EPC TOFcam-660 Manuale utente

TOFcam-660-FPGA

Installation an Operation Manual

General Description

The TOFcam-660 is a cost optimized 3D camera. It is based on the

ES ROS proprietary time-of-flight technology using the epc660

TOF flagship chip. The camera controls the illumination and the im-

ager chip to obtain distance and grayscale images. The depth im-

ages are compensated against ambient light, temperature and re-

flectivity of the scene. By using one of the offerd ES ROS user in-

terfaces, 3D point clouds in a cartesian coordinate system are

available. Thanks to the high performance of the imager chip with

the unique ambient light suppression, the camera can be used un-

der full sunlight condition.

This document allows a TOFcam-660 user easily to get the camera

connected and started using a computer. It contains a description

of all features of the device as well as all functions of GUI and ROS

application. The complete description of interfaces, protocols and

commands allows to connect the module to integrated systems. A

software development kit (SDK) with all C++ source codes,

libraries and drivers including is available by ordering the ES ROS

epc660 evaluation kit.

Figure 1: TOFcam-660

Figure 2: Color coded TOF distance

Features

■320 x 240 pixels QVGA resolution (76'800 pixels)

■Measurement rate up to 20 TOF measurements per second

(1.5 MIO distance and amplitude values per second)

■Distance measurement and object recognition from centimeters

to 100 meters

■Four different field of view and operating ranges available

■Fully calibrated and compensated

■Sun- and ambient-light tolerant up to 100 kLux

■GigE and USB interface

■Various user interfaces: GUI, ROS, ython

□Evaluation of TOFcam-660 main features

□Store and recall camera configuration

□Easy collection of distance data and point clouds

□Many explanations about “time of flight done right”

Applications

■Research in various scientific fields

■IoT applications

■Evaluation and development of an epc660 based TOF sensor

□Automatic vehicle guidance, in-cabin monitoring

□Object classification and safeguarding

□Face recognition, Gesture control (man-machine-interface)

Figure 3: oint Cloud

Figure 4: Amplitude as logarithmic gray scale

Characteristics subject to change without notice

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Contents

1. Before you start ......................................................................................................................................................... 3

1.1. recaution and Safety ..........................................................................................................................................................................3

1.2. Updates.................................................................................................................................................................................................3

1.3. Important Notes.....................................................................................................................................................................................3

. Abbreviations ............................................................................................................................................................ 4

3. Quick guide ................................................................................................................................................................ 6

3.1. Connecting the camera module ...........................................................................................................................................................6

3.2. Camera settings ...................................................................................................................................................................................6

4. TOFcam-660 time of flight camera ........................................................................................................................... 7

4.1. System overview ..................................................................................................................................................................................7

4.2. Scope of delivery ..................................................................................................................................................................................8

4.3. Ordering information ............................................................................................................................................................................8

4.4. Technical data ....................................................................................................................................................................................10

4.5. Mechanical data .................................................................................................................................................................................11

4.5.1. Mechanical features ...........................................................................................................................................................................11

4.5.2. Mechanical dimensions ......................................................................................................................................................................12

4.6. Camera connectors.............................................................................................................................................................................12

4.6.1. LAN connector ...................................................................................................................................................................................12

4.6.2. ower and G IO connector ...............................................................................................................................................................13

4.7. Start up ...............................................................................................................................................................................................13

5. GUI ............................................................................................................................................................................ 15

5.1. GUI main window ...............................................................................................................................................................................15

5.1.1. View menu .........................................................................................................................................................................................15

5.1.2. lay menu ..........................................................................................................................................................................................19

5.1.3. Live image window .............................................................................................................................................................................19

5.1.4. oint cloud .........................................................................................................................................................................................20

5.1.5. Decided information windows ............................................................................................................................................................21

5.1.6. Settings ..............................................................................................................................................................................................23

5.1.7. Configurations menu ..........................................................................................................................................................................23

6. ROS camera driver................................................................................................................................................... 4

6.1. What is ROS?.....................................................................................................................................................................................24

6.2. Installation...........................................................................................................................................................................................24

6.3. Running the ROS driver......................................................................................................................................................................24

7. ROS API..................................................................................................................................................................... 5

7.1. Start of the node..................................................................................................................................................................................25

7.2. ublished topics..................................................................................................................................................................................25

7.3. Dynamically reconfigurable parameters.............................................................................................................................................26

8. Maintenance and disposal....................................................................................................................................... 7

8.1. Maintenance........................................................................................................................................................................................27

8.2. Disposal...............................................................................................................................................................................................27

9. Addendum................................................................................................................................................................. 7

9.1. Related documents.............................................................................................................................................................................27

9.2. Links....................................................................................................................................................................................................27

9.3. Licenses..............................................................................................................................................................................................27

10. IMPORTANT NOTICE............................................................................................................................................... 8

Characteristics subject to change without notice

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1. Before you start

1.1. Precaution and Safety

Eye safety: Do not look directly into the camera under operation. Depending on the mode of operation, the

camera device emits highly concentrated non-visible infrared light. It can be hazardous to the human eye. The

use of these devices has to follow the safety precautions given in IEC 608 5-1 and IEC6 471.

