ESPROS TOFcam-660 Manual de usuario
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
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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
© 2021 ES ROS hotonics Corporation
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.
© 2021 ES ROS hotonics Corporation
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
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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
© 2021 ES ROS hotonics Corporation
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.
© 2021 ES ROS hotonics Corporation
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
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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
© 2021 ES ROS hotonics Corporation
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
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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
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Characteristics subject to change without notice
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Figure 8: Mechanical features
X
Y
Z
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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