Product Feature

(1) Up to 45 fps data output in real time for 3D dynamic capturing;
(2) High accuracy point cloud output with 224x172 Resulation, error < 1%;
(3) 1344x760 RGB Video output;
(4) Anti interface against strong light, applicable for wide range of environments;

(5) Small size, low power consumption, easy to integrate;
(6) Integrated with embeded deep sensing algorithm platform, easy to call for the backend;
(7) Classified with user class I, no harm to human eye.


Specification

Depth sensor: 1 / 3.5 inch CMOS
RGB sensor: 1/3 inch CMOS
IMU: Bosch
Viewing angle: 60° (H) × 45 ° (V)
Depth Resolution: 224x172(38k)

RGB Resolution: 2688 x 1520
Detection accuracy: ?% of distance (0.5m-4m @5fps) & ?% of distance (0.1m-1m @45fps)
Detection range: 0.1m-4m
Frame rate: 5-45fps


Gesture Control

Human Computer Interaction

Map Navigation

Serveillance

Obstacle Avoidance



Product Features

Depth image Support depth max resolution 800*1280 pixels
RGB image RGB Suppoerts WDR 1920x1080 pixels and performs excellent in dark light, strong light and back light codition
IR/Depth Support IR image depth image
Working Range 0.33m-1.2m
Depth Precision 1mm@0.6m
Depth FOV H560° V68° Maximum use of visual field for facial proportions

3D Face Detection Support ROI
Operationg Temperature -5°C~60°C
Storage Temperature -40°C~80°C
System Linux (Default); Android(Support)
Power Supply Support wide voltage rabge(5V-15V) input and multiple power supply modes
Interface Variety of hardware interface and easy to use.


Specification


Security & Monitoring

Fast 3D Face Modeling Data Collection

Payment Equipment by Face Recognition




LibTOF API

Mars Main API Reference (For Windows&Linux)

LibTof.a API Functions

Controls device connection and shutdown. Get device depth data, raw data, and set device-specific parameters

1. LibTOF_Connect

Routine
int LIBTOF_CALL LibTOF_Connect();

Description
Connect and initialize the TOF camera.

Return value
LTOF_SUCCESS ?success
other ?error code.

2. LibTOF_DisConnect

Routine
int LIBTOF_CALL LibTOF_DisConnect ();

Description
Disconnect the TOF camera

Return value
LTOF_SUCCESS ?success;
other ?error code.

3. LibTOF_RcvDepthFrame2

Routine
int LIBTOF_CALL LibTOF_RcvDepthFrame2(FrameData_t* frame_data, FrameDataRgb_t* frame_data_Rgb, int width, int height,IMU_data_t* IMU_data=NULL);

Description
Get the depth data for Mars4 or latest mars3 equipment(from 2017/05) When the camera mode(SET_CAMERA_MODE =2) is set to grayscale, frame_data_Rgb is gray data (16bits ,the valid data is 12bit)

Parameters:

  • frame_data [output] Depth data structure pointer
  • frame_data_Rgb
  • *[output] The RGB parameter of the depth point corresponds to the frame_data one by one
  • width [input] image width
  • height [input] image height
  • IMU_data [output] Get IMU date

Return value
LTOF_SUCCESS ?success;
other ?error code.

4. LibTOF_RcvVideoFrame

Routine
int LibTOF_RcvVideoFrame(short* video_data,unsigned int frame_len);

Description
Get the raw image(YUYV)

Parameters:
video_data [output] Video data pointer frame_len [input] Data lens(2688*1520*2)

Return value
LTOF_SUCCESS ?success;
other ?error code.

5. LibTOF_GetTemperture

Routine
int LIBTOF_CALL LibTOF_GetTemperture(float* Cpu_t, float* Sensor_t);

Description
Get CPU and sensor temperature

Parameters:

  • Cpu_t [output] CPU temperature
  • Sensor_t [output] Sensor temperature

6. LibTOF_PseudoColor

Routine
int LIBTOF_CALL LibTOF_PseudoColor(FrameData_t* buffer, int width, int height, unsigned char *Colorbuffer, float depth_min, float depth_max);

Description
Convert the depth data to pseudo color data

Parameters:

  • buffer [input] Pointer to the depth data, cannot be NULL.
  • width [input] Width of the image
  • height [input] Height of the image
  • Colorbuffer [output] Pointer to the data of pseudo color
  • depth_min [input] The minimum depth
  • depth_max [input] The maximum depth

Return value** 1

7. LibTOF_SetExpourseMode

Routine
int LIBTOF_CALL LibTOF_SetExpourseMode(ExpourseMode_e ExpMode);

Description
Set TOF camera Expourse Mode.

Parameters:

  • ExpMode [input] Manual or Auto.

Return value
LTOF_SUCCESS ?success;
other ?error code.

8. LibTOF_SetSceneMode

Routine
int LIBTOF_CALL LibTOF_SetSceneMode(SceneMode_e SceneMode);

Description
Set TOF camera Scene Mode.

Parameters:

  • SceneMode [input] 30cm 75cm. See SceneMode_e

Return value
LTOF_SUCCESS ?success;
other ?error code.

9. LibTOF_SetUseCase

Routine
int LIBTOF_CALL LibTOF_SetUseCase(CameraUseCase_e UseCase);

Description
Set up the camera exposure frame rate pattern.

Parameters:

  • UseCase [input] See CameraUseCase_e

Return value
LTOF_SUCCESS ?success;
other ?error code.

10. LibTOF_Setparam

Routine
int LIBTOF_CALL LibTOF_Setparam(CameraControlCommand_e Cmd, int value);

Description
Send command to TOF camera.

Parameters:

  • Cmd [input] CamerControlCommand, See 15.3 enumeration defines.
  • Value [input] The command parameter values.