The camera module is an electronic device. Handle it with the necessary ESD precaution.

Over-voltage: Use only a power supply which correspond to the datasheet of the camera to avoid damage of the device

or cause danger for humans.

Cable-tripping: lace or mount the camera on solid ground or fix it correctly on a solid support. lace cables carefully.

Falling devices can be damaged or harm persons.

The camera comes with its own calibrated Firmware. Do not alter the Firmware without obeying the instructions herein.

Be careful to the window surfaces of the camera. Never use any solvents, cleaners or mechanically abrasive towels or

high pressure water to clean the camera.

Operate the device in compliance with the local EMC regulations.

This camera is not a safety device. It may not be used in safety applications, explosive atmospheres or in radioactive

environment, except the user implements the required safety measures, e.g. by redundancy. However, the sole respon-

sibility for the safety of the application is by the user.

LIMITED WARRANTY - LOSS OF WARRANTY

This camera should only be installed and used by authorized persons. All instructions in this datasheet and in the

related documents shall be followed and fully complied with. In addition, the installer and user is required to comply with

all local laws and regulations. The installer and user is fully responsible for the safe use and operation of the system. It

is the sole responsibility of the installer and the user to ensure that this product is used according to all applicable codes

and standards, in order to ensure safe operation of the whole application. Any alteration to the devices by the buyer,

installer or user may result in device damage or unsafe operating conditions. ES ROS hotonics AG is not responsible

for any liability or warranty claim which results from such manipulation or disregarding of given operating instructions.

ES ROS hotonics AG is an ISO 9001: 2015 certified company.

This product is according to European Union standards and free of hazardous substances.

1. . Updates

ESPROS Photonics is constantly striving to provide comprehensive and correct product information. Therefore, please check

ESPROS' website regularly for updated versions of datasheets and documentations: www.espros.com

Download the latest Flyer of TOFcam-660.

Download the latest Installation and Operation Manual of the TOFcam-660.

Download and use the latest software package “TOFCAM660-F GA_SW_ ackage” containing a graphical user inter-

face (GUI) for Windows or, Mac computers and a robot operating system (ROS) application

If there are any questions, please contact your ES ROS sales office or send an email to [email protected].

Download and use the latest software development kit (SDK) “TOFCAM660-F GA_SDK” containing all source codes of

the firmware, GUI and ROS. Unpacking the SDK is password protected. Get back to ES ROS to check whether you

fullfill the requirements to get the password.

1.3. Important Notes

Notes on PRELIMINARY versions:

THIS MANUAL IS UNDER CONSTRUCTION. IMPORTANT PARTS MAY BE MISSING

Colored marking in text means “under consideration” and refers to not yet applicable or verified information.

Values and/or information are either estimates or show the applicable principle only.

Characteristics subject to change without notice

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. Abbreviations

Designator Description

3D Three dimensional

ACK Acknowledged

ADC Analog-to-digital converter

A I Application rogram Interface

Binning Summation of a defined number of pixels. Binning can be done in the charge (analog) or in the digital domain

CMD Command

C U Central rocessing Unit

CRC Cyclic redundancy check (checksum)

cwTOF Continuous wafe modulated time of flight

DCS Differential correlation sample

DLL Delay locked loop, controllable delay line

DRNU Distance response non-uniformity: Distance error from pixel to pixel with a target at the same distance

