ESPROS TOFcam-660 Manuale utente

TOFcam-660

Installation and 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 offered ES ROS user

interfaces, 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 a 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

2. A reviations ............................................................................................................................................................ 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 ..................................................................................................................................................................................7

4.3. Ordering information ............................................................................................................................................................................7

4.4. Technical data ......................................................................................................................................................................................9

4.5. Mechanical data .................................................................................................................................................................................10

4.5.1. Mechanical features ...........................................................................................................................................................................10

4.5.2. Mechanical dimensions ......................................................................................................................................................................11

4.6. Camera connectors.............................................................................................................................................................................11

4.6.1. LAN connector ...................................................................................................................................................................................11

4.6.2. ower and G IO connector ...............................................................................................................................................................11

4.6.3. I reset button ....................................................................................................................................................................................12

4.7. Start up ...............................................................................................................................................................................................12

4.8. Firmware upgrade ..............................................................................................................................................................................13

5. GUI ............................................................................................................................................................................ 14

5.1. GUI main window ...............................................................................................................................................................................14

5.1.1. View menu .........................................................................................................................................................................................14

5.1.2. lay menu ..........................................................................................................................................................................................17

5.1.3. Live image window .............................................................................................................................................................................17

5.1.4. oint cloud .........................................................................................................................................................................................18

5.1.5. Decided information windows ............................................................................................................................................................19

5.2. Network settings .................................................................................................................................................................................20

5.3. Configurations menu ..........................................................................................................................................................................20

6. Operating the device with a ROS ...........................................................................................................................21

6.1. ROS camera driver.............................................................................................................................................................................21

6.1.1. What is ROS?.....................................................................................................................................................................................21

6.1.2. Building the ROS driver .....................................................................................................................................................................21

6.1.3. Running the ROS driver with launch file ............................................................................................................................................21

6.2. ROS A I..............................................................................................................................................................................................22

6.2.1. Start of the node..................................................................................................................................................................................22

6.2.2. ublished topics..................................................................................................................................................................................22

6.2.3. Dynamically reconfigurable parameters.............................................................................................................................................23

7. Communication interface ....................................................................................................................................... 24

7.1. Description .........................................................................................................................................................................................24

7.2. Command Connection (TC ) .............................................................................................................................................................24

8. Communication ....................................................................................................................................................... 25

8.1. Commands .........................................................................................................................................................................................25

8.2. Responses .........................................................................................................................................................................................27

8.3. Factory commands..............................................................................................................................................................................28

9. Measurement Data Connection (UDP).................................................................................................................... 30

9.1. acketizing (transport layer)...............................................................................................................................................................30

9.2. ayload (application layer)..................................................................................................................................................................31

9.3. ayload Header..................................................................................................................................................................................31

9.4. Data types and format of measurement data.....................................................................................................................................32

9.5. Measurement data..............................................................................................................................................................................32

10. Maintenance and disposal....................................................................................................................................... 33

10.1. Maintenance........................................................................................................................................................................................33

10.2. Disposal...............................................................................................................................................................................................33

11. Addendum................................................................................................................................................................. 34

11.1. Related documents.............................................................................................................................................................................34

11.2. Links....................................................................................................................................................................................................34

11.3. Licenses..............................................................................................................................................................................................34

12. IMPORTANT NOTICE............................................................................................................................................... 35

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-visi le infrared light. It can e hazardous to the human eye. The

use of these devices has to follow the safety precautions given in IEC62471.

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 data sheet 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 TOFCOS. Do not alter the TOFCOS 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 data sheet 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.

1.2. Updates

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

ESPROS' we site regularly for updated versions of data sheets 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_SW_ ackage” containing a graphical user interface

(GUI) for Windows, Mac or Linux computers, a robot operating system (ROS) application, and a ython A I framework.

The current firmware “TOFCOS” is part of the GUI which allows an easy upgrade of the camera with current firmware.

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_SDK” containing all source codes of the

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

fulfill 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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2. A reviations

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 wave 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

TOFCOS Time of Flight Camera Operating System

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.

3.2. Camera settings

•Choose Image Type “Distance“

•Select HDR mode “HDR temporal“ with integration times:

“low“ = 1000µs / “medium“ = 2000µs / “high“ = 4000µs

Depending on distance and reflectivity of the objects in the scene

these values need to be reduced.

