Product Datasheet — CAM0222GS

Key Features

Stereo global shutter camera — synchronised 2 MP × 2 sensor pair
Stitched side-by-side dual output for stereo vision and depth estimation
Optional Autofocus, IMU, 850 nm 3 W lamp, IR dot projector, 24 × 32 thermal imaging sensor
IMU option provides 6-axis motion sensing plus 3-axis magnetometer for heading reference
Dual MEMS microphones (stereo audio) — 60 Hz – 24 kHz
Wide lens selection — same options as CAM0412R
USB 2.0 High-Speed plug-and-play, no external driver required

Product Image

Interface — USB (USB Micro / SM04B-GHS-TBT *)

SM04B-GHS-TBT

1GNDGround

2D −Data Negative

3D +Data Positive

4VBUS+5 V (500 mA max)

Protocol: USB 2.0 High-Speed (12 Mbps)
Connector: USB Micro / SM04B-GHS-TBT *
Shield: Connected to chassis GND

* Mating connector: GHR-04V-2P

Brief Specification

Input Power5 V / 350 mA
Resolution (per eye)2 MP · 1920 × 1080
Stereo Baseline~30 mm
Shutter TypeGlobal shutter (both sensors)
Frame Rate30 fps (synchronised)
External SyncCommon 2-pin, 2.54 mm SYNC connector
Output FormatMJPEG · stitched side-by-side
Standard OptionsA + I + L + P included
Thermal OptionT = 24 × 32 thermal sensor
IMU / CompassI = 6-axis IMU + 3-axis magnetometer
AudioMEMS Stereo · 2 mic
InterfaceUSB 2.0 High-Speed
Dimensions (L×W×H) *52.65 × 23.8 × 15 mm

* excl. lenses

Dimensions

Specification

STEREOCAM

Full Technical Reference · CAM0222GS Product Datasheet Rev 1.0

Parameter	Condition / Mode	Value	Unit
Stereo Image
Resolution (per eye)	Full frame	2 MP · 1920 × 1080	px
Shutter Type	Both sensors	Global shutter	—
Synchronisation	Hardware trigger	Frame-synchronised	—
External SYNC	Shared with MIC0528 and CAM0222GT	2-pin, 2.54 mm connector; heterogeneous audio / video frame time alignment	—
Stereo Baseline	PCB center-to-center	~30	mm
Frame Rate	Full resolution, both eyes	30	fps
Pixel Size	—	2.0 × 2.0	μm
Optical Format	—	1/2.9"	—
Dynamic Range	—	81	dB
SNR	—	38	dB
Output Format	—	MJPEG · stitched side-by-side	—
A — Autofocus
Control Method	Centered ROI	Maximizes high-frequency content in centered 5% × 5% image ROI	—
Actuator Type	Visible channel	Embedded VCM autofocus module	—
Rated Current	Actuator drive	100	mA
Start Current	Actuator drive	25 ~ 45	mA
Rated Stroke	@ 100 mA	±30	μm
L — IR Lamp
Illuminator Type	Near-IR assist	Continuous-wave IR lamp	—
Peak Wavelength	Nominal	850	nm
Output Power	Nominal	3	W
Control Interface	Host command	Serial ON / OFF control	—
P — IR Dot Projector
Projector Type	Active stereo	VCSEL dot-pattern projector	—
Peak Wavelength	Typical	850	nm
Optical Power	Typical	250	mW
Projected Dots	Typical	5700	dots
Projection Field	Typical	71° horizontal × 51° vertical	deg
Control Interface	Host command	Serial / PWM control	—
T — Thermal Imager
Resolution	Thermal array	24 × 32 (768 pixels)	px
Field of View	Typical	55° × 35°	deg
NETD	@ 1 Hz	0.1	K RMS
Refresh Rate	Programmable	0.5 ~ 64	Hz
Target Temperature Range	Measurement	-40 ~ +300	°C
Module Operating Temperature	Ambient	-40 ~ +85	°C
IMU — 6-Axis Inertial Measurement Unit
Gyroscope Full Scale	—	±2000	°/s
Accelerometer Full Scale	—	±16	g
IMU Output Rate	—	up to 1600	Hz
Interface to Host	—	Via USB (UVC extension / HID)	—
Magnetometer
Full Scale	—	±16	gauss
Output Rate	—	up to 80	Hz
Audio
Microphone Type	—	MEMS	—
Microphone Configuration	—	Stereo (2 mic)	—
Frequency Response	−3 dB points	60 ~ 24,000	Hz
Sample Rate	—	48,000	Hz
Bit Depth	—	16	bit
Power Supply
Supply Voltage (VDD)	Rated input	5.0	V DC
Supply Voltage (VDD)	Absolute maximum	9.0	V DC
Current Consumption	Active, full load	350 (typ.)	mA
Current Consumption	Standby / idle	25	mA
USB Interface
USB Standard	—	USB 2.0	—
Speed Mode	—	High-Speed	12 Mbps
Connector Type	—	USB Micro / SM04B-GHS-TBT	—
VBUS Input	Normal	5.0 ± 0.25	V
Environmental & Reliability
Operating Temperature	Continuous	−20 ~ +70	°C
Storage Temperature	Non-condensing	−40 ~ +85	°C
Humidity (Operating)	Non-condensing	10 ~ 90	% RH
Mechanical
Dimensions (L × W × H)	PCB + housing, excl. lens	52.65 × 23.8 × 3.5	mm
Weight	PCB + housing, excl. lens	7.5 ± 0.5	g
Mounting	—	4× M3 screw	—

