DS series
Features Sony DepthSense TOF sensor
Class 1 Laser Product

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All Rights Reserved.

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3D Time-of-Flight Principle

Transmitter
Start
stop
𝑻𝒔𝒕𝒐𝒑 − 𝑻𝒔𝒕𝒂𝒓𝒕

ReceiverTimer

𝑫=𝒄∗(𝑻𝒔𝒕𝒐𝒑 −𝑻𝒔𝒕𝒂𝒓𝒕)
𝟐Distance

A 3D time-of-flight sensor emits modulated infrared lightoutside the visible range. It is reflected by objects in its fieldof vision and then captured by the sensor. The time
between the emission and reception of the reflected
infrared light is called “time-of- flight” (ToF).

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DS86 & DS87
SONY ToF + RGB Camera
Industrial Grade

Specification Download
EXW price

2D Drawing Download

ModelDS87

DS86

Part No.

608000200069

608000200067

SensorSony DepthSense ToF CMOS+Global Shutter RGB

Illumination

940nm 10W VCSEL * 2

ToF Resolution/Frame rate

640*480dpi, Max.15fps

ToF HDR Mode

Supported with Max. 10fps

ToF FOV

60°(H)*45°(V)RGB Camera

1600*1200, 15fps, 70°(H)*50°(V)Output Format

16bit(depth) + 8bit(IR) + JPEG(RGB)Interface

1000Mbps Ethernet and RS485

Physical Connection

M12+M8 Aviation Plugs

RJ45 + M8 Aviation Plugs

Power Supply

PoE+ or 12V~24V (DC), <7W

12V~24V (DC), <7W

Accuracy<1% (4mm@1m) *Working Range

0.15m to 5m*

Working Temperature-20°C to 50°C

Operation System & Platform

Windows/Linux/Arm Linux/ROS1/ROS2

SDK

C/C++/Python/C#Enclosure Rating
Conformity

IP67

IP42
CE, FCC, FDA

Back View* Accuracy and working range will vary with the reflectivity of the object

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DS77C PRO & DS77C Lite
SONY ToF + RGB Camera
Industrial Grade

Specification Download
2D Drawing Download
EXW price

Model

DS77C PRODS77C LITEPart No.

608000200024

608000200025

SensorSony DepthSense ToF CMOS+Global Shutter RGB

Illumination

940nm VCSEL * 2

ToF Resolution/Frame rate

640*480dpi, Max.25fps

ToF HDR Mode

Supported with Max. 15fps

ToF FOV

70°(H)*50°(V)RGB Camera

1600*1200,25fps, 77°(H)*55°(V)Output Format

16bit(depth) + 8bit(IR) + JPEG(RGB)Interface

Power Supply

1000Mbps Ethernet and RS485RJ45 x1
M12 Aviation Plug x 2
6pin Connector x 1
PoE+ or 12V~24V (DC), <7W
12V~24V (DC), <7W

Accuracy<1% (4mm@1m) *Working Range

0.15m to 5m*

Working Temperature-20°C to 50°C

Operation System & Platform

Windows/Linux/Arm Linux/ROS1/ROS2

SDK

C/C++/Python/C#

Physical Connection

Enclosure Rating
Conformity

IP67

IP42
CE, FCC, FDA

Back View* Accuracy and working range will vary with the reflectivity of the object

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DS77 PRO & DS77C Lite
SONY ToF Camera
Industrial Grade

Specification Download
2D Drawing Download

EXW price

Model

DS77 PRODS77 LITEPart No.

608000200022

608000200023

SensorSony DepthSense ToF CMOS

Illumination

940nm VCSEL * 2

ToF Resolution/Frame rate

640*480dpi, Max.25fps

ToF HDR Mode

Supported with Max. 15fps

ToF FOV

70°(H)*50°(V)Output Format

16bit(depth) + 8bit(IR)Interface

Power Supply

1000Mbps Ethernet and RS485
RJ45 x1
M12 Aviation Plug x 2
6pin Connector x 1
PoE+ or 12V~24V (DC), <7W
12V~24V (DC), <7W

Accuracy<1% (4mm@1m) *Working Range

0.15m to 5m*

Working Temperature-20°C to 50°C

Operation System & Platform

Windows/Linux/Arm Linux/ROS1/ROS2

SDK

C/C++/Python/C#

Physical Connection

Enclosure RatingConformity

IP67

IP42CE, FCC, FDA

Back View* Accuracy and working range will vary with the reflectivity of the object

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Key Feature•High accuracy and precision•HDR mode supported to obtain data in high contrast, complex scenes•Works well under bright sunshine or in dark scenes•

2MP RGB resolution, Global shutter (for DS86&DS87, DS77C Pro&Lite)•Matched depth image and RGB image (for DS86&DS87, DS77C Pro&Lite)•

