Okulo ™ P1 consists of an integrated set of hardware, firmware and software services for high-quality RGB-Depth sensing based on Time-of-Flight (ToF) technology.The hardware devices namely the P1 camera series can sense distance information with high precision and in a denseimage-array format. A full-functional P1 camera consists of an RGB sensor, a ToF sensor, four VCSELs (VerticalCavity Surface Emitting Lasers) as well as a Micro-Controller-Unit. The camera is shown in Fig. 1.1. The firmwareis responsible for processing the depth and color data and transmitting them to high-speed USB 3.2 interfaces. Thecross-platform software library provides a unified interface for reading depth and color data streams, and it also comeswith extensive tools for users to develop fully customizable applications. The library also offers point cloud streamingfor reconstructing the 3D real-world in a high-precision and real-time manner, which supports wide-range applicationsincluding intelligent robotics, automotive cars, surveillance, digital human and face, etc.

Specifications Parameters	Values/Details
Technology	RGB-Depth Camera
ToF Sensor	Melexis MLX75027
ToF Sensor Resolution	640x480, 0.3MP
ToF Sensor Frame Rate	120/100fps
RGB Sensor	Sony IMX290
RGB Sensor Resolution	1920 × 1080, 2.0MP
RGB and ToF Synchronization	Yes and Optional
ToF Illumination	VCSEL × 4
Illumination Wavelength	940 nm
ToF Lens Parameters	f=5.30mm, F1.2, 1/2.0"
RGB Lens Parameters	f=3.24mm, F2.2, 1/2.8"
ToF Lens Field of View	67.0 ° (H) × 51.0 ° (V), 82.0 ° (Diag)
RGB Lens Field of View	80.2 ° (H) × 51.0 ° (V), 88.2 ° (Diag)
RGB Dynamic Range	120dB @ maximum
RGB ISP	– Fully hardware accelerated – Real-time processing, 120/100fps for P1-H/S – Low latency, <1ms – Dead pixel removal – Noise reduction – Auto-white balance – Auto-gamma correction – Auto-exposure
ToF ISP	– Fully hardware accelerated – Real-time processing, 120/100 fps for P1-H/S – Low latency, <1ms – Flying-pixel removal – Non-linear (Wiggling) correction – Pixel phase pattern correction – Temperature Drifting correction – Spatial filter – Auto-exposure
IMU Sensor	6-Axis (3D accelerometer & 3D gyroscope) Accelerometer full scale: ±16g(≈ 156.9m/s2) Gyroscope full scale: ±200∘(≈ 34.9rad/s) Fully customizable coordinate system
ToF Auto-Exposure	Yes, with adjustable EV and can be disabled
RGB Auto-Exposure	Yes, with adjustable EV and can be disabled
Multi-Camera Synchronization	Yes, up to 6 camera synchronization under 30fps and 0.7ms ToF sub-frame exposure time setting
Average Power Consumption	14.5W (RGBD, 60fps, maximum ToF exposure time), 9.5W (RGBD, 60fps, minimum ToF exposure time)
Maximum Instant Power Consumption	20W
Outfit Dimension	61mm × 96mm × 58.3mm
Weight	365g
Frame Rate	RGB: 25, 30, 50, 60, 80, 100, 120 fps adjustable; ToF: 1 ~ 120fps adjustable or synchronize to RGB
Protection Level	IP67
Power Supply	10.5~15V DC
Data Output Interface	USB 3.2 Type-C, 10 Gig-E, Coax Press 2.0
Data Streams	RGB, Depth, PointCloud
Assembly Method	1/4-20 UNC Threaded hole * 1, M4 threaded hole * 6
Heat Dissipation	Passive
Working Temperature	-40 °C ~ 55 °C (in still air), -40 °C ~ 65 °C (with extended heatsink), -40 °C ~ 85 °C (in proper convective air)
Working Humidity	20% ~ 80% Relative Humidity, Non-Condensing
Product Certification	RoHS, REACH, LASER Class 1, IP67
Product Warranty	1 year
Product Life-Cycle	10 years expected

Okulo™ P1 Precision RGB-Depth Sensing Camera: High-Quality Imaging, Advanced Time-of-Flight Technology,100FPS, and Robust Hardware Integration