Optical Characteristics

STEREOCAM

Lens & Filter Reference · CAM0222GS Product Datasheet Rev 1.0

1. Lens Options * — same options as CAM0412R, applied to both eyes

Order Code	FOV Diagonal	EFL (mm)	F/No	Lens Height (mm)	Weight (×2)
-90-	89°	3.0	F/2.5	15.3	6 g
-70-	66°	5.5	F/2.0	16.5	6 g
-30-	28°	12.49	F/2.4	22.7	6 g
-230-	226°	1.12	F/2.0	20.4	6 g
-80-	83°	3.38	F/2.2	14.5	6 g
-60-	63°	6.21	F/1.6	22.5	6 g
-120-	124°	3.35	F/2.0	17.8	6 g

* Two identical lenses installed per unit (one per eye). Lens pricing reflected in unit price. Reference only — specifications subject to change.

2. Filter Options

Code	Type	Pass Band	Cut-off Frequency	Note
N	No filter	Full spectrum	—	Bare glass only
1	IR Cut (block) 650nm	< 650 nm	650 nm	Blocks IR (> 650 nm)
2	IR Pass	> 1000 nm	1000 nm	Blocks visible (< 1000 nm)

Data Output Format

STEREOCAM

IMU / Magnetometer Pixel Encoding · CAM0222GS Product Datasheet Rev 1.0

Overview

CAM0222GS embeds IMU and magnetometer data directly into the video stream without a separate USB endpoint. Ten IMU samples — captured between consecutive video frames — are bit-encoded as a row of black and white pixels appended below the stitched stereo image. No additional driver or interface is required; any UVC host that can read raw frame pixels can recover the inertial data.

Key advantage: Because IMU samples are embedded inside the image frame itself, synchronisation between inertial data and camera image is guaranteed at the hardware level — no separate timestamp alignment or multi-interface synchronisation logic is required on the host.

