文件名称:
Intel-RealSense-D400-Series-Datasheet
开发工具:
文件大小: 5mb
下载次数: 0
上传时间: 2019-07-29
详细说明：Intel RealSense D400系列摄像头使用文档 /Intel RealSense D400系列摄像头使用文档Description and Features
intel REALSENSE
TECHNOLOGY
Contents
Description and Features
11
Introduction
.12
2.1
Purpose and scope of this document
■■■画画
12
Terminology
12
2.3 Stereo Vision Depth Technology overview,………………………13
2.4 Camera System Block Diagram....
15
2.5 Intel Real TM Depth Module d400 series Product sKUs
2.6 Intele RealSenseTM Depth Camera D400 series Product SKu
16
17
Component specification
18
3.1 Vision Processor D4 Camera System Components
∴18
3.2 Host processor
Intel RealSenseTM Vision Processor..
18
18
3.3.1 Vision processor d4 Features
18
3.3.2 Vision Processor D4 Signal Description
19
3.3.3 Vision Processor D4 Package mechanical attributes
24
3.3.4 Vision Processor D4 Power Requirements .
3.3.5Ⅵ ision processor d4 Power Sequencing……,30
3.3.6 Vision Processor D4 Spec Code .....,.................. 31
3.3.7 Vision Processor d4 Storage and operating Conditions
∴31
3.3.8 Vision Processor d4 Thermals
32
Clock
32
5 Seria(SPI) Flash Memory.……
32
3.6 Stereo depth Module
∴.32
3.6.1 Left and Right Imagers
34
3.6.2 Infrared Projector
35
3.6.3 Color sensor
∴36
3.64 Depth Module Connector……
37
3.6.5 Stereo depth Module label
37
3. 6. 6 Stiffener
38
3.6.7 Temperature Sensor
8
3.6.8 Other stereo depth module components
画■■
38
3. 6.9 Mechanical dimensions
39
3.6.10 Stereo depth Module power sequence
3.6.11 Stereo Depth Module Storage and Operating Conditions
40
3.7 Intel Realsense TM Vision Processor D4 Board. ...................41
3.7.1 Mechanical dimensions
42
Flex and Rigid Interposer Interconnect……….……
3.7.2 Depth Module receptacle
■“1m1“■
量
42
3.7.3
42
3.7.4 EXternal sensor sync Connector
47
JSB Peripheral Connector- Type-C
47
3.7.6 Color Image Signal Processor(ISP)
■■■■
∴49
3.7.7 Vision Processor D4 Board Power Requirements
49
3.7.8 Vision processor d4 board thermals
∴49
on Processor D4 Board Storage and operating Condition
50
3.7.10 Intel RealSenseTM Vision Processor D4 Board Product identifier and
Material code
50
Intel RealSense TM Depth Camera D400 Series
50
337029-005
intel? REALSENSE
TECHNOLOGY
3.8.1 Depth Camera D400 Series Mechanical Dimensions......... 51
3.8.2 Depth Camera d400 Series Thermals
52
3.8.3 Depth Camera d400 Series Storage and operating conditions . .. 52
(1)Controlled conditions should be used for long term storage of product. (2)
