Hardware specification ====================== .. note:: Informations may be used for reference only. All features and specifications are subject to change without notice. Scope of delivery ----------------- The delivery of a HS-NX includes only the sensor, power supply and a quick start guide. The complete manual is available in digital form at https://docs.3dvisionlabs.com/hs-nx/index.html .. note:: * Wiring * Mounts are NOT included in the delivery. For detail about recommended components please refer to :ref:`Accessories ` Technical specifications ------------------------ :ref:`Fig. 6.1 ` gives an overview about the main features of HS-NX .. _fig_features: .. figure:: images/HS-NX-R1_v0.92_FEATURES.PNG :scale: 60 % :align: center Fig. 6.1: HS-NX main features HS-NX is available in two different optical configurations. * Fisheye Stereo Vision (HS-NX-180) * Wide-Angle Stereo Vision (HS-NX-90) The optical specifications for the two different available optical configurations are shown in :ref:`Table 6.1 `. .. _table_optical_specifications: .. table:: Table 6.1: Optical Specifications +------------------------------+-----------------------------------------------------------------------------+ | | **Optical Configuration** | | +-----------------------------+-----------------------------------------------+ | | HS-NX-180 | HS-NX-90 | +------------------------------+-----------------------------+-----------------------------------------------+ | **Depth Sensing Technology** | HemiStereo® - binocular stereo vision technology | | | | | | for extreme wide-angle depth sensing | | | | | | using Deep Neural Network based stereo correspondence matching | +------------------------------+-----------------------------------------------------------------------------+ | **Lenses** | High-resolution all-glass lenses | | +-----------------------------+-----------------------------------------------+ | | 2.0 mm Fisheye | 2.7 mm Low-Distortion | | | | | | | Aperture: F/2.2 | Wide-Angle | | | | | | | Filter: 650nm IR-cut filter | Aperture: F/2.8 | | | | | | | (ICF) | Filter: 650nm IR-cut filter | | | | | | | S-Mount | (ICF) | | | | | | | | S-Mount | +------------------------------+-----------------------------+-----------------------------------------------+ | **Field of View** | 180° × 145° (H × V) | 85° × 67° (H × V) | +------------------------------+-----------------------------+-----------------------------------------------+ | **Image Sensor** | Sony IMX477 (using included Raspberry Pi | | | | | | High Quality Camera Module) | | | | | | 12.48 MP Stacked Back-Side Illuminated | | | | | | Type 1/2.3”, 1.55μm pixel pitch | | | | | | Rolling Shutter | +------------------------------+-----------------------------------------------------------------------------+ | **Image Resolution** | 4032 × 3040 | +------------------------------+-----------------------------------------------------------------------------+ | **Depth Resolution** | up to 4096 x 3072 | +------------------------------+-----------------------------------------------------------------------------+ | **Base Length** | 142.0 mm | +------------------------------+-----------------------------+------------------+-----------------+----------+ | **Depth Frame Rate** | **Depth Resolution** | **Quality Near** | **Quality Far** | **Fast** | | +-----------------------------+------------------+-----------------+----------+ | | 4096 × 3072 | 0.5 FPS | 1.0 FPS | 5.0 FPS | | +-----------------------------+------------------+-----------------+----------+ | | 2048 × 1536 | 2.4 FPS | 4.5 FPS | 17.5 FPS | | +-----------------------------+------------------+-----------------+----------+ | | 1024 × 768 | 8.7 FPS | 14.9 FPS | 28.5 FPS | | +-----------------------------+------------------+-----------------+----------+ | | 512 × 396 | 25.0 FPS | 28.0 FPS | 28.5 FPS | +------------------------------+-----------------------------+------------------+-----------------+----------+ | **Axial Depth Precision** | ±0.1 mm @ 0.5 m | ±0.06 mm @ 0.5 m | | | | | | | ±0.3 mm @ 1.0 m | ±0.25 mm @ 1.0 m | | | | | | | ±1.3 mm @ 2.0 m | ±1.0 mm @ 2.0 m | | | | | | | ±8.2 mm @ 5.0 m | ±6.3 mm @ 5.0 m | | | | | | | ±32.7 mm @ 10.0 m | ±25.3 mm @ 10.0 m | +------------------------------+-----------------------------+-----------------------------------------------+ | **Range** | 0.5 m – 10 m | 0.5 m – 10 m | +------------------------------+-----------------------------+-----------------------------------------------+ .. note:: For depth frame rate measurement, depth matching was computed locally on the integrated Jetson Xavier NX module using HS-NX90X. Modes: Quality Near = SGM-128 / Quality Far = SGM-64 / Fast = BM-128 .. note:: Precision values are result of calculation of the theoretical maximum based on the given stereo camera setup. Practical values may be affected by image noise, ambient illumination and surface texture. .. note:: The image