EPC TOFcam-660 User manual

TOFcam-660-FPGA
Installation an Operation Manual
General Description
The TOFcam-660 is a cost optimized 3D camera. It is based on the
ES ROS proprietary time-of-flight technology using the epc660
TOF flagship chip. The camera controls the illumination and the im-
ager chip to obtain distance and grayscale images. The depth im-
ages are compensated against ambient light, temperature and re-
flectivity of the scene. By using one of the offerd ES ROS user in-
terfaces, 3D point clouds in a cartesian coordinate system are
available. Thanks to the high performance of the imager chip with
the unique ambient light suppression, the camera can be used un-
der full sunlight condition.
This document allows a TOFcam-660 user easily to get the camera
connected and started using a computer. It contains a description
of all features of the device as well as all functions of GUI and ROS
application. The complete description of interfaces, protocols and
commands allows to connect the module to integrated systems. A
software development kit (SDK) with all C++ source codes,
libraries and drivers including is available by ordering the ES ROS
epc660 evaluation kit.
Figure 1: TOFcam-660
Figure 2: Color coded TOF distance
Features
■320 x 240 pixels QVGA resolution (76'800 pixels)
■Measurement rate up to 20 TOF measurements per second
(1.5 MIO distance and amplitude values per second)
■Distance measurement and object recognition from centimeters
to 100 meters
■Four different field of view and operating ranges available
■Fully calibrated and compensated
■Sun- and ambient-light tolerant up to 100 kLux
■GigE and USB interface
■Various user interfaces: GUI, ROS, ython
□Evaluation of TOFcam-660 main features
□Store and recall camera configuration
□Easy collection of distance data and point clouds
□Many explanations about “time of flight done right”
Applications
■Research in various scientific fields
■IoT applications
■Evaluation and development of an epc660 based TOF sensor
□Automatic vehicle guidance, in-cabin monitoring
□Object classification and safeguarding
□Face recognition, Gesture control (man-machine-interface)
Figure 3: oint Cloud
Figure 4: Amplitude as logarithmic gray scale
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Contents
1. Before you start ......................................................................................................................................................... 3
1.1. recaution and Safety ..........................................................................................................................................................................3
1.2. Updates.................................................................................................................................................................................................3
1.3. Important Notes.....................................................................................................................................................................................3
. Abbreviations ............................................................................................................................................................ 4
3. Quick guide ................................................................................................................................................................ 6
3.1. Connecting the camera module ...........................................................................................................................................................6
3.2. Camera settings ...................................................................................................................................................................................6
4. TOFcam-660 time of flight camera ........................................................................................................................... 7
4.1. System overview ..................................................................................................................................................................................7
4.2. Scope of delivery ..................................................................................................................................................................................8
4.3. Ordering information ............................................................................................................................................................................8
4.4. Technical data ....................................................................................................................................................................................10
4.5. Mechanical data .................................................................................................................................................................................11
4.5.1. Mechanical features ...........................................................................................................................................................................11
4.5.2. Mechanical dimensions ......................................................................................................................................................................12
4.6. Camera connectors.............................................................................................................................................................................12
4.6.1. LAN connector ...................................................................................................................................................................................12
4.6.2. ower and G IO connector ...............................................................................................................................................................13
4.7. Start up ...............................................................................................................................................................................................13
5. GUI ............................................................................................................................................................................ 15
5.1. GUI main window ...............................................................................................................................................................................15
5.1.1. View menu .........................................................................................................................................................................................15
5.1.2. lay menu ..........................................................................................................................................................................................19
5.1.3. Live image window .............................................................................................................................................................................19
5.1.4. oint cloud .........................................................................................................................................................................................20
5.1.5. Decided information windows ............................................................................................................................................................21
5.1.6. Settings ..............................................................................................................................................................................................23
5.1.7. Configurations menu ..........................................................................................................................................................................23
6. ROS camera driver................................................................................................................................................... 4
6.1. What is ROS?.....................................................................................................................................................................................24
6.2. Installation...........................................................................................................................................................................................24
6.3. Running the ROS driver......................................................................................................................................................................24
7. ROS API..................................................................................................................................................................... 5
7.1. Start of the node..................................................................................................................................................................................25
7.2. ublished topics..................................................................................................................................................................................25
7.3. Dynamically reconfigurable parameters.............................................................................................................................................26
8. Maintenance and disposal....................................................................................................................................... 7
8.1. Maintenance........................................................................................................................................................................................27
8.2. Disposal...............................................................................................................................................................................................27
9. Addendum................................................................................................................................................................. 7
9.1. Related documents.............................................................................................................................................................................27
9.2. Links....................................................................................................................................................................................................27
9.3. Licenses..............................................................................................................................................................................................27
10. IMPORTANT NOTICE............................................................................................................................................... 8
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1. Before you start
1.1. Precaution and Safety
Eye safety: Do not look directly into the camera under operation. Depending on the mode of operation, the
camera device emits highly concentrated non-visible infrared light. It can be hazardous to the human eye. The
use of these devices has to follow the safety precautions given in IEC 608 5-1 and IEC6 471.