Short exposure represents temporary max limits acceptable for
transportation canditions
53
3.8.4 Depth Camera D400 Series Product Identifier and Material Code.53
8.5 Camera Lens Cleaning Procedure
4
Functional Specification
,54
4.1 Vendor Identification (ViD)and device Identification(DID)
54
4,2 Vision processor d4 data streams
54
4.3 Depth Field of view(FOv)
57
4.4 Depth Field of view at Distance().……,
57
4.5 Invalid Depth Band
58
4.6 Minimum-Z Depth
60
4.7 Depth Quality specification.….….….….…..….….….….…….….60
4.8 Measured Power
62
4.9 Depth Start Point( Ground Zero Reference)
∴63
4.9.1 Depth Origin X-Y Coordinates
65
4.10 Depth Camera Functions
66
4.11 Color camera functions
1
67
4.12 IMU Specifications.
∴68
Firmware
69
5.1 Update...
69
5.1.1 Update Limits.….,,,,…,,,,
重重重1重重
69
5.2 Recovery....
1■日日“m““■■“_■m■
69
Software
70
6.1 Intel RealSense TM Software development kit 2.0
70
System Integration
7.1 System Level Block Diagram
7.2 Vision Processor D4 System Integration
71
7.2.1
Vision processor d4 board
71
7.2.2 Vision processor d4 on motherboard
72
7.3 D4 Camera System Power Delivery
7.4 Vision Processor D4 Board for Integrated peripheral
74
7.4.1 USB3 1 Gen 1 Receptacle
74
7.4.2 USB 3. 1 Gen 1 High Speed Cable Assembly............74
7.4.3 Transmit to receive crossover
75
7
44
Motherboard receptacle
7.4.5 Vision Processor D4 Board for Integrated Peripheral power
Requirements
Thermals
76
7.6 Stereo depth module flex
78
7.7 Stereo depth Module mounting guidance
78
7.7.1 Screw mount
78
Bracket mount
79
7.3 Stereo Depth Module Air gap.……
81
7.8 Thermal interface material
81
7. 9 Heat sink
81
337029-005
Description and Features
intel REALSENSE
TECHNOLOGY
7.10 Cover Design and Material Guidance
81
7.11 Gaskets
82
7.11.1 Optical isolation
83
7.11.2 Dust Protection
84
7.12 Firmware Recovery………,……
84
7.13 Calibration Support
7.14 Multi-Camera Hardware sync
85
7.15 Handling Conditions.......
86
8
Platform Design Guidelines
■1■■
87
8.1 Vision processor d4 on motherboard
87
8.2 Kaby Lake u and Kaby lake y platforms
88
8.2. 1 Kaby lake platform Introduction
88
8.2.2 Supported PCB Stack-Up and Routing Geometries
88
8.2.3 Vision processor d4 on motherboard with usb host interface .......89
8.2, 4 Vision processor d4 on motherboard with mipi host interface
90
8.2.5 Vision Processor D4 Board for Integrated Peripheral (UsB 3. 1 Gen 1
8.2.6 USB2.0 Design Guidelines(USB2 Host to Vision Processor D4. 92
Host to Vision Processor D4 Routing)
Routing)
93
8.3 Cherry Trail t4 Platform
94
8.3.1 Cherry Trail t4 Platform Introduction
94
8.3.2 Vision Processor D4 Platform Design Guidelines.......,... 94
Regulatory Com
95
9.1 System Laser Compliance
95
9. 1.1 Certification Statement
95
9.1.2 Explanatory Label
95
9.1.3 Cautionary Statements
95
9.1.4 Manufacturers information
96
9.1.5 US FDA Accession number
96
9.1.6 NRTL Statement∴
96
9.2 Ecology Compliance
∴97
9.2.1 China rohs declaration
I..I.
97
9.2.2 Waste Electrical and Electronic Equipment(WEEE
98
Mechanical drawings
99
11
Connector Drawings
Appendix a-vision Processor D4 on Motherboard Schematic Checklist. ................109
12.1 Power Delivery.…
116
Appendix B- Cover Material..,..,.
∴119
Figures
Figure 2-1. Active Infrared(IR) Stereo Vision Technology
n14
Figure2-2. Depth measurement(z) versus Range(R).…,…,,…,…,,……14
Figure 2-3 Vision Processor D4 Camera System Block Diagram
15
Figure 3-1. Vision Processor D4 Package Drawing
Figure 3-2. Vision Processor d4 Ball-out
∴,27
337029-005
5
intel? REALSENSE
Figure 3-3. Vision Processor D4 Power Sequencing
■画
Figure 3-4. Stereo Depth Module(IntelRealSense TM Depth Module d410).
33
Figure3-5. Stereo depth Module(Inte|Rea| Sense TM Depth module d430)……………33
Figure 3-6. stereo Depth module Power sequence
40
Figure 3-7. Vision Processor D4 Board (USB Peripheral
Figure 3-8. Flex interposer (illustration
43
Figure 3-9. Rigid Interposer(Illustration)
43
Figure 3-10 Depth Module Receptacle and Plug Connector Pin Position
44
Figure 3-11. Depth Module Connector Orientation and pin Position
46
Figure 3-12. USB Type-C Receptacle Pin Map
48
Figure 3-13. Intel RealSenseTM Depth Camera D415
50
Figure 3-14. Intel RealSense TM Depth Camera D435/D435i
Figure 4-1. Depth field of view to Depth map illustration
58
Figure 4-2. Left Invalid Depth
Figure 4-3. Depth Module depth start Point Reference...............
