Epc Tofcam-635-s User manual

TOFcam-635-S

Installation and Operation Manual

General description

The TOFcam-635-S is a miniaturized and cost-optimized 3D TOF

camera. It is based on the ES ROS proprietary time-of-flight (TOF)

technology using the epc635 chip. The camera controls the illumi-

nation and the imager chip to obtain distance and grayscale

images. The cameras are calibrated to provide accurate 3D depth

information. The depth images are compensated against DRNU

errors, modulation errors, temperature, ambient-light and reflec-

tivity of the scene. Its extremely wide field of view of 120° allows a

variety of new applications e.g. for mobile robotics or entrance

controls.

This document allows a TOFcam-635-S user easily to get the

camera connected and started using a computer. It contains a

description of all features, commands, protocols and interfaces of

the device. This allows to connect the module to integrated

systems. The optional software development kit (SDK) contains the

camera operating system (TOFCOS) with all C++ source codes.

Together with the ES ROS epc635 evaluation kit this is the perfect

environment to develop embedded software or even an application

specific camera.

Features

■160 x 60 pixels resolution

■Field of view of 120° x 25° for TOF images

Field of view of 120° x 45° for gray scale images

■Distance measurement ranges on white target: 5cm … 3m

■Measurement rate up to 20 TOF measurements per second

■Fully calibrated and compensated

■USB interface

■High speed serial interface UART 10 Mbit/s

■Two I/O versions available

■Low power consumption

■Various user interfaces: GUI, ROS, ython

□Evaluation of TOFcam-635-S features

□rogramming of I/O properties

□Store and recall camera configurations

□Many explanations about “time of flight done right”

Typical applications

■Research in various scientific fields

■IoT applications

■Sensing in general

■Mobile robots, automatic vehicle guidance, collision avoidance

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TOF distance FoV: 120° x 25°

Operating range: 5cm … 3m

Gray scale FoV: 120 x 45°

Operating range: 5cm … 3m

Figure 2: TOF and gray scale field definition

Figure 1: TOFcam-635-S

Figure 3: Distance scope for pixel row selection

Contents

1. Before you start .......................................................................................................................................................... 4

1.1. recaution and Safety ...........................................................................................................................................................................4

1.2. Updates..................................................................................................................................................................................................4

1.3. Important Notes......................................................................................................................................................................................4

. Abbreviations............................................................................................................................................................... 5

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

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

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

4. TOFcam-635-S time of flight camera module ..........................................................................................................7

4.1. System overview and use cases ...........................................................................................................................................................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 .......................................................................................................................................................................11

4.5.3. Mounting plane ....................................................................................................................................................................................12

5. GUI ............................................................................................................................................................................. 13

5.1. ut the camera into operation .............................................................................................................................................................13

5.1.1. USB interface ......................................................................................................................................................................................13

5.1.2. UART interface ....................................................................................................................................................................................13

5.2. GUI main window ................................................................................................................................................................................13

5.2.1. View Menu ...........................................................................................................................................................................................14

5.2.2. lay menu ............................................................................................................................................................................................16

5.2.3. Live image window...............................................................................................................................................................................16

5.2.4. Decided information windows .............................................................................................................................................................18

5.2.5. Input readout and Output Control menu .............................................................................................................................................20

5.2.6. Configurations and firmware upgrade menu........................................................................................................................................20

6. Operating the device with a ROS ............................................................................................................................ 1

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

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

6.1.2. Installation............................................................................................................................................................................................21

6.1.3. Running the ROS driver.......................................................................................................................................................................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. Operating the camera with the Python Framework................................................................................................ 4

7.1. Script example .....................................................................................................................................................................................24

7.2. Comport................................................................................................................................................................................................24

7.3. Resulting data frame ...........................................................................................................................................................................24

7.4. Toolchain:.............................................................................................................................................................................................24

8. Operating the device by UART interface ................................................................................................................ 5

8.1. Sensor interface ..................................................................................................................................................................................25

8.1.1. Connector ............................................................................................................................................................................................25

8.1.2. in table for TOFcam-635-S-UWF-850-E ...........................................................................................................................................25

8.1.3. in table for TOFcam-635-S-UWF-850-R ...........................................................................................................................................26

8.2. Communication interface......................................................................................................................................................................26