The camera module is an electronic device. Handle it with the necessary ESD precaution.
Over-voltage: Use only a power supply which correspond to the datasheet of the camera to avoid damage of the device
or cause danger for humans.
Cable-tripping: lace or mount the camera on solid ground or fix it correctly on a solid support. lace cables carefully.
Falling devices can be damaged or harm persons.
The camera comes with its own calibrated Firmware. Do not alter the Firmware without obeying the instructions herein.
Be careful to the window surfaces of the camera. Never use any solvents, cleaners or mechanically abrasive towels or
high pressure water to clean the camera.
Operate the device in compliance with the local EMC regulations.
This camera is not a safety device. It may not be used in safety applications, explosive atmospheres or in radioactive
environment, except the user implements the required safety measures, e.g. by redundancy. However, the sole respon-
sibility for the safety of the application is by the user.
LIMITED WARRANTY - LOSS OF WARRANTY
This camera should only be installed and used by authorized persons. All instructions in this datasheet and in the
related documents shall be followed and fully complied with. In addition, the installer and user is required to comply with
all local laws and regulations. The installer and user is fully responsible for the safe use and operation of the system. It
is the sole responsibility of the installer and the user to ensure that this product is used according to all applicable codes
and standards, in order to ensure safe operation of the whole application. Any alteration to the devices by the buyer,
installer or user may result in device damage or unsafe operating conditions. ES ROS hotonics AG is not responsible
for any liability or warranty claim which results from such manipulation or disregarding of given operating instructions.
ES ROS hotonics AG is an ISO 9001: 2015 certified company.
This product is according to European Union standards and free of hazardous substances.
1. . Updates
ESPROS Photonics is constantly striving to provide comprehensive and correct product information. Therefore, please check
ESPROS' website regularly for updated versions of datasheets and documentations: www.espros.com
Download the latest Flyer of TOFcam-660.
Download the latest Installation and Operation Manual of the TOFcam-660.
Download and use the latest software package “TOFCAM660-F GA_SW_ ackage” containing a graphical user inter-
face (GUI) for Windows or, Mac computers and a robot operating system (ROS) application
If there are any questions, please contact your ES ROS sales office or send an email to [email protected].
Download and use the latest software development kit (SDK) “TOFCAM660-F GA_SDK” containing all source codes of
the firmware, GUI and ROS. Unpacking the SDK is password protected. Get back to ES ROS to check whether you
fullfill the requirements to get the password.
1.3. Important Notes
Notes on PRELIMINARY versions:
THIS MANUAL IS UNDER CONSTRUCTION. IMPORTANT PARTS MAY BE MISSING
Colored marking in text means “under consideration” and refers to not yet applicable or verified information.
Values and/or information are either estimates or show the applicable principle only.
