Nerian SceneScan Manuel utilisateur

SceneScan / SceneScan Pro

User Manual

(v1.5) April 1, 2019

VISION TECHNOLOGIES

Nerian Vision GmbH

Gutenbergstr. 77a

70197 Stuttgart

Germany

Email: [email protected]

www.nerian.com

Contents

1 Functionality Overview 3

2 SceneScan / SceneScan Pro Dierences 3

3 Included Parts 3

4 General Specications 4

4.1 HardwareDetails .......................... 4

4.2 StereoMatching........................... 4

4.3 Image Rectication . . . . . . . . . . . . . . . . . . . . . . . . . 5

4.4 Frame Rates and Resolutions . . . . . . . . . . . . . . . . . . . 5

5 Mechanical Specications 5

5.1 Dimensions ............................. 5

5.2 Mounting .............................. 5

6 Physical Interfaces 7

6.1 Interface Overview . . . . . . . . . . . . . . . . . . . . . . . . . 7

6.2 PowerSupply ............................ 8

6.3 TriggerPort............................. 8

6.4 Conguration Reset Button . . . . . . . . . . . . . . . . . . . . 9

7 Hardware Setup 10

7.1 BasicSetup ............................. 10

7.2 Networking Conguration . . . . . . . . . . . . . . . . . . . . . 10

7.3 SupportedCameras......................... 11

7.4 Color Camera Considerations . . . . . . . . . . . . . . . . . . . 12

7.5 CameraSetup............................ 12

7.6 Other Image Sources . . . . . . . . . . . . . . . . . . . . . . . . 13

7.7 ExternalTrigger........................... 14

7.8 Time Synchronization Signal . . . . . . . . . . . . . . . . . . . . 14

8 Processing Results 14

8.1 RectiedImages........................... 14

8.2 DisparityMaps ........................... 15

8.3 Timestamps and Sequence Numbers . . . . . . . . . . . . . . . . 17

9 Conguration 18

9.1 SystemStatus............................ 18

9.2 Preview ............................... 19

9.3 Processing Settings . . . . . . . . . . . . . . . . . . . . . . . . . 21

9.3.1 Operation Mode . . . . . . . . . . . . . . . . . . . . . . 21

9.3.2 Disparity Settings . . . . . . . . . . . . . . . . . . . . . . 22

9.3.3 Algorithm Settings . . . . . . . . . . . . . . . . . . . . . 22

9.4 Cameras............................... 23

9.4.1 Camera Selection . . . . . . . . . . . . . . . . . . . . . . 23

9.4.2 Simple Camera Settings . . . . . . . . . . . . . . . . . . 24

9.4.2.1 Image Format Control . . . . . . . . . . . . . . 25

9.4.2.2 Analog Control . . . . . . . . . . . . . . . . . . 25

9.4.2.3 Acquisition Control . . . . . . . . . . . . . . . . 25

9.4.3 Recommended Settings for Karmin2 Stereo Camera . . . 25

9.4.4 Recommended Settings for Other Cameras . . . . . . . . 26

9.5 Advanced Camera Settings . . . . . . . . . . . . . . . . . . . . . 26

9.6 Automatic Exposure Adjustment . . . . . . . . . . . . . . . . . 26

9.6.1 Exposure and Gain . . . . . . . . . . . . . . . . . . . . . 26

9.6.2 Manual Settings . . . . . . . . . . . . . . . . . . . . . . . 29

9.6.3 ROISettings ........................ 29

9.7 Trigger/Pairing .......................... 29

9.8 Time Synchronization . . . . . . . . . . . . . . . . . . . . . . . 30

9.9 Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . . . 32

9.9.1 Calibration Board . . . . . . . . . . . . . . . . . . . . . . 32

9.9.2 Recording Calibration Frames . . . . . . . . . . . . . . . 33

9.9.3 Performing Calibration . . . . . . . . . . . . . . . . . . . 33

9.10 Reviewing Calibration Results . . . . . . . . . . . . . . . . . . . 34

9.11 Auto Re-calibration . . . . . . . . . . . . . . . . . . . . . . . . . 36

9.12NetworkSettings .......................... 38

9.13Maintenance............................. 39

10 API Usage Information 41

10.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . 41

10.2 ImageTransfer Example . . . . . . . . . . . . . . . . . . . . . . 41

10.3 AsyncTransfer Example . . . . . . . . . . . . . . . . . . . . . . 43

10.4 3D Reconstruction . . . . . . . . . . . . . . . . . . . . . . . . . 44

11 Supplied Software 44

11.1NVCom ............................... 44

11.2 GenICam GenTL Producer . . . . . . . . . . . . . . . . . . . . 45

11.2.1Installation ......................... 45

11.2.2 Virtual Devices . . . . . . . . . . . . . . . . . . . . . . . 47

11.2.3DeviceIDs.......................... 48

11.3ROSNode.............................. 48

12 Support 49

13 Warranty Information 49

14 Open Source Information 49

1. FUNCTIONALITY OVERVIEW

1 Functionality Overview

SceneScan and SceneScan Pro (both referred as SceneScan in this document)

are embedded image processing systems for real-time stereo matching. Scene-

Scan connects to a dedicated stereo camera or two industrial USB cameras,

which are mounted at slightly dierent viewing positions. By correlating the

image data from both cameras, SceneScan can infer the depth of the observed

scene. The computed depth map is transmitted through gigabit ethernet to a

connected computer or another embedded system.