1. Output Frame Structure

2. Sampling Timing

Parameter	Value	Note
Video frame rate	30 fps	Both eyes, synchronised
IMU sample rate	frame rate × 10 = 300 Hz	Hardware-timed between frames
Samples per frame	10	Chronological; oldest = sample 0
Bytes per sample	9 × 2 = 18 bytes	9 × int16 (see field map)
Total bits per frame	10 × 9 × 16 = 1440 bits	= 1440 pixels; remainder of row padded black

3. Field Map — per Sample (18 bytes / 9 words)

Word	Field	Type	Full Scale	Note
[0]	Gyro X	int16	±2000 °/s	raw sensor LSB
[1]	Gyro Y	int16	±2000 °/s
[2]	Gyro Z	int16	±2000 °/s
[3]	Accel X	int16	±16 g	raw sensor LSB
[4]	Accel Y	int16	±16 g
[5]	Accel Z	int16	±16 g
[6]	Mag X	int16	±16 gauss	raw sensor LSB
[7]	Mag Y	int16	±16 gauss
[8]	Mag Z	int16	±16 gauss

4. Bit Encoding Rule

Each int16 word is serialised into 16 consecutive pixels, MSB first. A black pixel (luma = 0) encodes bit 0; a white pixel (luma = 255) encodes bit 1. The sign bit (bit 15) is the leftmost pixel of each 16-pixel block.

Pixel offset = (sample_index × 9 + word_index) × 16

bit layout within one int16 block (16 pixels):
  px+0  px+1  px+2  ...  px+14  px+15
  b15   b14   b13   ...   b1     b0   (MSB first)

Example — to decode sample i, field j as int16:
  start = (i*9 + j) * 16
  value = 0
  for k in range(16):
      value |= (1 if pixel[start+k] >= 128 else 0) << (15 - k)
  value = value if value < 32768 else value - 65536   # to signed

5. IMU Row Pixel Layout (row 1081, x = 0 … 3839)

Pixel Range	Content	Description
0 – 15	Sample 0, Word 0	Gyro X — oldest sample
16 – 31	Sample 0, Word 1	Gyro Y
128 – 143	Sample 0, Word 8	Mag Z — end of sample 0
144 – 159	Sample 1, Word 0	Gyro X — next sample
…	…	…
1424 – 1439	Sample 9, Word 8	Mag Z — newest sample
1440 – 3839	Padding	Black pixels (value 0); ignored

Software & Dashboard

STEREOCAM

SLAM Module · Visualisation Dashboard · CAM0222GS Product Datasheet Rev 1.0

1. SLAM Software Module

CAM0222GS is supported by a proprietary Stereo-Inertial SLAM module derived from ORB-SLAM3. The module is tightly integrated with the pixel-encoded IMU data format, consuming both the stereo image pair and the embedded inertial samples from a single UVC stream with no additional synchronisation layer.

SLAM Engine
Base algorithm	ORB-SLAM3 (Stereo-Inertial mode)
Input	Stereo frames + embedded IMU/Mag (single USB stream)
IMU integration	Pre-integrated inertial factors; magnetometer for yaw initialisation
Pose output	6-DOF (3D position + quaternion orientation)
Map	Sparse 3D point cloud; keyframe graph
Loop closure	DBoW3 place recognition; global BA on detection
Relocalization	Supported; re-enters tracking from saved map
Map reuse	Save / load map to disk; multi-session supported

Integration & Output
Platform	Linux (x86-64 / ARM64) · Windows (planned)
ROS 2	Native node; publishes `nav_msgs/Odometry`, `sensor_msgs/PointCloud2`
Pose topic	6-DOF stamped pose at camera frame rate (30 Hz)
Trajectory export	TUM / EuRoC format .txt; compatible with evo evaluation tool
Calibration input	YAML — stereo baseline, intrinsics, IMU noise model
Latency	Tracking thread < 33 ms (one frame); loop closure asynchronous
License	Proprietary; distributed as compiled binary

2. Visualisation Dashboard

A browser-based dashboard application provides zero-install access to live video, inertial telemetry, and SLAM status. Open in Edge or Chrome (Web Serial / WebUSB API); no driver installation required on any OS.