EMC Electromagnetic compatibility

EMI Electromagnetic interference

ESD Electrostatic discharge

FoV Field of view

fps Frame rate, number of images per second

Frame One image

GigE Gigabit Ethernet

GND Ground terminal, negative supply voltage

G IO General urpose Input / Output

GS Grayscale

GUI Graphical User Interface

HDR High dynamic range

ID Identifier

IN Input terminal which is used to sense a high or low voltage

I Internet rotocol address

ISO International organization for standardization

JEDEC Joint electron device engineering council

LAN Local Area Network

LED Light emitting diode used to illuminate the scenery or as indicator

LSB Least significant bit

LVTTL Low voltage transistor transistor logic

MSB Most significant bit / byte

NACK Not acknowledged

NF Narrow field of view

OUT Output terminal which is can be set to high or low voltage

QVGA Quarter Video Graphics Array

RMS Root mean square

RoHS Restriction of hazardous substances

ROI Region of interest in the pixel-field

ROS Robot Operating System

RX Receive terminal, data in

SDK Software Development Kit

Characteristics subject to change without notice

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Designator Description

SF Standard field of view

SW Software

TBD / tbd To be defined, information not yet available or not valid

TOF Time of Flight

TTL Transistor transistor logic

TX Transmit terminal, data out

UART Universal asynchronous receiver transmitter

USB Universal Serial Bus

UWF Ultra wide field of view

VDD ositive supply voltage

WF Wide field of view

Table 1: List of abbreviations used in this document

Characteristics subject to change without notice

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3. Quick guide

3.1. Connecting the camera module

First of all you need to prepare a power supply for the camera. Therefore use

the 6 pin connector which is included in the scope of delivery. If you ordered the

power supply and power adapter cable as accessory according to chapter 4.3

then you don't need to provide a separate power supply connected to this 6 pin

connector.

You need to install the Graphical User Interface onto your computer. This is

available with the software package "TOFCAM660_SW_ ackage" from our

download page.

You need to consider the I address of the camera which is 10.10.31.180 with

sub-net mask 255.255.255.0. So you need to operate the camera within the

same network range. If your computer has a RJ45 LAN connector you can

connect the camera directly with corresponding network settings of the LAN-

adapter in your computer. You can choose a manual I 10.10.31.190 for your

computer e.g. If you use a RJ45 to USB adapter you need to configure the

settings of your USB adapter accordingly. You can choose a manual I address

10.10.31.190 for your USB adapter e.g. Disable the firewall on your computer or

add an exception for the camera application. The firewall might block the visual-

ization of data in the image window.

•Connect your camera with your computer using a RJ45 patch-cable.

•Connect your camera to the proper voltage using the prepared power

supply.

•Start the GUI on your Computer. The connection to the camera will be

indicated in the corner bottom left of the main window of the GUI

(Connected to 10.10.31.180 - in green letters). This can take around

60 seconds. If there is no connection for several minutes then please

disconnect and re-connect the power supply. If this don't help you

need to check the network settings of your network adapter as

described previously.

3. . Camera settings

•Disable all Filter functions. Set the "Integration Time 3D high" to zero.

Choose Image Type "Distance".

•Depending on the maximum distance in your field of view you should

choose a suitable "Modulation frequency" (unambiguity).

•If you choose a modulation frequency which is not 24MHz or 12MHz

(6MHz e.g.) the camera is not calibrated. In this case it might be

required to set a corresponding offset.

•Set the "Distance Range max." value to the effective maximum

distance in your scenery.

•For object detection set the "Minimum Amplitude" to 50 LSB, for

accurate measuring to 200 LSB (this are good starting points, fine-

tuning possible). Start streaming with the “Start” button.

•Increase / decrease the "Integration time 3D low/single" to a value

where you get a distance picture of the most far objects you would like

to see.

•Increase the "Integration time 3D high" to a value where saturation

(purple), ADC overflow (pink) and invalid (black) pixels are removed or

reduced to a minimum (normally this value is about 10 ... 20% of the

"Integration time 3D low/single" value).

•lay with filtering: enable "Temporal Filter" e.g.

•Optimize the color scale (visual graduation) of the relevant objects in

your scenery by changing the "Distance Range min." value.

•Change the image type to the illustration of the scenery you like to

see.

Characteristics subject to change without notice

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Figure 5: 6-pin power-supply and G IO connector

CONN_ hoenix_6 in_1778667

6G IO OUT1 (optional)

5G IO OUT0 (optional)

4G IO IN1 (optional)

3G IO IN0 (optional)

2 GND

1 + 24VDC, min. 2.5A

CHAMFERD

EDGED

Figure 6: I configuration of a USB-LAN adapter

Figure 7: GUI window for camera settings

4. TOFcam-660 time of flight camera

4.1. System overview

Figure 8: TOFcam-660 system setup

The TOFcam-660 is a general purpose camera based on the ES ROS epc660 cwTOF imager chip:

•24VDC power supply input

•RJ45 LAN connector

•General purpose I/O connector

•F GA/SoC Module Mars ZX2 Xylinx Zynq 7010

•The F GA board communicates with the epc660 chip carrier board through an ultrafast TCMI seraial interface.

•One out of thee differrent lenses depending on the camera model focus the reflected light from the scenery onto the pixel field of

the imager chip.