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. Abbreviations
Designator Description
3D Three dimensional
ACK Acknowledged
ADC Analog-to-digital converter
A I Application rogram Interface
Binning Summation of a defined number of pixels. Binning can be done in the charge (analog) or in the digital domain
CMD Command
C U Central rocessing Unit
CRC Cyclic redundancy check (checksum)
cwTOF Continuous wafe modulated time of flight
DCS Differential correlation sample
DLL Delay locked loop, controllable delay line
DRNU Distance response non-uniformity: Distance error from pixel to pixel with a target at the same distance
EMC Electromagnetic compatibility
EMI Electromagnetic interference
ESD Electrostatic discharge
FoV Field of view
fps Frame rate, number of images per second
Frame One image
GigE Gigabit Ethernet
GND Ground terminal, negative supply voltage
G IO General urpose Input / Output
GS Grayscale
GUI Graphical User Interface
HDR High dynamic range
ID Identifier
IN Input terminal which is used to sense a high or low voltage
I Internet rotocol address
ISO International organization for standardization
JEDEC Joint electron device engineering council
LAN Local Area Network
LED Light emitting diode used to illuminate the scenery or as indicator
LSB Least significant bit
LVTTL Low voltage transistor transistor logic
MSB Most significant bit / byte
NACK Not acknowledged
NF Narrow field of view
OUT Output terminal which is can be set to high or low voltage
QVGA Quarter Video Graphics Array
RMS Root mean square
RoHS Restriction of hazardous substances
ROI Region of interest in the pixel-field
ROS Robot Operating System
RX Receive terminal, data in
SDK Software Development Kit
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Designator Description
SF Standard field of view
SW Software
TBD / tbd To be defined, information not yet available or not valid
TOF Time of Flight
TTL Transistor transistor logic
TX Transmit terminal, data out
UART Universal asynchronous receiver transmitter
USB Universal Serial Bus
UWF Ultra wide field of view
VDD ositive supply voltage
WF Wide field of view
Table 1: List of abbreviations used in this document
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3. Quick guide
3.1. Connecting the camera module
First of all you need to prepare a power supply for the camera. Therefore use
the 6 pin connector which is included in the scope of delivery. If you ordered the
power supply and power adapter cable as accessory according to chapter 4.3
then you don't need to provide a separate power supply connected to this 6 pin
connector.
You need to install the Graphical User Interface onto your computer. This is
available with the software package "TOFCAM660_SW_ ackage" from our
download page.
You need to consider the I address of the camera which is 10.10.31.180 with
sub-net mask 255.255.255.0. So you need to operate the camera within the
same network range. If your computer has a RJ45 LAN connector you can
connect the camera directly with corresponding network settings of the LAN-
adapter in your computer. You can choose a manual I 10.10.31.190 for your
computer e.g. If you use a RJ45 to USB adapter you need to configure the
settings of your USB adapter accordingly. You can choose a manual I address
10.10.31.190 for your USB adapter e.g. Disable the firewall on your computer or
add an exception for the camera application. The firewall might block the visual-
ization of data in the image window.
•Connect your camera with your computer using a RJ45 patch-cable.
•Connect your camera to the proper voltage using the prepared power
supply.
•Start the GUI on your Computer. The connection to the camera will be
indicated in the corner bottom left of the main window of the GUI
(Connected to 10.10.31.180 - in green letters). This can take around
60 seconds. If there is no connection for several minutes then please
disconnect and re-connect the power supply. If this don't help you
need to check the network settings of your network adapter as
described previously.
3. . Camera settings
•Disable all Filter functions. Set the "Integration Time 3D high" to zero.
Choose Image Type "Distance".
•Depending on the maximum distance in your field of view you should
choose a suitable "Modulation frequency" (unambiguity).
•If you choose a modulation frequency which is not 24MHz or 12MHz
(6MHz e.g.) the camera is not calibrated. In this case it might be
required to set a corresponding offset.
•Set the "Distance Range max." value to the effective maximum
distance in your scenery.
•For object detection set the "Minimum Amplitude" to 50 LSB, for
accurate measuring to 200 LSB (this are good starting points, fine-
tuning possible). Start streaming with the “Start” button.
•Increase / decrease the "Integration time 3D low/single" to a value
where you get a distance picture of the most far objects you would like
to see.
•Increase the "Integration time 3D high" to a value where saturation
(purple), ADC overflow (pink) and invalid (black) pixels are removed or
reduced to a minimum (normally this value is about 10 ... 20% of the
"Integration time 3D low/single" value).
•lay with filtering: enable "Temporal Filter" e.g.
•Optimize the color scale (visual graduation) of the relevant objects in
your scenery by changing the "Distance Range min." value.
