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


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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







MarsSDK DOCUMENTATION

Mars Introduction

Overview
Working platform
SDK Functions
SDK Content

LibTOF API

LibTof.aAPI Functions
Enums And Structures

OpenGL for Mars API

Functions
Structures

DOWNLOAD

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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