∴63
Figure 4-4. Depth Camera Depth start Point Reference
64
Figure 4-5. Depth Module x-Y Depth Origin Reference
65
Figure 4-6. Depth Camera X-Y Depth Origin Reference.....,.....
66
Figure7-1, System Block Diagran.,…,…,,…,,,,…,…,,,…
Figure 7-2. Intel RealSense TM Vision Processor D4 Board
a_:aaaa.aaaaaa.aaaaaa
72
Figure 7-3. Vision Processor D4 on Motherboard (Illustration)
72
Figure7-5. Host motherboard USB3.1Gen1Rot/,……………
Figure 7-4.d4 Camera System Power scheme
1■■
∴73
75
Figure 7-6. Receptacle ground Bar Motherboard Connections
Figure 7-7. Botto
Depth Module d410
78
Figure 7-8. Bottom Stiffener Depth Module D430
78
Figure 7-9. Stereo Depth Module Screw mount
9
Figure 7-10. Stereo depth Module bracket
,79
Figure 7-11. Stereo Depth Module bracket Mount
∴80
Figure7-12. Stereo Depth Module Bracket Install.……,……,,……80
Figure 7-13. Stereo Depth Module Air Gap
■■“画1画画画画画■
81
Figure 7-14. Illustration of gasket placement and cover material
∴83
Figure 7-15. Example of Light Leakage Effects
∴84
Figure 7-16. Firmware Recovery sequence
∴85
Figure 7-17. External Sensor Sync Connector Location on d4 Vision Processor d4 Board. .............85
Figure 7-18. External Sensor Sync Connector Location on Depth Camera D435/ D435i
86
Figure 8-1. Vision processor d4 with USB Host Interface
..87
Figure 8-2. Vision Processor D4 with MIPI Host Interface
87
Figure 8-3. Vision Processor D4 on Board for USB Integrated Peripheral
88
Figure8-4. Host processor- Vision processor d4………
89
Figure 8-5. Vision Processor D4 Transmit- Host Receive
90
Figure 8-6. Stereo Depth Transmit -Vision Processor D4 Receive
91
Figure 8-7. Flex Interposer pCB Stack-Up............
92
Figure 8-8. USB 3. 1 Gen 1 Host to vision Processor d4 Topology
Figure 8-9. USB2.0 Host to Vision Processor D4
93
Figure 9-1. NRTL Certifications
97
Figure 10-1. Intel RealSenseTm Depth Module D400
99
Figure 10-2. Intel RealSense m depth module d410
100
Figure 10-3. Intel RealSense M Depth Module D415
101
Figure 10-4. Intel RealSense Tm depth module d420
∴,102
Figure 10-5. Intel RealSenseTM Depth Module D430
103
Figure 10-6. Vision Processor D4 Board USB Type-C(Intel RealSense TM Vision Processor D4
Board)..,,,.,,,,,
104
Figure 10-7. Intel RealSense TM Depth Camera D415
,105
Figure 10-8. Intel RealSenseTM Depth Camera D435/D435i
106
337029-005
Description and Features
intel REALSENSE
TECHNOLOGY
Figure 11-1. Receptacle Mechanical Drawing(50 Pin Depth Module Receptacle)..,.......107
Figure 11-2. Plug mechanical Drawing(50 pin depth Module plug)
∴108
Figure 12-1. Vision Processor D4 Laser PWM Reference platform Schematic
Figure12-2. Vision processor d424 MHz Crystal Clock Reference Platform Sche…………,116
∴116
Figure 12-3. DC-DC Reference platform Schematic(3.3V,1.8V,0.9v)
117
Figure 12-4. Vision Processor D4 VDD_PG and AVDd Reference Platform Schematic
118
Tables
Table 2-1. Depth Module Product sKU Descriptions
16
Table 2-2. Depth Camera Product SKU Descriptions
17
Table 3-1. Component descriptions
18
Table 3-2. Vision Processor D4 Signal Descriptions........
