Industrial 3D robotics Phobos Manuale utente

Revision date: Feb 2019

Phobos operator manual

Revision date: Feb 2019

Contact Details

Correspondence Address:

I3D Robotics Ltd

Pipers Business Centre

220 Vale Road

Tonbridge

Kent

TN9 1SP

Email:

info@i3drobotics.com

Phone:

+44 (0)1732 373020 (09:00 – 17:00 UK)

Fax:

+44 (0)1732 373001

Revision date: Feb 2019

About this Manual

Who is this for?

This manual is intended for the operator of the I3D Robotics Phobos stereo camera. It will

help the operator understand how to get the most out of this new product.

What’s in it?

This manual provides the operator with instructions on how to unpack, install and operate

the camera.

Specification

Contains an overview of the camera and its specifications.

Installation

Instructions on how to unpack and setup your system.

How do I use it?

How to get the most out of your stereo system

Troubleshooting

What to do if there’s a problem

Warranty

This product comes with a 1-year warranty covering parts, labour and shipping needed to

repair manufacturing defects that occur during the warranty period. Shipping costs are

limited to shipping to and from customers during the warranty period. The warranty will be

void if the system is handled inappropriately or if the housing has been opened.

Disclaimer

THE INFORMATION CONTAINED HEREIN IS PROVIDED "AS IS" WITHOUT WARRANTY,

CONDITION OR REPRESENTATION OF ANY KIND, EITHER EXPRESS, IMPLIED, STATUTORY OR

OTHERWISE, INCLUDING BUT NOT LIMITED TO, ANY WARRANTY OF MERCHANTABILITY, NON-

INFRINGEMENT OR FITNESS FOR A PARTICULAR PURPOSE.

IN NO EVENT SHALL I3D ROBOTICS BE LIABLE FOR ANY LOSS OR DAMAGE, WHETHER DIRECT,

INDIRECT, SPECIAL, INCIDENTAL, CONSEQUENTIAL OR OTHERWISE HOWSOEVER CAUSED

WHETHER ARISING IN CONTRACT TORT OR OTHERWISE, ARISING OUT OF OR IN CONNECTION

WITH THE USE OF THE INFORMATION PROVIDED HEREIN.

DEIMOS CONTAINS A CLASS 1 LASER DEVICE – YOU MUST FOLLOW GOOD LASER SAFETY

PRACTICE WHEN USING THE PRODUCT. NEVER STARE INTO LASER APERTURES.

The copyright in this document and the associated drawings are the property of I3D ROBOTICS

Ltd. and all rights are reserved. This document and the associated drawings are issued on

condition that they are not copied, reprinted or reproduced, nor their contents disclosed. The

publication of information in this documentation does not imply freedom from any patent or

proprietary right of I3D Robotics or any third party.

TRADEMARKS

I3D ROBOTICS and the I3D ROBOTICS logo are trademarks of I3D ROBOTICS Ltd. All other

marks are property of their respective owners.

Revision date: Feb 2019

Contents

1 Introduction ................................................................................................................... 6

1.1 System requirements .............................................................................................. 7

1.2 Mechanical and Electrical Information .................................................................... 7

1.3 Certification ............................................................................................................ 8

2 Stereo specification ....................................................................................................... 8

3 Installation ..................................................................................................................... 9

3.1 Unpacking and handling .......................................................................................... 9

3.2 What should I have? ............................................................................................. 10

4 Operation .................................................................................................................... 10

4.1 Using the Stereo Vision Toolkit ............................................................................. 10

4.2 Installation ............................................................................................................ 10

4.3 Acquiring images................................................................................................... 10

4.4 Matching images................................................................................................... 12

4.5 Viewing point clouds ............................................................................................. 15

4.6 Using the projector .................................................... Error! Bookmark not defined.

4.7 Calibration ............................................................................................................ 16

5 Using external libraries ................................................................................................ 19

5.1 OpenCV ................................................................................................................ 19

5.2 Using ROS ............................................................................................................. 20

Revision date: Feb 2019

1 Introduction

Phobos is a high-resolution stereo vision system that uses 5 Megapixel cameras and can

operate at 30 fps over a USB3.0 interface. The cameras use a global shutter and are suitable

for imaging moving targets.

Some of the key features are detailed below:

Interface

USB3.0 (5 Gbps)

Camera resolution (px)

2,448×2,048 (5 MP)

Pixel Size

3.45 µm x 3.45 µm

Bit depth

Monochrome 8/12-bit

Sensor (x 2)

Sony IMX250LLR (2/3”)

Framerate

30 fps*

Focal length

8 mm

Focus

0.8 m to 1.25m**

Shutter type

Global

Synchronisation

Hardware triggered

Exposure range

20 µs to 4 s

Software compatibility

Windows 7+, Linux, OpenCV, ROS

*Limited by USB3.0. This can be increased if USB3.1 is used. Acquisition framerate reduced to

14fps if 12 bit bit-depth is used.