8.2.1. Hardware interface...............................................................................................................................................................................26

8.2.2. Software interface................................................................................................................................................................................26

8.2.3. Command format..................................................................................................................................................................................27

8.2.4. Response format..................................................................................................................................................................................27

8.2.5. CRC checksum.....................................................................................................................................................................................28

8.2.6. Acknowledge ACK (response).............................................................................................................................................................28

8.2.7. Error handling.......................................................................................................................................................................................28

8.3. Command set overview........................................................................................................................................................................29

8.3.1. SET commands....................................................................................................................................................................................29

8.3.2. GET commands...................................................................................................................................................................................30

8.3.3. Miscellaneous commands....................................................................................................................................................................31

8.3.4. Factory maintenance commands.........................................................................................................................................................32

8.4. SET commands ...................................................................................................................................................................................33

8.4.1. SET_MOD_CHANNEL [0x0E] ..........................................................................................................................................................33

8.4.2. SET_INT_TIME_DIST [0x00] ............................................................................................................................................................34

8.4.3. SET_INT_TIME_GS [0x01] ...............................................................................................................................................................34

8.4.4. SET_HDR [0x0D] ..............................................................................................................................................................................35

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8.4.5. SET_ROI [0x02] ................................................................................................................................................................................35

8.4.6. SET_TEM ORAL_FILTER_WFOV [0x07] .......................................................................................................................................36

8.4.7. SET_AVERAGE_FILTER [0x0A] ......................................................................................................................................................36

8.4.8. SET_MEDIAN_FILTER [0x0B] ..........................................................................................................................................................36

8.4.9. SET_INTERFERENCE_DETECTION [0x11] ...................................................................................................................................37

8.4.10. SET_EDGE_DETECTION [0x10] ......................................................................................................................................................38

8.4.11. SET_FRAME_RATE [0x0C] ..............................................................................................................................................................38

8.4.12. SET_AM LITUDE_LIMIT [0x09] .......................................................................................................................................................38

8.4.13. STO _STREAM [0x28 ] ....................................................................................................................................................................38

8.4.14. SET_COM ENSATION [0x55] .........................................................................................................................................................38

8.4.15. SET_DLL_STE [0x06] .....................................................................................................................................................................38

8.5. GET commands...................................................................................................................................................................................40

8.5.1. Acquisition modes................................................................................................................................................................................40

8.5.2. Acquisition data output formats............................................................................................................................................................40

8.5.3. Response header.................................................................................................................................................................................41

8.5.4. Warm-up...............................................................................................................................................................................................42

8.5.5. GET_DIST [0x20] ..............................................................................................................................................................................43

8.5.6. GET_DIST_GS [0x29] .......................................................................................................................................................................43

8.5.7. GET_DIST_AM LITUDE [0x22] .......................................................................................................................................................43

8.5.8. GET_GS [0x24] .................................................................................................................................................................................44

8.5.9. GET_DCS [0x25 ] ..............................................................................................................................................................................44

8.5.10. GET_CALIBRATION_INFO [0x57 ] ..................................................................................................................................................44

8.6. Miscellaneous commands....................................................................................................................................................................45

8.6.1. SET_OUT UT [0x51] ........................................................................................................................................................................45

8.6.2. GET_IN UT [0x52] ...........................................................................................................................................................................45

8.6.3. GET_TEM ERATURE [0x4A] ..........................................................................................................................................................45

8.6.4. GET_TOFCOS_VERSION [0x49] .....................................................................................................................................................45

8.6.5. GET_CHI _INFORMATION [0x48] ..................................................................................................................................................45

8.6.6. GET_ ROD_DATE [0x50] ................................................................................................................................................................46

8.6.7. IDENTIFY [0x47] ...............................................................................................................................................................................46

8.7. GET_ERROR [0x53] .........................................................................................................................................................................46

8.8. Factory maintenance commands ........................................................................................................................................................47

8.8.1. CALIBRATE_DRNU [0x41] ...............................................................................................................................................................47

8.8.2. GET_CALIBRATION [0x43] ..............................................................................................................................................................47

8.8.3. JUM _TO_BOOTLOADER [0x44] ....................................................................................................................................................47

8.8.4. U DATE_TOFCOS [0x45] ................................................................................................................................................................48

8.8.5. WRITE_CALIBRATION_DATA [0x4B] ..............................................................................................................................................48