In combination with the cameras, SceneScan is a complete 3D sensor sys-

tem. In contrast to conventional solutions, however, SceneScan works pas-

sively. This means that no light needs to be emitted for performing measure-

ments. This makes SceneScan particularly robust towards the illumination

conditions, and it facilitates long-range measurements, the use of multiple sen-

sors with overlapping eld of views, and a exible reconguration of the system

for dierent measurement ranges.

2 SceneScan / SceneScan Pro Dierences

Two dierent models exist for the given image processing system: SceneScan

and SceneScan Pro. Both models provide the same functionality, however,

SceneScan Pro has signicantly more computational power when compared to

SceneScan. This means that SceneScan Pro can process a given input stereo

image much faster than SceneScan.

Thanks to the additional processing power, SceneScan Pro is also capable of

processing higher image resolutions, color images and larger disparity ranges.

Due to these benets, SceneScan Pro can achieve a higher measurement accu-

racy than SceneScan. Table 1 contains a brief comparison between SceneScan

and SceneScan Pro. A detailed comparison of the achievable frame rates at

dierent image resolutions and disparity ranges can be found in Section 4.4 on

page 5.

3 Included Parts

The following parts should be included when ordering a new SceneScan system

from Nerian Vision Technologies:

•

SceneScan / SceneScan Pro processing system

•

12 V DC power supply with interchangeable mains connectors for Eu-

rope, North America, United Kingdom and Australia

•

Printed user manual

If any of these items re missing, then please contact customer support.

4. GENERAL SPECIFICATIONS

Table 1: Comparison between SceneScan and SceneScan Pro.

SceneScan SceneScan Pro

Max. grayscale resolution

800

800 pixels 1888

1888 pixels

Max. color resolution

n/a 864

864 pixels

Max. disparity

128 pixels 256 pixels

Max. frame rate

45 fps 100 fps

Supported image types

monochrome monochrome / color

4 General Specications

4.1 Hardware Details

Power supply

11 - 14 V DC

Power consumption

Less than 10 W without supplying camera power

Up to 20 W with supplying camera power

Dimensions

104.5

105.5

45 mm without mounting brack-

ets

104.5

130

45 mm with mounting brackets

Weight

400 g

I/O

2×

USB 3.0 host, gigabit ethernet, GPIO

Max. USB power

900 mA

Conformity

CE, FCC, RoHS

4.2 Stereo Matching

Stereo algorithm

Variation of Semi-Global Matching (SGM)

Max. grayscale

resolution

SceneScan:

800 ×800

pixels

SceneScan Pro:

1888 ×1888

pixels

Max. color resolution

SceneScan: n/a

SceneScan Pro:

864 ×864

pixels

Supported pixel formats

Mono8, Mono12, Mono12p, Mono12Packed, RGB8

BayerGR8

, BayerRG8

, BayerGB8

, BayerBG8

Disparity range

SceneScan: 64 to 128 pixels

SceneScan Pro: 96 to 256 pixels

(32 pixels increment)

Frame rate

SceneScan: up to 45 fps

SceneScan Pro: up to 100 fps

Sub-pixel resolution

4 bits (1/16 pixel)

When using a disparity range of 128 pixels. A larger disparity range will lead to a

smaller maximum image resolution.

When using a disparity range of 128 pixels. A larger disparity range will lead to a

smaller maximum image resolution.

SceneScan Pro only.

5. MECHANICAL SPECIFICATIONS

Table 2: Maximum frame rate by image resolution and disparity range for

SceneScan and SceneScan Pro.

Model Disparity Image Resolution

Range

640 ×480 800 ×592 1280 ×960 1600 ×1200

SceneScan

64 pixels 45 fps 30 fps n/a n/a

monochrome 128 pixels 30 fps 20 fps n/a n/a

SceneScan Pro

128 pixels 100 fps 65 fps 24 fps 15 fps

monochrome 256 pixels 70 fps 45 fps 15 fps 10 fps

SceneScan Pro

192 pixels 45 fps 30 fps n/a n/a

color

Post-processing

Consisteny check, uniqueness check, gap inter-

polation, noise reduction, speckle ltering

4.3 Image Rectication

Horizontal displacement

−39

+39

pixels

Vertical displacement

−39

+39

pixels

Interpolation

Bilinear

4.4 Achievable Frame Rates and Image Resolutions

The maximum frame rate that can be achieved depends on the image size and

the congured disparity range. Table 2 provides a list of recommended cong-

urations. This is only a subset of the available conguration space. Diering

image resolutions and disparity ranges can be used to meet specic application

requirements.

