MotionCam-3D...Optimal scanning distance (sweet) 1239 930 x 810 0.94 0.63 Maximal scanning distance...
Transcript of MotionCam-3D...Optimal scanning distance (sweet) 1239 930 x 810 0.94 0.63 Maximal scanning distance...
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MotionCam-3D Quick Start Guide for Engineering Sample
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05/2020
MotionCam-3D Winner of the VISION Award 2018, Systems Innovators Award 2019, and ranked among the inVISION Top Innovations of
2019, MotionCam-3D® by Photoneo® is the highest-resolution and highest-accuracy area-based 3D camera for scanning in
rapid motion.
Introduction Thank you for choosing Photoneo’s MotionCam-3D. Please take a few minutes to read through this manual to become
familiar with the device and its operation.
MotionCam-3D is the highest-resolution and the highest-accuracy area-based 3D camera for scanning in rapid motion. It
uses Photoneo’s patented technology called Parallel Structured Light implemented in our custom CMOS image sensor. The
camera is able to capture objects moving as fast as 40 m/s and shoot at up to 20 FPS. The system processes ~15M 3D
points per second, providing sub-millimeter precision.
Photoneo has started to sell engineering samples of the MotionCam-3D while it is still in the development stage. This
allows customers to test out the camera’s potential and to prepare for significant advances in the field of 3D capturing,
machine vision and automation. While the engineering samples are functional and safe to use, the final parameters and
components are still being fine-tuned.
The MotionCam-3D is based on the PhoXi® 3D Scanner family. Therefore, some of its features are very similar to those of
the scanner, while some work differently. The purpose of this guide is to outline the differences in operation between the
scanner and the MotionCam-3D.
If you are not familiar with PhoXi 3D Scanners or PhoXi Control, we kindly ask you to read the following manuals to
familiarize yourself with 3D scanners and scanning software:
■ PhoXi 3D Scanner: photoneo.com/support/#documentation
■ PhoXi Control: photoneo.com/3d-scanning-software/
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Preliminary Datasheets The following datasheets are valid for the engineering sample of MotionCam-3D. Datasheets for the final product may be
different.
Common Parameters
Parameter Scanning in motion
(default) High-resolution mode
(static scenes)
Depth map resolution (independent measurements)
~0.5 Mpx 427 200 points
~2 Mpx 1 922 400 points
Depth map resolution (output resolution)
1120 x 800 1680 x 1200
FPS 20 fps 3 fps
Data acquisition time 10 ms 300 ms
Maximum object / camera speed 40 m/s -
3D points throughput 15 Million points per second
Scanning Range and Point Size
Figure 1: Scanning volume of the MotionCam-3D.
The point size is the average distance between two measured 3D points.
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MotionCam-3D model M Distance (mm)
Z Area (mm)
X x Y Point size (mm)
(in motion) Point size (mm)
(static scene)
Minimal scanning distance (near) 600 423 x 385 0.44 0.29
Optimal scanning distance (sweet) 900 862 x 610 0.78 0.52
Maximal scanning distance (far) 1600 1266 x 968 1.2 0.8
MotionCam-3D model L Distance (mm)
Z Area (mm)
X x Y Point size (mm)
(in motion) Point size (mm)
(static scene)
Minimal scanning distance (near) 870 550 x 465 0.55 0.37
Optimal scanning distance (sweet) 1239 930 x 810 0.94 0.63
Maximal scanning distance (far) 2150 1810 x 1350 1.69 1.13
Operation System Requirements
Please ensure that your computer meets the minimum system requirements in order to operate the MotionCam-3D. PhoXi
Control works only on 64-bit operating systems, Windows 10 or Ubuntu 16 are supported.
Minimum Maximum performance (for 3D fusion)
CPU Intel i7 AMD Ryzen Threadripper 2950X or better
RAM 16 GB 32 GB
SSD 128 GB 512 GB
GPU GeForce GTX 1060 6GB NVIDIA GeForce RTX2080 TI or better
Software
MotionCam-3D is operated via PhoXi Control version 1.3. Download PhoXi Control for:
■ Windows:
www.photoneo.com/files/installer/PhoXi/1.3.2/PhotoneoPhoXiControlInstaller-1.3.2-win64.exe
■ Ubuntu 16:
www.photoneo.com/files/installer/PhoXi/1.3.0-cam-alpha/PhotoneoPhoXiControlInstaller-1.3.0-Ubuntu16-gcc55-3d
This Quick Start guide assumes that the reader is familiar with version 1.2 of the PhoXi Control application. We are going to
focus on features specific to the MotionCam-3D.
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Scanning Resolutions
MotionCam-3D utilizes a custom CMOS sensor and Parallel Structured
Light technology to produce 3D point clouds of scanned objects.