8.8.6. SET_MOD_FREQUENCY [0x05] .....................................................................................................................................................48

8.9. Update camera operating system TOFCOS .......................................................................................................................................49

9. Maintenance and disposal........................................................................................................................................ 50

9.1. Maintenance.........................................................................................................................................................................................50

9.2. Disposal................................................................................................................................................................................................50

10. Addendum ................................................................................................................................................................. 51

10.1. Related documents .............................................................................................................................................................................51

10.2. Links ....................................................................................................................................................................................................51

10.3. Licenses ..............................................................................................................................................................................................51

11. IMPORTANT NOTICE................................................................................................................................................. 5

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1. Before you start

1.1. Precaution and Safety

This product is eye safe according to IEC62471-2013.

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 sensor 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 sensor.

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 TOFcam-635.

Download the latest “Installation and Operation Manual TOFcam-635-S”.

Download and use the latest software package “TOFCAM635-S_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 sales@espros.com.

Download and use the latest software development kit (SDK) “TOFCAM635-S_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.

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. Abbreviations

Designator Description

3D Three dimensional

ACK Acknowledged

A I Application program interface

ADC Analog-to-digital converter

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

CMD Command

CRC Cyclic redundancy check (checksum)

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

GND Ground terminal, negative supply voltage

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

ISO International organization for standardization

JEDEC Joint electron device engineering council

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

LSB Least significant bit / byte

LVTTL Low voltage transistor transistor logic

MSB Most significant bit / byte

NACK Not acknowledged

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

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

SW Software

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

TOF Time of flight

TOFCOS TOF camera operating system, firmware in the camera

TTL Transistor transistor logic

TX Transmit terminal, data out

UART Universal asynchronous receiver transmitter

USB Universal Serial Bus

VDD ositive supply voltage

Table 1: List of abbreviations used in this document

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3. Quick guide

3.1. Connecting the camera module

First of all you need to prepare a power supply to supply the camera

with power. Therefore use the 8 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 8 pin connector.

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

This is available with the "TOFCAM635_SW_ ackage" from our

download page.

•Connect the camera to your computer with a USB cable.

•Connect the camera to proper voltage using the prepared or

ordered 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).

3. . Camera settings

•Choose Image Type "Distance"

•Disable “Automatic Integration Time 3D” and switch “HDR off”

•Set “Offset” and “Distance Min” values to zero and the

"Distance Max" to the effective maximum distance in your

scenery.

•For object detection set the "Amplitude" limit 0” 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 0" to a value

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

would like to see.

•Swith to “HDR temporal” and set “Integration Time 1 … 3” to

zero. increase the "Integration time 3D 1" 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 0" 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.

•Swith on the additional “Info” and “Scope” windows which

delivers you valuable information.

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Figure 4: 8-pin power-supply , UART and G IO connector

Figure 5: GUI window for camera settings

4. TOFcam-635-S time of flight camera module

4.1. System overview and use cases

The TOFcam-635-S is a camera and sensor module based on the ES ROS epc635 cwTOF imager chip:

•24VDC power supply input

•STM32F466 ARM microcontroller

•The micro controller board communicates with the epc635 chip carrier board through an ultrafast TCMI serial interface.

•An ultra wide field lens 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

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

•Two sensor versions are available with one relay or three digital outputs

•Communication by USB or UART

•Application programming interface (A I) for further processing is available. It opens the world for using open source tools or

creating own customer applications.

•ROS device drivers for Linux available

•Windows, Mac and Linux GUI available

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Figure 6: Use case overview

A I

UART

A I

HW I/O

Sensor

firmware

TOFCOS

Internet

TOF Sensor TOF camera Integrated TOF module

Open Source

Tools

Customer

Application

Connected for operation

Connected for programming

4. . Scope of delivery

Pieces Part Name Picture

1 Time of Flight Sensor TOFcam-635-S consisting of:

–Molded housing

–Receiver lens

–Illumination with lens

–Electronics board

1 8 pin connector plug with L = 75mm open end cable for 24V power

supply, UART interface and G IO

–lug with 8 pin open cable ends

–Connecting instructions

–in assignment

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

100 651 TOFcam-635-S-UWF-850-E Camera with 1x digital input and 3x digital

output (0 … 24V)

100 623 TOFcam-635-S-UWF-850-R Camera with 1x digital input and 1x relay

output NO/NC

100 664 8 pin connector plug with open cable ends

(L = 75mm)

Included in TOFcam-635-S basic unit.

