible to
extrapolate the distance between the sensor and the measured object, based on the
ratio of energy received in the different intervals.
The difficulty with range-gated imaging is that CCD and CMOS imagers have a limited
dynamic range; therefore, strong ambient light can easily cause saturation and impair
measurement. Furthermore, since neither the emitted and received pulses are perfect
rectangle pulses, nor is the sensor perfectly linear, compensation is required and
accuracy is ultimately limited.
5.1.3 Continuous Waveform ToF
In contrast to the previous two methods, phase difference measurement relies on a
modulated light source and evaluates the phase difference between the transmit signal
and the receive echo. This phase difference can be converted to a distance, using the
following formula:

Correlation methods are typically used to measure the phase difference of the receive
echo
respective to thetransmit signalas well as recoverthe propagation delay and therefore
the
distance to the object to be measured.
Of course, a phase difference greater than 2 π is not resolvable; for instance, 3 π or 5
π will be measured as a π radian phase difference. Therefore, depending on the
chosen modulation frequency, an artefacting phenomenon will occur where far-away
objects will appear to be much closer than in reality.
5.1.4 Zense ToF Principle
Zense DCAM710 product principle is based on range-gated imaging ToF solution, and
the sensor inside is based on Panasonic CCD sensor MN34906.

5.2 Noise Factors
5.2.1 Ambient Light
Because the ToF distance measurement relies on the reflection of light sent out by the
camera, any additional light, e.g. artificial light sources or sunlight, may influence the
measurement results.
A strong ambient light may affect the accuracy and precision of the depth data, the
Zense DCAM 800 is suggested to in user below 50K LUX ambient light.
5.2.2 Multipath Propagation
Based on the principle of ToF, Multipath effect may happen when the light reflected
more one once.Any light that has been reflected several times, by other objects in the
camera’s field of view or the environment can cause deviation to the measurement
result.
To eliminate the multipath effect, you should:
1. Keep the camera working environment as clean as possible;
2. Avoid the camera be placed at concave forms environment, like corners of a room
or inside of a narrow space;
3. Highly-reflective object shall be removed far away from the measurement target;
5.2.3 Reflectivity of the Target
Please note that different reflectivity of the target may cause measurement result
deviation, objects which have 20% to 80% reflectivity to 850nm or 940nm infrared light
have the best result.

5.2.4 Scattering Effect
Scattering light effect is anoisefactor toToFproducts,it is causedby multiplereflection
inside the lens of camera or the cover of camera.
To eliminate the scattering light effect, you should:
1. Keep the cover glass of the camera clean;
2. Do NOT place any other cover glass in front of the camera;
3. Keep the camera working environment as clean as possible;
6 Installation
6.1 Hardware Installation
You have read and understood the warnings listed under "Precautions" on Chapter 2;
To achieve reliable distance measurements, please follow below tips:
Better not using the camera in strong sunlight. If have to, keep the ambient light
below 50k Lux.
Do NOT place any objects in the scene that are not part of your intended
target, especially mirrors or other shiny surfaces/objects.
Maintain a stable housing temperature during operation.
Take measures to provide cooling to camera
Mount the camera robustly.
All accessories are ready
The installation steps are as below:
1 Connect the camera module to PC USB interface through USB cable, as Figure
Figure 4.1 Hardware Installation
2 In Windows, when the camera module is successfully connected, it will pop up the
notice of the device driver installation. After the driver is auto-installed successfully,
it will display the VZense RGBD Camera device in Windows Device Manger.

Figure 4.2 VZense RGBD Camera
6.2 Software Installation
6.2.1 Operating system
-Windows 7/8/10
-Linux
-ArmLinux
-Android
6.2.2 VZense SDK and VZenseUtool
VZense SDK is available for above systems. Download SDK from below link:
China：https://gitee.com/Vzense
Oversea：https://github.com/Vzense
VZenseUtool
VZenseUTool is ToF camera frame tool on windows OS that can help user evaluate
product.
Download the uTool from below link
China: https://github.com/Vzense/UTool
Oversea: https://gitee.com/Vzense/UTool
Please select the suitable version based on the product and system.
6.2.3 Firmware Upgrade
You can use our VZenseUtool to upgrade DCAM710 firmware and the detailed
steps as below:
1. Run VZenseUtool\Upgrade\DriverAssitant_v4.5\DriverInstall.exe to install
driver;
2. Connect DCAM710 to PC, and then run VZenseTool.exe after LED indicator