M4-G 3D camera

M4-G is an iToF RGB-D camera for close-range perception. It uses a GMSL2 interface and can output depth, RGB, and point-cloud data at a typical 30 fps within a 0.05–1 m range. Typical applications include robot wrists, tabletop grasping, and precision manipulation.

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M4-G camera for close-range robot perception

Key features

Close-range iToF depth sensing: Outputs depth data within a 0.05–1 m range.
Synchronized RGB-D output: Provides depth maps, RGB images, and point clouds with RGB alignment.
Low-light performance: Active illumination supports targets with low illumination or limited texture.
GMSL2 transmission: Provides a long-distance, interference-resistant data link for system integration.

Specifications

Parameter	M4-G
Operating principle	iToF
Output data	Depth map, RGB image, point cloud
ToF resolution and frame rate	640 × 480; typical 30 fps
ToF field of view	90° × 70°, ±3°
RGB resolution and frame rate	1280 × 1056; typical 30 fps
RGB field of view	115° × 100°, ±3°
RGB pixel size	2.5 μm
RGB ISP	Integrated
RGB HDR	≥ 100 dB
RGB lens	F/2.05; effective focal length 1.28 mm
Working range	0.05–1 m
Distance accuracy	1%, up to 4 mm at 1 m
Laser	940 nm
Power consumption	3 W
Dimensions (L × W × H)	60 × 30 × 29 mm
Weight	< 200 g
Power supply	12 VDC / 1 A
Communication interface	SerDes (GMSL2)
Operating temperature	−20–60 °C
Storage temperature	−40–85 °C
SDK	C/C++, ROS
Supported operating systems	Windows 7 or later, Linux, Arm Linux, ROS
Cooling	Passive
Eye safety	Class 1

Product dimensions

GMSL2 interface

Serializer configuration

Item	Parameter
Serializer	MAX96717
I²C address	`0x40` (7-bit)
GMSL rate	GMSL2, 6 Gbps
Operating mode	Pixel mode
Frame synchronization	Controlled by MAX96717 MFP0

Video stream parameters

Stream	Resolution and format	Data type	Control and virtual channel
ToF	2560 × 960, RAW8	`0x2A`	I²C forwarded by FPGA; VC0
RGB	1280 × 1080, YUV422, 8-bit	`0x1E`	I²C forwarded by FPGA; VC1

FPGA configuration

Item	Parameter
I²C address	`0x11` (7-bit)
MIPI output	4 lanes, 1.2 Gbps

Start streaming

Image capture requires both hardware frame synchronization and stream control.

Provide a frame synchronization signal

Configure frame synchronization between MAX96717 and the selected deserializer according to the hardware manuals. MAX96717 MFP0 can be configured as a GPIO trigger output.

MAX96724 series frame synchronization signal transmission

Send the stream-start command

Write 1 to FPGA register 0x2000 to start streaming, or write 0 to stop streaming.

i2ctransfer -f -y 4 w3@0x11 0x20 0x00 1

In this example, 0x11 is the FPGA I²C address.

Integration requirements

Item	Requirement
Operating temperature	−20–60 °C
Operating illuminance	0–100 kLux
Storage temperature	−40–85 °C
Storage humidity	Maximum 90% RH
Normal operating temperature rise	Enclosure temperature rise < 25 °C
ESD	Contact discharge ±4 kV; air discharge ±8 kV
Radiated emissions	Complies with GB 9254 Class A
Environmental compliance	RoHS

Getting started

S Series 3D cameras

M Series iToF cameras

V Series localization

Key features

Specifications

Product dimensions

GMSL2 interface

Serializer configuration

Video stream parameters

FPGA configuration

Start streaming

Integration requirements

Unmanned forklift task case

Under-ride AMR obstacle avoidance

Wheeled humanoid robot obstacle avoidance

​Key features

​Specifications

​Product dimensions

​GMSL2 interface

​Serializer configuration

​Video stream parameters

​FPGA configuration

​Start streaming

​Integration requirements

​Related case studies

Unmanned forklift task case

Under-ride AMR obstacle avoidance

Wheeled humanoid robot obstacle avoidance

Key features

Specifications

Product dimensions

GMSL2 interface

Serializer configuration

Video stream parameters

FPGA configuration

Start streaming

Integration requirements

Related case studies