19
Table3-3. Hardware Straps∴…
■■■
24
Table 3-4. Vision Processor D4 Package Mechanical Attributes
,25
Table 3-5. Vision Processor d4 Ball-out by Signal
Table 3-6. Vision Processor D4 Power Requirements
30
Table 3-7 Vision Processor D4 Power Sequencing Timing parameters
∴,30
Table 3-8. Vision processor d4 SPEc Code
R
able 3-9. Vision Processor D4 Storage and Operating Conditions
Table 3-10. Stereo Depth Module
Table 3-11. Stereo Depth Module skU Properties
33
ble 3-12. Standard Left and right Imager properties
34
Table 3-13. Wide Left and Right Imager Properties
34
Table 3-14. Standard Infrared Projector Parameters
35
Table 3-15. Wide infrared Projector Parameters
35
Table 3-16. Color Sensor
36
Table 3-17. Depth Module 50-pin Connector Plug details
.37
Table 3-18. Stereo Depth Module product labeling
37
Table 3-19. Stereo depth Module label Fields
37
Table 3-20. Intel Realsense Mm depth module d400 Series product Identifier Code and Product
Material code
38
Table 3-21. Other Stereo Depth Module Components...,..,,..
“日
38
Table 3-22. Intel RealSense TM Depth Module D400 Mechanical Dimensions
39
Table 3-23. Intel RealSense TM Depth Module d410 Mechanical Dimensions
39
Table 3-24. Intel RealSenseTM Depth Module D415 Mechanical Dimensions.............39
Table 3-25. Intel RealSenseTM Depth Module D420 Mechanical Dimensions
39
Table 3-26. Intel Realsense M depth Module d430 Mechanical Dimensions
40
Table 3-27. Stereo Depth Module storage and operating Conditions
∴40
Table 3-28. Vision Processor d4 Board
41
Table 3-29. Vision Processor d4 Board components
Table 3-30. Vision Processor D4 USB Type-C Board Mechanical Dimensions.//.
41
42
Table 3-31. Depth Module receptacle details
42
Table 3-32. Interposer Interconnect Signal Description.
,44
Table3-33. Custom Flex Interposer ordering Logistics…,,…,,,…,,……,,46
Table 3-34. External sensor Connector details
47
Table 3-35. External Sensor Sync Connector Pin List
47
Table 3-36. USB Peripheral connector Pin List
48
Table 3-37. Custom USB Type C cable Assemblies Ordering Logistics
49
Table 3-38. ISP Properties
““·a
..49
Table 3-39. Vision Processor D4 Board Power Requirements
49
Table 3-40. Vision Processor D4 Board Storage and Operating Conditions
50
Table 3-41. Vision Processor d4 board Product identifier and material code
50
337029-005
intel? REALSENSE
TECHNOLOGY
Table 3-42. Depth Camera SKU properties
51
Table 3-43. Intel RealSenseTM Depth Camera D415 Mechanical Dimensions
51
Table 3-44. Intel RealSense TM Depth Camera d435, D435i Mechanical Dimensions
52
Table 3-45. Max Skin Temperature
∴52
Table 3-46. Depth Camera D400 Series Storage and Operating Conditions.............52
Table 3-47 Depth Camera D400 Series Product identifier and Material Code
53
Table 4-1. Vendor id and device id table
54
Table 4-2. Image Formats(USB 3.1 Gen1)
1■
Tabe4-3. Image Formats(USB2.0)………………
55
Table4-4. Simultaneous Image Streams (USB3.1Gen1&USB2.0)………………56
Table 4-5. Depth Field of View.
57
Table 4-6. Minimum-Z Depth
∴60
Table 4-7: Depth quality metric
60
Table 4-8: Depth quality Metric
Table 4-9. Depth quality specification
61
Table 4-10. Power- Ubuntu 16.04
..62
Table 4-11. Power-Windows 10(RS4)
62
Table 4-12. Depth Module Depth start point
63
Table4-13. Depth Cameras Depth Start Point……
64
Table 4-14. Depth Module X-Y Depth Origin Coordinates
a_:aaaa.aaaaaa.aaaaaa
∴65
Table 4-15. Depth Camera X-Y Depth Origin Coordinates.
66
Table 4-16. Depth Camera Controls
66
Table 4-17 RGB Exposed Controls
7
Table 4-18. IMU Specifications
68
Table 7-1. USB 3. 1 Gen 1 Receptacle Characteristics..........