To connect the camera to a corresponding

power supply.

100 660 ower supply 24VDC Input 100 … 240VAC, 50 / 60Hz

Output 24VDC, 500mA

Including camera connection cable

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300 189 ower cord adapter

CH/EU – US

300 473 Cable USB A to Micro USB

Table 3: Order information for cameras and accessories

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4.4. Technical data

All characteristics are at typical operational ratings, TA = +25ºC, VDD / VDDLED = 5V, object reflectivity 90%, unless otherwise stated.

Parameter Description Conditions Min. Type Max. Units Comments

VDD Main supply voltage Ripple 1 < 50 mVpp 4.75 5.0 5.25 V

IDD Main supply current Acquisition 140 mA

Idle 100 mA

λ Operating wavelength 850 nm

RESIMAGE Image resolution 160 x 60 ixel

FOV Field of view TOF FOV 120 x 25 ° 160 x 35 pixels

GS FOV 120 x 45 ° 160 x 60 pixels

D Operating range 0.05 3 m Depends on integration time

DUnabiguity Unambiguity range 27.25 7.5 7.8 m Depends on mudulation

channel

Acc Accuracy 0.05 … 1.0 m ± 2 cm Mean of 100 samples

1.0 … 3.0 m ± 2 %

DNOISE Distance noise (1σ value) 0.1 mm Amplitude 100 ... 1'900 LSB,

Kalman Filter k = 10 and

threshold t = 300 mm,

ambient-light less than

10 kLux on target

tINT Integration time selectable 1 1000 µs Default: 125µs

tCYCLE Measurement cycle time GET_DIST

GET_DIST_AM LITUDE

@tINT = 125µs, single

measurement, including data

transmission

fMOD Modulation frequency 19.20 20.00 20.70 MHz Refer to Chapter 8.4.1

tWR_U ower up time until acceptance of commands 1.5 s

tWARM_U Warm-up time until output data is in tolerance Refer to Chapter 8.5.4

RESDISTANCE Distance measurement resolution 1 mm/LSB Refer to Chapter 8.5.

ΦAL Ambient-light suppression 100 kLux Indirect, on target

Ee EAK eak illumination irradiance 372 W/m2With 200mm distance to the

front surface of the camera

Ee AVG Average illumination irradiance 108 W/m2With 200mm distance to the

front surface of the camera

VOUT OUT0 / OUT1 / OUT2 voltage (open drain) 36 V Refer to Figure 24

IOUT OUT0 / OUT1 / OUT2 current sink 50 mA Over-current protected

VREL Relay voltage 30

125

VDC

VAC

Refer to Figure 26

IREL Relay current 1

VIN IN input voltage logic low 0 0.8 V Input resistance 100kΩ,

refer to Figure 25

logic high 3.0 30 V

TAAmbient temperature range -20 60 °C Operation and storage

RH Relative humidity 15 90 % Non-condensing

W Weight 43 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, EN 61000-6-2:2005

Eye safety IEC62471:2013

Table 4: Technical data

Notes: I

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

2The camera uses the continuous-wave TOF phase-shift measurement technique with a modulation frequency 20MHz. This leads to

unambiguity distances of 7.5m. Highly reflective objects outside of the effective operating range of 7.5m will appear closer due to the

wrap-around of the modulation period. Example: Is the object at a distance of 8.5m, the camera displays a distance of 1m (8.5m -

7.5m). This is obviously wrong !

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4.5. Mechanical data

4.5.1. Mechanical features

4.5. . Mechanical dimensions

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Figure 7: Mechanical features

USB-Connector

Status LED

UART-Connector

Heat sink

Back cover

Front- cover

Illumination window

Mounting plane

Camera Lens

(zero distance)

Mounting holes (4x)

zero point

Z-axis

Figure 8: Mechanical dimensions

Holes for mounting screws:

4 x ø 3.4 / 6.3mm

Mounting screws:

Shank max. ø = 3.2mm

Head max. ø = 6.0mm

Shank min. length = 6mm

4.5.3. Mounting plane

Notes:

■Because the mounting plate is also a heat sink for the illumination LEDs, it should not be covered by thermal insulating material. Free air

flow shall be provided at any time in order to avoid excessive heat of the camera. The camera temperature can be monitored by reading

the temperature with the command GET_TEM ERATURE (refer to Chapter 8.6.3).