resolution may be set to 2016x1520 pixels, which decreases the rolling shutter effect and is beneficial for the imager sensitivity (noise and brightness). This behavior is called "binning" and can be enabled via software. For information on how to use it, see :ref:`application service `. HS-NX is available in two different embedded computing configurations using the following Developer Kits * **N**: NVIDIA® Jetson Nano™ * **X**: NVIDIA® Jetson Xavier NX™ The computional specifications for the two different embedded computing configurations are shown in :ref:`Table 6.2 `. .. _table_computional_specifications: .. table:: Table 6.2: Computional Specifications +-----------------+----------------------------------------------------------------------------------+ | | **Edge Compute Configuration** | | +------------------------------------------+---------------------------------------+ | | **NVIDIA® Jetson Xavier NX™** | **NVIDIA® Jetson Nano™** | +-----------------+------------------------------------------+---------------------------------------+ | **CPU** | ARMv8.2 (64-bit) heterogeneous multi- | ARM® Cortex® -A57 MPCore | | | | | | | processing (HMP) CPU architecture | (**Quad-Core**) | | | | | | | 3x dualcore CPU clusters | Processor with NEON Technology | | | | | | | (**six NVIDIA Carmel processor cores**) | L1 Cache: 48KB L1 (I-cache) per core | | | | | | | connected by a high- | 32KB L1 data cache (D-cache) per core | | | | | | | performance system coherency | L2 Unified Cache: 2MB | | | | | | | interconnect fabric | Maximum Operating Frequency: | | | | | | | L3 Cache: 4 MB (shared) | **1.43GHz** | | | | | | | NVIDIA Carmel (**Dual-Core**) Processor: | | | | | | | | L1 Cache: 128 KB L1(I-cache) per core | | | | | | | | 64 KB L1 (D-cache) per core | | | | | | | | L2 Unified Cache: 2 MB per cluster | | | | | | | | Maximum Operating Frequency: | | | | | | | | **1900 MHz** | | +-----------------+------------------------------------------+---------------------------------------+ | **GPU** | **Volta GPU** | **Maxwell GPU** | | | | | | | **384 NVIDIA® CUDA® cores** | **128-core GPU** | | | | | | | 48 Tensor cores | End-to-end lossless compression | | | | | | | End-to-end lossless compression | Tile Caching | | | | | | | Tile Caching | OpenGL® 4.6 | | | | | | | OpenGL® 4.6 | OpenGL ES 3.2 | | | | | | | OpenGL ES 3.2 | Vulkan™ 1.1 | | | | | | | Vulkan™ 1.1 | CUDA® | | | | | | | CUDA 10 | Maximum Operating Frequency: | | | | | | | Maximum Operating Frequency: | **921MHz** | | | | | | | **1100 MHz** | | +-----------------+------------------------------------------+---------------------------------------+ | **RAM** | **8 GB** 128-bit LPDDR4x DRAM | **4 GB** 4ch x 16-bit LPDDR4 DRAM | | | | | | | Secure External Memory Access | Dual Channel | | | | | | | Using TrustZone® Technology | System MMU | | | | | | | System MMU | Maximum Memory Bus Frequency: | | | | | | | Maximum Operating Frequency: | 1600MHz | | | | | | | 1600 MHz | Peak Bandwidth: 25.6 GB/s | | | | | | | | | +-----------------+------------------------------------------+---------------------------------------+ | **Interfaces** | Gigabit Ethernet, RJ-45 | Gigabit Ethernet, RJ-45 | | | | | | | HDMI and DisplayPort Connector | HDMI and DisplayPort Connector | | | | | | | **4x USB 3.1 Type-A** | **4x USB 3.0 Type-A** | | | | | | | 1x USB 2.0 Micro-B | 1x USB 2.0 Micro-B | | | | | | | GPIO, I2C, I2S, SPI, UART (internal) | GPIO, I2C, I2S, SPI, UART (internal) | | | | | | | M.2 Key-E (internal) + **M.2 Key M** | M.2 Key-E (internal) | +-----------------+------------------------------------------+---------------------------------------+ | **Power Input** | 5V | +-----------------+------------------------------------------+---------------------------------------+ | **TDP** | 10W - 15W | 5W - 10W | +-----------------+------------------------------------------+---------------------------------------+ General dimensions of HS-NX are shown in :ref:`Fig. 6.2 `. Simplified 3D data (STEP) can be downloaded `here `_. .. note:: 3D data are for reference only. Accuracy of the models cannot be guaranteed. .. _fig_dimensions: .. figure:: images/HS-NX-R1_v0.92_DIMENSIONS.PNG :scale: 60 % :align: center Fig. 6.2: HS-NX main dimensions Operating conditions ------------------------ HS-NX is designed for use under specific operating conditions defined in :ref:`Table 6.3 `. These operating conditions must always be adhered to. .. _table_operating_conditions: .. table:: Table 6.3: Operating conditions +----------------------------+----------------------------------------------------------------+ | | **Power Requirements** | +----------------------------+-------------------------------------+--------------------------+ | | **N** | **X** | +----------------------------+-------------------------------------+--------------------------+ | **Operating Voltage** | 4.75 - 5.25 V DC | 10.0 V - 19.0 V DC | | | | | | | (5V power supply