•NIR band pass filter, AR coatings and straylight suppression for optimal optical performance

•LED illumination adopted to the sepcific field of view

•Firmware for camera control, distance calculation and filtering

•Communication by Ethernet

•ROS device drivers for Linux available

•Windows and Mac GUI available

Characteristics subject to change without notice

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A I

UART

A I

HW I/O

Sensor

firmware

TOFCOS

24VDC power supply min. 2.5A

USB / Ethernet

C with MS-Windows

Mac with macOS

Linux system

Customer

Application

Internet

Open Source

Tools

www.espros.com

download center

4. . Scope of delivery

Pieces Part Name Picture

1 Time of Flight Camera TOFcam-660-F GA consisting of:

–Aluminum housing

–Receiver optic

–Illumination cpl.

–C U electronics

–interfaces

1 6 pin connector plug for 24V power supply and G IO

–lug with snap-fit clamps

–Connecting instructions

–in assignment

4 Self tapping screws for camera mount

1 Software package containing GUI, ROS and current Firmware. Available

on the ES ROS download page.

1 Documentation

(useful additional information available on the Espros download page )

Table 2: Scope of delivery

4.3. Ordering information

Picture Part No. Name Description

100 592

100 593

100 594

TOFcam-660-NF-940-F GA

TOFcam-660-SF-940-F GA

TOFcam-660-WF-940-F GA

FoV 31 x 24°, 60m operating range

FoV 70 x 51°, 15m operating range

FoV 108 x 77°, 9m operating range

100 638 Connector plug 6 pin connector plug for power supply and G IO

100 609 ower adapter cable Cable to connect a TOFcam-660-F GA directly

with the power supply 100 282

100 282 ower Supply 24VDC with DC

cable L = 1.2m

Input 100 … 240V

DC output: 24V, 2.5A

100 284 ower cord 2 pole

L = 1.8m

CH/EU plug

Characteristics subject to change without notice

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300 189 ower cord adapter

CH/EU - US

300 780 Batch cable RJ45

L = 2.0m

300 781 Adapter RJ45 to USB GigE

Table 3: Order information for cameras and accessories

Characteristics subject to change without notice

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4.4. Technical data

All characteristics are at typical operational temperature TA = +25ºC

Parameter Description Conditions Min. Typ Max. Units Comments

VDD Main supply voltage Ripple 1 < 50 mVpp _ 24 _ VDC

IDD Supply current _ _ _ A

λ Operating wavelength 940 nm

RESIMAGE Image resolution 320 x 240 ixel QVGA

FoV Field of view Version NF 31 x 24 ° Refer to Chapter 4.3

Version SF 70 x 51 °

Version WF 108 x 77 °

DR Operating range Version NF 0.5 60 m Object recognition, 50 LSB

on 90% reflective target

Version SF 0.2 15 m

Version WF 0.2 9 m

DM Measuring range Version NF 1 30 m Accurate distance

measuring, 200 LSB on 90%

reflective target

Version SF 0.5 8 m

Version WF 0.5 5 m

Acc Accuracy, measuring range min. … 2m ± 4 cm Mean of 100 samples

Accuracy, 2m … measuring range max. ± 2 %

DNOISE Distance noise (1σ value) 0.1 mm

fMOD Modulation frequency selecteable 0.75 24 MHz Refer to unambiguity range

DUnabiguity Unambiguity range 2@ fMOD = 24MHz 6.25 m

@ fMOD = 12MHz 12.5 m

@ fMOD = 6MHz 25 m

@ fMOD = 3MHz 50 m

@ fMOD = 1.5MHz 100 m

@ fMOD = 0.75MHz 200 m

fSHIFT Channel 0 0 To avoid interference in multi

camera operation

environment

Channel 1 - fMOD / 30 MHz

Channel 2 - fMOD / ∼ 34 MHz

Channel 3 - fMOD / 40 MHz

Channel 4 - fMOD / 48 MHz

Channel 5 - fMOD / 60 MHz

Channel 6 - fMOD / 80 MHz

Channel 7 - fMOD / 120 MHz

Channel 8 - fMOD / 240 MHz

Channel 9 + fMOD / 240 MHz

Channel 10 + fMOD / 120 MHz

Channel 11 + fMOD / 80 MHz

Channel 12 + fMOD / 60 MHz

Channel 13 + fMOD / 48 MHz

Channel 14 + fMOD / 40 MHz

Channel 15 + fMOD / ∼ 34 MHz

Channel 16 + fMOD / 30 MHz

tINT Integration time selectable for distance 1 4'000 µs

Integration time selectable for gray scale 1 100'000 µs

Characteristics subject to change without notice

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