** The Phobos stereo systems are factory-focused for an optimum measurement at 1m.

Please contact us if you require a different measurement range as the focus range may be

adjusted.

Revision date: Feb 2019

1.1 System requirements

The table below outlines the minimal requirements of the connected computer running the

user software.

Processor

Intel i3/5/7 or similar

RAM

4GB

Hard disk space

500MB

Graphics card

CUDA compatible card. Geforce-gtx-1060 or better

recommended

Connectivity

USB3

1.2 Mechanical and Electrical Information

Dimensions

390 x 140 x 50 mm

åManufacturing tolerance

±1 mm

Weight without cable

2.83kg

Mounting

2 x M4

Temperature range

5 – 50 °C

Power requirements

5V /3A

Dimensional drawing, all dimensions in millimetres. This drawing is reproduced here for

reference, please contact us for a higher resolution copy or CAD models.

Revision date: Feb 2019

1.3 Certification

This product conforms to 2012/19/EU (WEEE), 2011/65/EU (RoHS) and 2014/30/EU (EMC

Compatibility).

2 Stereo specification

Z axis indicates depth, perpendicular to the camera sensor plane.

Baseline

300 mm

Depth resolution at 1 m (∈𝒛= $ 𝒛𝟐

𝒇𝑩 ∈𝒅), ∈𝒅=

𝟎. 𝟐𝟓$𝒑𝒙

0.35 mm

X/Y resolution at 1 m

0.11 mm

Field of view at 1 m (H x V)

1.05 x 0.88 m

(57.65° x 47.65°)

Revision date: Feb 2019

Given a point (X, Y, Z) which is located at (x, y) in the left image and a known disparity, d, along

with the camera separation (baseline) b and focal length f:

𝑥 = 𝑓𝑋

𝑍, 𝑦 = 𝑓𝑌

𝑍, 𝑍 = − 𝑏𝑓

𝑑

Stereo range resolution therefore determined by disparity, for a fixed b and f, as shown in

above. These are representative of the performance of Deimos and should be regarded as

theoretical. Stereo range accuracy (

𝜎𝑍)

is (quadratically) distance dependent, for a fixed b

and f:

𝜎𝑍 =𝑍:

𝑏𝑓 𝜎𝑑

Where

𝜎𝑑

is the uncertainty in disparity measurement, nominally a quarter pixel. This is

dependent on the choice of stereo matcher.

3 Installation

3.1 Unpacking and handling

As with any optical instrument, you should take care when handling the stereo camera. Take

care not to touch the lenses if possible.

The enclosure is reasonably dust-proof, and will work outdoors, but it is not explicitly

protected against water or particle ingress.

Once all the elements have been removed from the packaging you should check the contents.

Revision date: Feb 2019

3.2 What should I have?

The contents of the package you have just purchased will depend on the options you selected

when purchasing.

The basic system comprises the following items:

• Phobos stereo unit

• USB3 Cable

• USB key containing software, documentation and factory calibration

• 5V Power Supply

4 Operation

4.1 Using the Stereo Vision Toolkit

We provide an open source GUI tool to experiment with your camera on Windows. The tool

can be used to acquire images, perform stereo image matching and view live 3D point clouds.

For most applications, we would expect that customers will integrate the camera using their

own software (e.g. using the OpenCV library), but our toolkit is designed for rapid application

prototyping.

The software installer is provided on a USB stick, or may be downloaded from our Github

repository (https://github.com/i3drobotics/stereo-vision-toolkit) either as a binary, or as

source which you can compile yourself. If you wish to compile from source, we provide library

dependencies built using Visual Studio 2015 x64 in the repository.

4.2 Installation

An installer for the toolkit software is on the provided USB key. You can find the latest release

on the repository (link above).

You will have been provided with a factory stereo calibration file on a USB stick with your

camera. Place this in your installation folder, in the ‘params’ folder as the software will look

there by default. Alternatively, you can specify the location in-software and the path will be

saved in the application’s configuration file.

Notes:

• You may need administrator privileges to copy these files if you installed the software

to a protected folder (e.g. Program Files).

• The toolkit will store its configuration in the Windows registry at:

Computer\HKEY_CURRENT_USER\Software\I3Dr\Stereo Vision Toolkit

•

4.3 Acquiring images

First, make sure your Phobos unit is plugged into a USB3 port to achieve the required

framerate.

Open the software, you will be presented with the stream from the two cameras. The

acquisition tab is shown below:

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