incl.) | (19V power supply incl.) | +----------------------------+-------------------------------------+--------------------------+ | **Physical Connectors** | USB 2.0 Micro-B (up to 2A) | | | | | | | | 2.1 × 5.5 × 9.5 mm | 2.5 × 5.5 × 9.5 mm | | | | | | | DC barrel jack | DC barrel jack | +----------------------------+-------------------------------------+--------------------------+ | **Max. Power Consumption** | 15 W | 20 W | +----------------------------+-------------------------------------+--------------------------+ | | **Environmental Requirements** | +----------------------------+----------------------------------------------------------------+ | **Temperature Range** | -20 °C to 50 °C | +----------------------------+----------------------------------------------------------------+ | **Dust and Moisture** | Case provides some level of protection against splashing | | | | | | water and dust. | | | | | | Jetson Developer Kit IO Interface remains sensitive to ingress | | | | | | of water and dust. (no IP rating) | +----------------------------+----------------------------------------------------------------+ | **Cooling** | Passively cooled within operating range by full metal body | | | | | | machined from Aluminum. | +----------------------------+----------------------------------------------------------------+ | **Illumination** | Some form of external illumination is required. | | | | | | (IR illumination is possible. Please contact sales | | | | | | for product variant without IR cut filter). | +----------------------------+----------------------------------------------------------------+ | | **Physical Information** | +----------------------------+----------------------------------------------------------------+ | **Dimensions** | 200 mm × 87 mm × 45 mm (W × L × H) | +----------------------------+----------------------------------------------------------------+ | **Weight** | 0.85 kg | +----------------------------+----------------------------------------------------------------+ | **Mounting Options** | 1× 1/4-20 UNC standard tripod mount | | | | | | 2× M4×0.7-6H blind tapped holes | +----------------------------+----------------------------------------------------------------+ .. note:: HS-NX is passively cooled. To ensure proper cooling an unobstructed airflow around the enclosure is necessary, especially around the cooling fins. Please use only the provided mounting options and leave at least 10 cm of clearance around the enclosure. .. _power_supply: Power supply ------------------------ HS-NX is driven by a DC power source. A suitable power supply for the respective model is part of the delivery. If a customer specific solution for the power supply unit is to be used, the specifications described in :ref:`Table 6.3 ` must be met. .. warning:: Using a power supply that does not fulfill the above specifications may result in irreversible damage of HS-NX! Wiring ------------------------ Cables are not included in the scope of delivery. The responsibility for proper wiring is up to the user. The possible options for connecting the device are shown in :ref:`Fig. 6.1 `. .. warning:: Always make sure that the cables are properly strain-relieved. A load on the connections of HS-NX due to cable movement must be avoided. Also pay attention to the correct bending radii of the cables during installation. Mounting options ------------------------ HS-NX offers multiple mounting options on the back of the enclosure. Please see :ref:`Fig. 6.3 ` for details. For setup or static applications the 1/4-20 UNC standard tripod mount can be used. For dynamic scenarios the mounting with two M4 screws (strength class 8.8) is required. The screws have to be tightened with a torque of 2.6 Nm and must be secured with medium strength threadlocker (e.g. Loctite 243) against unintentional loosening. For a wide range of standard applications, an optional, adjustable universal mount is available. For more details please refer to :ref:`Accessories `. .. _fig_mounting: .. figure:: images/HS-NX-R1_v0.92_MOUNTING.PNG :scale: 60 % :align: center Fig. 6.3: HS-NX mounting options Coordinate system ------------------------ Two different coordinate systems are defined for HS-NX. A camera coordinate system and a mounting coordinate system. The origin of the camera coordinate system is positioned in the center of the left camera. The mounting coordinate system is positioned in the center of the tripod mounting hole. The approximate location and orientation of the coordinate systems for the two different optical configurations is shown in :ref:`Fig. 6.4 ` and :ref:`Fig. 6.5 `. .. _fig_cosy_hs-nx90: .. figure:: images/HS-NX-R1_v0.92_COSY_HS-NX90.PNG :scale: 60 % :align: center Fig. 6.4: HS-NX-90: location of coordinate systems .. _fig_cosy_hs-nx180: .. figure:: images/HS-NX-R1_v0.92_COSY_HS-NX180.PNG :scale: 60 % :align: center Fig. 6.5: HS-NX-180: location of coordinate systems