Return value
LTOF_SUCCESS ?success;
other ?error code.

11. LibTOF_GetDeviceInfo

Routine
int LIBTOF_CALL LibTOF_GetDeviceInfo(DeviceInfo_t *deviceinfo);

Description
Get device information.

Parameters:

  • deviceinfo [output] Device information.

Return value
LTOF_SUCCESS ?success;
other ?error code.

12. LibTOF_UpdataFalsh

Routine
int LIBTOF_CALL LibTOF_UpdataFalsh();

Description
Send the upgrade command.

Return value
LTOF_SUCCESS ?success;
other ?error code.

13. LibTOF_RgbdEnSet

Routine
int LibTOF_RgbdEnSet(int RgbdEn);

Description
Rgbd scale switch Settings

Parameters:

  • RgbdEn [input] 1 open rgbd; 0 close rgbd

Return value
LTOF_SUCCESS ?success;
other ?error code.

14. LibTOF_SetGrayExp

Routine
int LibTOF_SetGrayExp(int value);

Description
Grayscale exposure time Settings.

Parameters:

  • value [input] Grayscale exposure

Return value
LTOF_SUCCESS ?success;
other ?error code.

Enums and structures

1. FrameData_t

typedef struct tag_FRAMEDATA {
    float x;
    float y;
    float z;
} FrameData_t;

Description
Depth data structure

Members:

  • x     X coordinate
  • y     Y coordinate
  • z     Z coordinate

2. FrameDataRgb_t

typedef struct tag_FRAMEDATA_RGB
{
    char r;
    char g;
    char b;
}FrameDataRgb_t;

Description
Depth data structure

Members:
r      R value g     G value * b     B value

3. CameraControlCommand_e

typedef enum CameraControlCommand

{
     /** Set the working mode of TOF camera, 0:Mono-Frequency,1 Multi-Frequencies*/
     SET_CAMERA_MODE = 17, /** Command: Setting the frame rate, range: 1-30 */
     SET_CAMERA_FPS = 18,    /** Command: Set the exposure time, range: 1-2000 */
     SET_CAMERA_EXP = 19, 
}CameraControlCommand_e;

Description
Camera control commands for LibTOF_Setparam interface function

4. DeviceInfo_t

typedef struct tag_DeviceInfo {
     uint32_t DeviceVersion;
     uint32_t DeviceType;
     uint16_t DepthFrameWidth;
     uint16_t DepthFrameHeight;
     uint16_t BitsPerPoint;
     uint16_t VisibleFrameWidth;
     uint16_t VisibleFrameHeight;
     uint16_t BitsPerPixel;
     uint16_t BlockSizeIn;
     uint16_t BlockSizeOut;
     char TofAlgVersion[20];
     char DeviceId[19];
     uint8_t RgbdEn; 
}DeviceInfo_t;

Description
Device information

Members:

  • DeviceVersion     N/A
  • DeviceType     G value
  • DepthFrameWidth     Depth data width
  • DepthFrameHeight     Depth data height
  • BitsPerPoint     The number of bits per pixel
  • VisibleFrameWidth     VisibleFrame width
  • VisibleFrameHeight     VisibleFrame height
  • BitsPerPixel     The number of bits per pixel
  • BlockSizeIn     Input block size
  • BlockSizeOut     Output block size
  • TofAlgVersion     TOF device Information, device name, device version number

5. SceneMode_e

typedef enum SceneMode
{
    Scene_No = 0,
    Scene_30cm = 1,
    Scene_75cm = 2,
}SceneMode_e;

Description
Camer Scene mode

Members: Scene_No         No Scene mode Scene_30cm     The camera is 30 centimeters away from the subject * Scene_75cm     The camera is 75 centimeters away from the subject

6. S_MetaData;

typedef struct{
    int version[3]; /*reserve byte*/
    int cameraNum; /*camera number*/
    int width; /*image width*/
    int height; /*image height*/
    int bpp; /*bpp bits per pixel*/
    int dataFormat; /*data format*/
    int frameCount;
    int getFrameTime;
    int sendFrameTime;
    int headerLength;
}S_MetaData;

Description
Frame information structure

Members:

  • version      Firmware version
  • cameraNum     Camera channel number
  • width     image width
  • height     image height
  • bpp     Each pixel occupies a number of bytes
  • dataFormat     The data format
  • frameCount      Frame number
  • getFrameTime     Acquisition time stamp
  • sendFrameTime     Send the timestamp
  • headerLength      The length of head

7. ErrorCode_t

typedef enum tag_ErrorCode_TOF

{

    /** Success (no error) */
    LTOF_SUCCESS = 0, 
    /** Input/output error */
    LTOF_ERROR_IO = -1,
    /** Invalid parameter */ 
    LTOF_ERROR_INVALID\_PARAM = -2, 
    /** Access denied (insufficient permissions) */ 
    LTOF_ERROR_ACCESS = -3,
    /** No such device (it may have been disconnected) */
    LTOF_ERROR_NO\_DEVICE = -4, 
    /** Operation timed out */
    LTOF_ERROR_TIMEOUT = -5, 
    /** Overflow */
    LTOF_ERROR_OVERFLOW = -6,
    /** Insufficient memory */
    LTOF_ERROR_NO_MEM = -7, 
    /** Operation not supported or unimplemented on this platform */
    LTOF_ERROR_NOT_SUPPORTED = -8, 
    /** usb write error*/ 
    LTOF_ERROR_USB_WRITE = -9, 
    /**usb read error*/
    LTOF_ERROR_USB_READ = -10, 
    /** Other error */
    LTOF_ERROR_OTHER = -99, 
 }  TOF_ErrorCode_t;

Description
Error codes


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