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Figure 9: Hole pattern for mounting the TOFcam-635-S

5. GUI

5.1. Put the camera into operation

Connect the camera to 24V DC using the 8 pin UART interface connector with a suitable 24V power supply according to Chapter 4.3. The

status LED is flashing with 0.5Hz after correct power up of the TOFcam-635-S.

5.1.1. USB interface

Connect the camera with your computer using a USB-A to micro-USB cable. So you can control the TOFcam-635-S using the GUI or

ROS. Start the GUI or ROS to run the camera application. If multiple cameras are physically connected to your computer, select the one

you would like to operate.

5.1. . UART interface

Connecting the required pins for UART interface and optionally the G IO / relay contacts allows the integration of the sensor to a

controller. You will find a description of the interface in Chapter 8.1 and the applicable commands in Chapter 8.2.

5. . GUI main window

A) Icamera type, GUI version, Firmware version, Chip-/Wafer-ID of the epc635 in the camera

B) Connection status:

C) Menu tab

View Chapter 5.2.1

lay Chapter 5.2.2

IoControl Chapter 5.2.5

Save/Load Chapter 5.2.6

D) Controls for the selected menu tab

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Figure 10: Select the device to be connected to

Figure 11: Sections of the GUI main screen

5. .1. View Menu

The View menu allows to control the camera and the camera output. Distance, amplitude and gray-scale images can be captured,

streamed or recorded. Detailed information about pixel groups or one single pixel can be illustrated.

•“ icture“ and “Start“ open the “Image“ window according to the selection in the “Image Type” drop-down menu. lease see

Chapter 5.2.3 to read the details about the live image window. The “ icture“ button acquires one single frame while the “Start“

button starts a live stream. It changes its look to “Stop“ which allows terminating the streaming.

•“Record“ function allows to save picture data (one picture per push on the “Image“ button) or as live stream (from “Start“ to

“Stop“ command each). On computers with low performance it might be helpful to enable the “Don't display” function to use all

resources for recording the live stream. The recorded data contains all values according to the selected “Image Type“.

•All the “Show ___“ check boxes open additional windows with dedicated information. You will find additional description about

these functions in Chapter 5.2.4.

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Figure 12: Controls of the camera

•“Modulation channel” allows a shift of the modulation frequency to the main (default) modulation frequency. Multiple cameras

operating in the same scenery (full or partially) with the same modulation frequency will interfere each other which leads to

sporadically wrong distance information. This can be eliminated if the cameras do nit use the same modulation frequency.

•To avoid interference issues due to unknown systems disturbing the sensor a “Interference detection“ can be enabled. Interfered

pixels will be detected automatically and indicated as “invalid data”. By selecting the “use last value“ function the last valid value

is sent for the affected pixel instead of marking it as invalid. This function is also be used to suppress motion blur.

•The “Frame rate limit” can be used to limit the frame rate. The function is active only if the set value is below the maximum frame

rate according to all set camera parameters. The maximum operating frame rate can be displayed in the “Show Info“ window.

The frame rate limit is be useful if a defined frame rate is required. It is also useful to limit the power consumption and/or power

dissipation of the camera. This could happen due to very high frame rate at small ROI.

•Integration time setting allows to define the exposure time to acquire one Differential correlation sample (DCS). Four DCS' are

required for distance acquisition.

•“HDR off“ let's the camera operate with one integration time only.

•“HDR spatial“ operates all odd rows of the imager with the “Integration Time 3D 0“ value and all even rows with the “Integration

Time 3D 1“ value.

•“HDR temporal“ allows using up to 4 different integration time values (integration time values with zero values are ignored). In

this mode one complete image is acquired with each set integration time 3D 0 … 3. After the acquisition of all frames, a new

image is generated from the different frames by using the most confident value (pixel by pixel)l. Due to multiple image acquisi -

tions, this mode reduces the frame rate.