74
Table 7-2. USB 3. 1 Gen 1 Receptacle pin Out
74
Table 7-3. USB 3. 1 Gen 1 Plug Characteristics
74
Table 7-4. Cable Assembly specification
Table 7-5. Motherboard Receptacle Properties
76
Table 7-7. Vision Processor D4 Board- Component Power and TDP at Max operating Mode .......76
Table 7-6. vision Processor D4 Board as Embedded peripheral power requirements. ....m....76
1量1
Table 7-8. Stereo Depth Module (standard)-Component power and TDP at Max Operating
Mode(1)
Table 7-9. Stereo Depth Module(Wide)-Component power and TDP at Max Operating Mode(1)..77
Table 7-10. Vision Processor d4 Board Components- Case Temperature Limits(Still Air )......77
Table 7-11. Bracket ordering Logistics
80
Table 7-12. Component Transmission...
.82
Table 7-13. Electrostatic Discharge Caution
86
Table 8-1. Host Transmit- Vision Processor D4 Receive Routing Guidelines
89
Table 8-2. Vision Processor D4 Transmit- Host Receive Routing Guidelines
∴89
Table 8-3. Vision Processor D4 Transmit- Host Receive Routing Guidelines
.90
Table 8-4. Stereo Depth Module Transmit- Vision Processor D4 Receive Routing Guidelines...91
Table 8-5. USB 3. 1 Gen 1 Host to Vision Processor D4 Routing Guidelines....,..,.......93
Table 9-1.U.s. fDa Accession number
96
Table 12-1. vision processor d4 on motherboard schematic checklist
109
Table 12-2. Vision Processor D4 Decoupling and filter
118
Table 13-1. EXample: Cover Material Parameters
119
337029-005
Description and Features
intel REALSENSE
TECHNOLOGY
Revision History
Document Number
Revision Number
Description
Revision date
337029
001
Initial release
January 2018
002
Tracking Module 1 removal, NRTL
March 2018
certification, 7.2.2.1 Firmware Update
003
.Added USB2.0 support
July 2018
.Removed VBuSo from table 3 6. vision
Processor D4 Power requirements
Table 3 12 Standard Left and right
Imager Properti
Table 3 13. Wide Left and Right
Imager properties
.Table 39. Vision Processor D4 Storage
and operating conditions
o Table 3 27 Stereo Depth Module
Storage and Operating Conditions
oTable 338. Vision processor d4 board
Storage and Operating Conditio
Table 3 44. Depth Camera D400 Series
Storage and Operating Conditions
Table 43. Image Formats(USB 2.0)
.Table 4 5. Simultaneous Image
treams (USB3 1 Genl, USB 2.0)
4.7 Depth Origin Point(Ground Truth
Zero)
7. 14 Multi-Camera hardware sync for
multi-camera configuration
337029-005
intel? REALSENSE
Document Number Revision Number
Description
Revision date
004
.Description and Features
November 2018
.Terminology
.Table 2-2. Depth Camera Product SKU
Descriptions
.Table 3-11. Stereo Depth Module SKU
Properties
.Table 3-33. Custom Flex Interp
ordering Logistics
. Table 3-35 External Sensor Sync
Connector pin list
.Table 3-42. Depth Camera SKU
propertie
.Table 3-47 Depth Camera D400 Series
Product identifier and material
.Table 4-1. Vendor id and device id
Table
.Table 4-2. Image Formats(USB 3.1
Gen1)
.Table 4-3. Image Formats(USB 2.0)
ble 4-9. Depth Quality Specificat
Section 4-12 IMU Specification
005
. Table 3-11. Stereo Depth Module sKU
January 2019
Properties
2. Depth Camera SKU
Properties
Table 4-4. Simultaneous Image
Streams (USB 3. 1 Gen 1 USB
20)
.Table 4-18. IMU Specifications
337029-005
(系统自动生成,下载前可以参看下载内容)
下载文件列表
相关说明
- 本站资源为会员上传分享交流与学习,如有侵犯您的权益,请联系我们删除.
- 本站是交换下载平台，提供交流渠道，下载内容来自于网络，除下载问题外，其它问题请自行百度。
- 本站已设置防盗链，请勿用迅雷、QQ旋风等多线程下载软件下载资源，下载后用WinRAR最新版进行解压.
- 如果您发现内容无法下载，请稍后再次尝试；或者到消费记录里找到下载记录反馈给我们.
- 下载后发现下载的内容跟说明不相乎，请到消费记录里找到下载记录反馈给我们，经确认后退回积分.
- 如下载前有疑问，可以通过点击"提供者"的名字，查看对方的联系方式，联系对方咨询.