Connection
Browser	Chromium-based (Edge / Chrome) — Web Serial API
Connect flow	Click Connect → select CAM0222GS UVC device → stream starts automatically
No driver	UVC class; plug-and-play on Windows / Linux / macOS

Video Display
Stereo view	Side-by-side left / right at full 1920 × 1080; toggle split or overlay
IMU row	Decoded IMU pixel row shown as numeric overlay; hidden by default
Zoom / pan	Mouse-wheel zoom; drag to pan within each eye panel

Capture & Export
Video record	Save stereo stream as .mp4 (H.264) or raw .avi
IMU export	Decoded IMU samples saved as timestamped .csv — columns: Gyro XYZ, Accel XYZ, Mag XYZ
ROS bag	Export session as .bag (ROS 2 mcap); stereo images + IMU topic

Telemetry Panels
Gyro XYZ	Rolling waveform · ±2000 °/s range · 300 Hz data rate
Accel XYZ	Rolling waveform · ±16 g range
Mag XYZ	Rolling waveform · ±16 gauss range
Attitude	Roll / Pitch / Yaw from SLAM or standalone IMU integration
Sample rate monitor	Live IMU decode rate and frame drop counter

SLAM Status Panel
Tracking state	Initialising / Tracking / Lost — colour-coded indicator
2D trajectory	Overhead XY map view; keyframes shown as blue dots
Point cloud	3D sparse map rendered in WebGL; rotate / zoom interactively
Pose readout	Live X / Y / Z position (m) + Roll / Pitch / Yaw (°)
Loop closure log	Timestamp and candidate keyframe ID on each detection

Pricing

STEREOCAM

Standard Unit Pricing · CAM0222GS Product Datasheet Rev 1.0

Part Number Naming Rule

CAM Camera

02 Megapixel
2M per eye

2 Stereo
(2 sensors)

2 Mic
Count

G Global
Shutter

S Stereo +
IMU Model

-

60 Lens
FOV

N Filter
Type

A Auto
Focus

I IMU

L IR
Lamp

P Dot
Projector

-

X Country

Lens FOV

9090°

7070°

3030°

230230°

8080°

6060°

120120°

Filter Type

NNo filter

1IR cut (block) 650nm

2IR pass

Option Codes

T24 × 32 thermal imaging

IIMU added

AAutofocus added

L850 nm 3 W lamp added

PIR dot projector added

Country of Origin

CChina

KKorea

XUnspecified

Sample Unit Pricing — CAM0222GS Series

Listed prices are for representative sample units with IR Cut (650nm) filter. The 90° model supports A / I / L / P / T option-code combinations, while other FOV models are supplied in the standard A / I / L / P configuration.

Part Number	FOV	Filter	Qty	Unit Price
CAM0222GS-901AILP-X	90?	IR Cut 650nm	1 pcs	US$ 132
CAM0222GS-901-X	90?	IR Cut 650nm	1 pcs	US$ 12
CAM0222GS-701-X	70?	IR Cut 650nm	1 pcs	US$ 126
CAM0222GS-301-X	30?	IR Cut 650nm	1 pcs	US$ 138
CAM0222GS-2301-X	230?	IR Cut 650nm	1 pcs	US$ 138
CAM0222GS-801-X	80?	IR Cut 650nm	1 pcs	US$ 126
CAM0222GS-601-X	60?	IR Cut 650nm	1 pcs	US$ 132
CAM0222GS-602-X	60?	IR Pass	1 pcs	US$ 252
CAM0222GS-1201-X	120?	IR Cut 650nm	1 pcs	US$ 126

ⓘ Options not listed in this table are also available by custom order. ✉ hyon646@gmail.com

How to Order

Lead Time (stock)	1 – 3 business days
Lead Time (order)	4 – 6 weeks
Minimum Order Qty	1 pcs (standard) · 10 pcs (volume)
Payment	PayPal · Bank Transfer · Other (on request)
Shipping	Worldwide · DHL / FedEx / EMS
Contact	hyon646@gmail.com

Document Revision History

Version	Date	Description
v1.0	2026-05	Initial release

ProductDatasheet

Specification

Optical Characteristics

Data Output Format

Software & Dashboard

Pricing

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