•For each integration time, a minimal amplitude can be set. This is the minimum received signal to provide distance. One should

use low limits for object recognition but high limits for accurate distance measurements. lease investigate the TOF theory to

become familiar with the physical context. A very helpful lecture might be the book “3D-TOF, A guideline to 3D-TOF sensors that

work” by ES ROS hotonics Corp. (author Beat Dede Coi et. al.).

•“Offset“ shifts the zero distance from its original z-axis zero point (refer to Figure 7).

•“Minimum distance“ cuts off all pixels reporting a value closer than this setting. In addition, the color distance scale is adjusted

this setting.

•“Maximum distance“ cuts off all pixels reporting a value beyond this setting. In addition, the color distance scale is adjusted this

setting.

•The color scale visualizes distance of every pixel in the viewer.

•Various powerful filter functions are available.

•The ROI (region of interest) allows to reduce the active pixel field. Only pixels within the selected ROI will be acquired. The

“Default ROI” button resets the ROI to full imager size of 160 x 60 pixels.

•Tooltips are available by moving the cursor either to the corresponding text (refer toFigure 13).

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Figure 13: Tooltip examples

5. . . Play menu

•“ lay” replays the selected stream with the set frame rate. After changing the selection or pushing the “Stop“ button the original

frame rate of the recording is used. The “Start“ button changes its look to “ ause“ after been pushed. Selecting the “ ause“

button interrupts the playback and allows to continue from the same point.

The player can replay the recorded data only with the parameters which has been set during the recording process. This

includes also the “Image Type“ according to the “View“ menu.

•“Stop“ aborts the replay, resets the timer to zero and the frame rate to the recording frame rate.

•“Record“ streams images according to the parameters set in the “View” menu, refer to Chapter 5.2.1.

•“F S” sets the acquisition frame rate (or the replay speed respectively). This value is reset by pressing the “Stop“ button or by

changing the selected log in the list.

•“File name“ defines the file name of the log file. An “underline” character separates this name from the current calendar day

followed by a “minus” separated time stamp.

•“Folder path” defines the log file location. It path can be changed either directly in the input field or with the “Select Folder”

function.

•“Delete all logs“ will delete all logs in the selected folder. “Delete selected log“ deletes the selected log only. All deletions needs

to be confirmed by the user.

5. .3. Live image window

The “Image” window pops-up after a streaming, a replay or a recording has been started from the “View“ or the “ lay“ menu. The window

contains the images according to the selected “Image Type“. A recorded streaming contains only the data which has been selected during

the recording process.

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Figure 14: layer controls

•“Mirror horizontal“ flips the image horizontally.

•“Mirror vertical“ flips the image vertically.

•“Rotate 90°” rotates the image.

•The amplitude can be shown as color coded values (default) or as gray-scale.

•The scope functions allow to show some decided information about one single pixel or a selection of many pixels. A description

about these information can be found in Chapter 5.2.4. The pixel selection can be deleted with right mouse click or by just doing

a new selection.

◦“ ixelinfo“ allows to select a single pixel in the active live image by left mouse click. Current information about this pixel are

shown in the decided information window (Figure 18).

◦“ ixelscope“ shows the distance and amplitude values of a row of pixels (Figure 19).

◦“Timescope“ shows a selection of an ROI in the live image. The ROI is defined with left mouse button. The average of

distance and amplitude values over all selected pixels are shown against time axis (Figure 20).

•“ROI“ selects a region of interest by using the left mouse buton. “Default ROI“ resets the ROI.

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Figure 15: Image types: Distance, Amplitude, Grayscale, DCS

Figure 16: Live view controls

5. .4. Decided information windows

If the “Append“ check box is activated in the “Header information“ window the data for each single frame are added to the file. If it is

disabled just the data from last frame are stored.

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Figure 18: ixel information window

Figure 17: Header information window

Number of frames can be used to compress or stretch time axis. With the “Reset“ function the current data can be deleted.

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Figure 19: ixelScope window

Figure 20: Time Scope window

5. .5. Input readout and Output Control menu

The Output check-boxes allow to manually set an output, the “Read” button detects the Input status. For the corresponding pinning please

see 3.1.

5. .6. Configurations and firmware upgrade menu

“Save configuration and settings“ to the C.

“Load configuration and settings“ from the C.

“Update firmware“ allows to download a mew or different firmware to the camera.

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Figure 21: IO control window

Figure 22: Configurations and Upgrade window

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