5 Mechanical Specications

5.1 Dimensions

Figures 1a and 1b show SceneScan as seen from the front and from the side.

The provided dimensions are measured in millimeters.

5.2 Mounting

The casing of SceneScan features two mounting brackets to the sides of the de-

vice. Each mounting bracket has two slotted holes, which allows SceneScan to

be mounted onto a at surface. The dimensions and placement of the mount-

ing brackets are depicted in Figure 2. In order to support heat dissipation,

is recommended to mount the device onto a surface made of metal

or another material with a high heat conductivity.

5. MECHANICAL SPECIFICATIONS

 -

105.5

 -

130

(a)

 -

104.5

(b)

Figure 1: (a) Front and (b) side view of SceneScan with dimensions in mil-

limeters.

6. PHYSICAL INTERFACES

Figure 2: Dimensions of SceneScan mounting brackets.

6 Physical Interfaces

6.1 Interface Overview

Figures 3a and 3b show the interfaces on SceneScan's front and backside. These

interfaces are:

Power connector:

Connects to a power supply within the permitted voltage

range.

Power LED:

Indicates that the device is powered up and running.

Ethernet port:

Port for connecting SceneScan to a client computer or an-

other embedded system. This port is used for delivering processing re-

sults and for providing access to the conguration interface.

USB ports:

Ports for connecting SceneScan to up to two USB cameras. The

maximum supply current of each port is 900 mA.

Busy LED:

Indicates that the device is currently processing image data.

Trigger port:

Provides a pulse signal for triggering both cameras. Also func-

tions as an input for the time synchronization pulse.

Reset button:

Button for resetting the device conguration back to the de-

fault state.

6. PHYSICAL INTERFACES

Power

connector





Power LED





Ethernet

port





USB

ports

Busy

LED



Trigger port

(a)





Reset button

(b)

Figure 3: Interfaces on (a) front and (b) rear housing side.

6.2 Power Supply

The power connector needs to be connected to the supplied power adapter or

an equivalent model. When using an alternative power supply, please make

sure that the voltage is in the permitted range of 11 - 14 V DC. Higher voltages

might damage the device. A power supply with a maximum output current

of at least 2 A is recommended, in order to supply sucient power to the

cameras (up to 900 mA on each USB port). If the cameras consume less than

the permitted maximum current, or are powered externally, then a smaller

power supply can be used.

The power connector uses a male 3 pin Binder 718/768 series connector.

The pin assignment is shown in Figure 4. The following manufacturer part

numbers correspond to matching connectors, and should be used for custom

power supplies:

99 3400 00 03

Matching connector with solder termination.

99 3400 100 03

Matching connector with screw termination.

99 3400 550 03

Matching connector with cutting clamps termination.

6.3 Trigger Port

The trigger is a signal that is sent to the stereo camera pair. At the moment the

signal is received, both cameras synchronously acquire an image. The trigger

6. PHYSICAL INTERFACES

Pin Assignment

1 Ground

3 Ground

4 11 - 14 V supply voltage

Figure 4: Pin assignment of power connector.

Pin Assignment

1 Trigger 0

2 Trigger 1

3 Ground

4 Synchronization input

Figure 5: Pin assignment of trigger connector.

port can provide up to two +3.3 V pulse signals. The same port is also used

for time synchronization through a synchronization pulse. The pin assignment

is shown in Figure 5. Please refer to Sections 7.7 and 7.8 for further details on

trigger and synchronization signals.

The trigger connector uses a female 4 pin Binder 718/768 series connector.

The following manufacturer part numbers correspond to matching connectors,

and should be used for custom trigger cables:

99 3383 00 04

Matching connector with solder termination, not shielded.

99 3383 100 04

Matching connector with screw termination, not shielded.

99 3383 500 04

Matching connector with cutting clamps termination, not

shielded.

99 3363 00 04

Matching connector with solder termination, shielded.

99 3363 100 04

Matching connector with screw termination, shielded.

6.4 Conguration Reset Button

On the backside of the device is a hidden button that resets the stored con-

guration to the defaults. This button can be pressed by inserting a pin in

the hole and pushing gently. The button needs to be pressed for at least 3

seconds immediately after the device is powered on. Please note that a con-

guration reset will also reset the network conguration. After a reset, the

device will hence respond to the default IP address 192.168.10.10. A congu-

ration reset should be performed if the device becomes unresponsive due to a

misconguration.

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