In the case of PhoXi 3D Scanners, the measurement of depth is achieved
by projection of structured light patterns on the scene. This way the
scanner measures one 3D point corresponding to each pixel on the image
sensor. MotionCam-3D does not rely on structured light patterns and
instead uses laser sweeps for illumination. The CMOS sensor powering
MotionCam-3D can use different schemes of sub-pixels to simulate
different structured light patterns. (The simulation of different light
patterns is also referred to as Coding strategy later in this document.)
The different sub-pixeling schemes contribute toward a single 3D point
(single measurement).
The sub-pixeling mode (the way each 3D point is measured) is controlled by the Resolution parameter. There are 7
different modes numbered from 0 to 6. We introduce them in an arbitrary order for better clarity.
Resolution Modes Overview
Resolution mode Independent measurements
(sensor resolution) Point cloud resolution Coding strategy
Mode 2 - scanner 1680 x 1200 1680 x 1200 Selectable
Mode 6 - camera 560 x 800 560 x 800 Interreflections
Mode 5 - camera 560 x 800 560 x 800 Normal
Mode 4 - camera 560 x 800 1120 x 800 Interreflections
Mode 3 - camera 560 x 800 1120 x 800 Normal
Mode 1 - camera 1120 x 800 1120 x 800 Interreflections
Mode 0 - camera 1120 x 800 1120 x 800 Normal
Resolution Mode 2 - Scanner Mode
Mode 2 switches the camera to a high-resolution scanner mode usable for static scenes. In this mode, one 3D point
corresponds to one pixel in the sensor and all PhoXi Control functionalities behave the same way as they do for scanners.
The scanner mode uses the full working resolution of the image sensor - 1680 x 1200 pixels. Therefore, it is able to
produce almost 2 million 3D points.
All the other modes enable high-FPS camera performance with the ability to scan moving objects. Please note that the
following scanning parameters are unavailable when any of the high-FPS camera modes is selected: Coding Strategy,
Coding Quality, and recognition of Marker Space.
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Resolution Mode 5 & 6 - Fast Camera Modes with Uneven Point Distribution
Mode 5 and Mode 6 produce a depth map in a native
resolution of 560 x 800. Frame acquisition is fastest in these
modes but the 3D points are unevenly distributed. See the
sub-pixeling diagram and the point cloud resulting from
scanning a plane in Figure 2.
Mode 5 and Mode 6 differ in the Coding strategy. Mode 5
simulates light patterns of the Normal Coding strategy and
Mode 6 simulates the light patterns of Interreflections. For
the majority of scenes, Mode 6 produces superior quality
scans. Mode 5 is left for testing purposes.
Figure 2: The sensor sub-pixeling diagram and the resulting point
cloud of a flat surface scanned in Mode 5 or 6.
Resolution Mode 3 & 4 -Fast Camera Modes with Even Point Distribution
Mode 3 and Mode 4 are extensions of modes 5 and 6,
respectively. They use secondary sensor measurements to
compute points located directly between the measured
points. The resulting depth map has the resolution of
1120 x 800. Secondary measurements are calculated in PhoXi
Control. Mode 4 simulates the light patterns of
Interreflections Coding strategy and usually produces scans
of higher quality.
When capturing a dynamic scene, Mode 4 is
recommended as it generally delivers the best quality
results.
Figure 3: The sub-pixeling diagram of Modes 3 and 4. The red
points are direct measurements whereas the blue points are
secondary measurements. On the right is the resulting point cloud
of a flat plane.
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Resolution Mode 0 & 1 - Camera Modes with Regular Point Distributions
Modes 0 and 1 use sub-pixeling with the highest number
of direct measurements to achieve depth map resolution
of 1120 x 800. The method this resolution is achieved
with generally produces results inferior to Modes 3 and 4
due to higher computational requirements, increased data
transfer rates (~ 30 ms slower), and reduced light
efficiency resulting in higher noise levels.
Figure 4: The sub-pixeling diagram and the resulting point cloud of a
flat plane in Modes 0 and 1.
Normals
The calculation of topological normals is currently possible only in the Single scan mode (not in the Free run mode) due to
the computational load. Computation of normals is by default turned off. The following utility can be used to turn the
computation of normals ON:
www.photoneo.com/files/utils/EnableNormals.zip
Please contact [email protected] if you require assistance.
Hardware Trigger & Daisy Chain
It is possible to set up several MotionCam-3D cameras to work synchronously by using the hardware trigger functionality
and GPIO outputs. This setup requires special cables provided upon request as the standard power cable contains only 2
wires for power input. In this setup, the end of the acquisition on one device triggers the acquisition on the second device
and vice versa. Please contact us for more information and assistance.
Static IP
Setting up a static IP for MotionCam-3D is not available at the moment. Please contact [email protected] for
assistance. This will be updated in a future version of PhoXi Control.
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Photoneo s.r.o.
Plynárenská 1
82109, Bratislava
Slovakia
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