•For object detection set the "Minimum Amplitude" to 10 LSB, for

accurate measuring to 100 LSB (this are good starting points, fine-

tuning possible).

•Set the "Distance min" value to 100 mm and the “Distance max“ to the

effective maximum distance in your scenery.

•Disable all Filter functions.

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

choose a suitable "Modulation frequency" (unambiguity). For long

distance a low modulation frequency is required.

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

e.g.) the camera is not calibrated. In this case it might be required to

consider a corresponding offset.

•Start streaming with the “Start” button.

•Decrease the "Integration time 3D low" to a value where you get no

ADC overflow (pink) or saturated pixels (purple). Adjust the integration

time “medium“ and “high“ accordingly.

•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 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

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

•NX I.MX RT1062 microcontroller

•The micro controller board communicates with the epc660 chip carrier board through an ultrafast TCMI serial interface.

•One out of four different 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 stray-light suppression for optimal optical performance

•LED illumination adopted to the specific field of view depending on the camera model

•TOF camera operating system (TOFCOS) for camera control, distance calculation and filtering

•Communication by Ethernet

•Application programming interface (A I) for further processing is available. It opens the world for point cloud computing, using

open source tools or creating own customer applications.

•ROS device drivers for Linux available

•Windows, Mac and Linux GUI available

4.2. Scope of delivery

Pieces Part Name Picture

1 Time of Flight Camera TOFcam-660 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, ython A I 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

100 654 TOFcam-660-NF FoV 31 x 24°, 81m operating range

50LSB on 18% reflective target at full sunlight

100 655 TOFcam-660-SF FoV 70 x 51°, 25m operating range

50LSB on 18% reflective target, up to 78kLux

100 656 TOFcam-660-WF FoV 108 x 77°, 11m operating range

50LSB on 18% reflective target at full sunlight

Characteristics subject to change without notice

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100 595 TOFcam-660-UWF FoV 125 x 93°, 6m operating range

50LSB on 18% reflective target

100 638 24VDC connector Included in TOFcam-660 basic unit.

To connect the camera to a corresponding power

supply.

100 609 ower adapter cable Cable to connect a TOFcam-660 directly with the

power supply 100 282

100 282 ower Supply 24VDC Input 100 … 240V

DC output: 24V, 2.5A

100 284 ower cord 2 pole CH/EU plug

300 189 ower cord adapter

CH/EU - US

300 780 atch cable, 2m, RJ45

300 781 Adapter RJ45 to USB GigE

300 473 Cable USB A to Micro

USB

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. Typical 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 °

Version UWF 125 x 93 °

DR Measuring range in dark Version NF 0.5 96 m 2% accuracy on 90%

reflective target, dark

Version SF 0.3 38 m

Version WF 0.2 18 m

Version UWF 0.2 12 m

DM Measuring range on full

sunlight

Version NF 0.5 38 m 2% accuracy on 90%

reflective target, 100kLux

ambient light

Version SF 0.2 10 m

Version WF 0.2 5 m

Version UWF 0.2 4 m

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

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

fMOD Modulation frequency selectable 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 approx. 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 approx. 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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Parameter Description Conditions Min. Typical Max. Units Comments

tCYCLE Measurement cycle time for full TOF image _ s @ tINT = 1'000µs

tWR_U ower up time until acceptance of commands 1.5 s

tWARM_U Warm-up time until output data is in tolerance _ s

ΦAL Ambient-light suppression > 100 kLux Indirect, on target

TAAmbient temperature range -20 60 °C Operation and storage

RH Relative humidity 15 90 % Non-condensing

W Weight 600 g Without cable

ESD Electrostatic discharge rating JEDEC HBM class 1C (1kV to < 2kV) Human body model

EMC / EMI EMC emission EN 61000-6-3:2011-09

Eye safety IEC 62471:2006 Refer to Chapter 1.1.

Table 4: Technical data

Notes:

1Min. and Max. voltage values include noise and ripple voltage

2The camera uses the continuous-wave TOF phase-shift measurement technique. Highly reflective objects outside of the unambiguity

distance will appear closer due to the wrap-around of the modulation period.

4.5. Mechanical data

4.5.1. Mechanical features

Characteristics subject to change without notice

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Figure 8: Mechanical features

LAN-Connector with status LED

ower and

G IO Connector

Lens window (Rx)

Illumination window (Tx)

Backside mounting holes (4x)

Camera housing and heat sink

Decorative frame

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