IP67 and aviation plugs option selectable

Click to download Point Cloud Data with HDR ON/OFF

Click to download Point Cloud Data with HDR ON/OFF

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More Data Reference
You can refer to or download more point cloud data here:
https://sketchfab.com/Vzense_ToF/models

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FOV and Coverage

𝑊𝑖𝑑𝑡ℎ = 𝑡𝑎𝑛

𝐻𝐹𝑂𝑉∗ 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 ∗ 22

𝐻𝑒𝑖𝑔ℎ𝑡 = 𝑡𝑎𝑛

𝑉𝐹𝑂𝑉∗ 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 ∗ 22

Calculated detectable area from 1, 2, 3, 4meters away
ToF FOV 70°(H)*50°(V)Distance(meter)Width(meter)

Height(meter)

1

1.4

0.93

2

2.8

1.86

3

4.2

2.8

4

5.6

3.73

* the coverage is still limited by the distance

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FOV and Coverage

VFOV=45°

HFOV=60°
𝑊𝑖𝑑𝑡ℎ = 𝑡𝑎𝑛

𝐻𝐹𝑂𝑉∗ 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 ∗ 22

𝐻𝑒𝑖𝑔ℎ𝑡 = 𝑡𝑎𝑛

𝑉𝐹𝑂𝑉∗ 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 ∗ 2
2Calculated detectable area from 1, 2, 3, 4meters away
ToF FOV 60°(H)*45°(V)Distance(meter)

Width(meter)

Height(meter)

1

1.15

0.83

2

2.31

1.66

3

3.46

2.48

4

4.62

3.31

* the coverage is still limited by the distance

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What’s included in the SDK:
NebulaGUITool With this application, users can quickly access DS
series camera either in Windows or in Ubuntu
platform to view the stream of depth/IR, visualize
point clouds, configure camera settings, upgrade
firmware, etc. For models with RGB, users can also
simultaneously access stream of RGB, IR, depth,
mapped RGB and mapped depth.

Suite for OS
and platforms

Different OS and platforms is supported like
Windows, Ubuntu16/18/20, Arm Linux.
The development suite includes dynamic libraries,
C/C++ code samples, OPENCV samples, prebuilt
bins.

Wrappers

Python API, as well as integration with thefollowing 3rd-party technologies: ROS1, ROS2, C#and more(Halcon, GenICam, etc.) to come.

Code Samples

Code samples are included in every listed
supported OS, platforms, and wrappers. These
examples demonstrate how to easily use the SDK toinclude code snippets that access the camera into
your applications. Check some of the C/C++
examples including point cloud capture and save,parameters setting and trigger mode setting, etc.

We constantly add new features to our SDK to expand thecapabilities of your project. Click NebulaSDK to check detail or
download.

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A Glance of NebulaSDK

NebulaGUITool

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DS86 Accessories included
Part No.

Description

Picture-CAT5e Ethernet Cable
814000600027 -RJ45 to RJ45
-Cord Length: 3m-M8 A CODE Multiple
814000300031 Functional Cable-Cord Length: 2m

DS87 Accessories included

Part No.

Description

Picture-M12 X CODE CAT5e Ethernet
Cable
814000300025-Aviation Connector to RJ45
-Cord Length: 3m-M8 A CODE Multiple
814000300031 Functional Cable-Cord Length: 2m

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DS77C Pro/DS77 Pro Accessories included

Part No.

Description

Picture-M12 X CODE CAT6a Ethernet
cable
814000300025-Aviation Connector to RJ45
-Cord Length: 3m-M12 A CODE 8pin Multiple
814000300026 Functional cable-Cord Length: 2m

DS77C Lite/DS77 Lite Accessories included

Part No.

Description

Picture-CAT5e Ethernet Cable
814000600027 -RJ45 to RJ45
-Cord Length: 3m
814000300019-DC 12~24V-Cord Length: 2m-6pin Multiple Functional Cable
814000300014 -RS485, EXT IO-Cord Length: 1m

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Selectable Accessories

Item

Lead Time: 2weeks

DescriptionPicturePrice-CAT6a Ethernet Cable
1 -Aviation Connector to RJ45
-Cord Length: 5m30usd-CAT6a Ethernet Cable
2 -Aviation Connector to RJ45
-Cord Length: 10m45usd-CAT6a Ethernet Cable
3 -Aviation Connector to RJ45
-Cord Length: 20m70usd-CAT6a Ethernet Cable
4 -Aviation Connector to RJ45
-Cord Length: 50m95usd

Suggested PoE+ Injector
Supplier
H3C
TP LINK

Model
EWPAM2NPoE+
TL-PoE+170S

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