•Change the image type to the illustration of the scenery you like to
see.
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Figure 5: 6-pin power-supply and G IO connector
CONN_ hoenix_6 in_1778667
6G IO OUT1 (optional)
5G IO OUT0 (optional)
4G IO IN1 (optional)
3G IO IN0 (optional)
2 GND
1 + 24VDC, min. 2.5A
CHAMFERD
EDGED
Figure 6: I configuration of a USB-LAN adapter
Figure 7: GUI window for camera settings

4. TOFcam-660 time of flight camera
4.1. System overview
Figure 8: TOFcam-660 system setup
The TOFcam-660 is a general purpose camera based on the ES ROS epc660 cwTOF imager chip:
•24VDC power supply input
•RJ45 LAN connector
•General purpose I/O connector
•F GA/SoC Module Mars ZX2 Xylinx Zynq 7010
•The F GA board communicates with the epc660 chip carrier board through an ultrafast TCMI seraial interface.
•One out of thee differrent lenses depending on the camera model focus the reflected light from the scenery onto the pixel field of
the imager chip.
•NIR band pass filter, AR coatings and straylight suppression for optimal optical performance
•LED illumination adopted to the sepcific field of view
•Firmware for camera control, distance calculation and filtering
•Communication by Ethernet
•ROS device drivers for Linux available
•Windows and Mac GUI available
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A I
UART
A I
HW I/O
Sensor
firmware
TOFCOS
24VDC power supply min. 2.5A
USB / Ethernet
C with MS-Windows
Mac with macOS
Linux system
Customer
Application
Internet
Open Source
Tools
www.espros.com
download center

4. . Scope of delivery
Pieces Part Name Picture
1 Time of Flight Camera TOFcam-660-F GA consisting of:
–Aluminum housing
–Receiver optic
–Illumination cpl.
–C U electronics
–interfaces
1 6 pin connector plug for 24V power supply and G IO
–lug with snap-fit clamps
–Connecting instructions
–in assignment
4 Self tapping screws for camera mount
1 Software package containing GUI, ROS and current Firmware. Available
on the ES ROS download page.
1 Documentation
(useful additional information available on the Espros download page )
Table 2: Scope of delivery
4.3. Ordering information
Picture Part No. Name Description
100 592
100 593
100 594
TOFcam-660-NF-940-F GA
TOFcam-660-SF-940-F GA
TOFcam-660-WF-940-F GA
FoV 31 x 24°, 60m operating range
FoV 70 x 51°, 15m operating range
FoV 108 x 77°, 9m operating range
100 638 Connector plug 6 pin connector plug for power supply and G IO
100 609 ower adapter cable Cable to connect a TOFcam-660-F GA directly
with the power supply 100 282
100 282 ower Supply 24VDC with DC
cable L = 1.2m
Input 100 … 240V
DC output: 24V, 2.5A
100 284 ower cord 2 pole
L = 1.8m
CH/EU plug
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300 189 ower cord adapter
CH/EU - US
300 780 Batch cable RJ45
L = 2.0m
300 781 Adapter RJ45 to USB GigE
Table 3: Order information for cameras and accessories
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4.4. Technical data
All characteristics are at typical operational temperature TA = +25ºC
Parameter Description Conditions Min. Typ Max. Units Comments
VDD Main supply voltage Ripple 1 < 50 mVpp _ 24 _ VDC
IDD Supply current _ _ _ A
λ Operating wavelength 940 nm
RESIMAGE Image resolution 320 x 240 ixel QVGA
FoV Field of view Version NF 31 x 24 ° Refer to Chapter 4.3
Version SF 70 x 51 °
Version WF 108 x 77 °
DR Operating range Version NF 0.5 60 m Object recognition, 50 LSB
on 90% reflective target
Version SF 0.2 15 m
Version WF 0.2 9 m
DM Measuring range Version NF 1 30 m Accurate distance
measuring, 200 LSB on 90%
reflective target
Version SF 0.5 8 m
Version WF 0.5 5 m
Acc Accuracy, measuring range min. … 2m ± 4 cm Mean of 100 samples
Accuracy, 2m … measuring range max. ± 2 %
DNOISE Distance noise (1σ value) 0.1 mm
fMOD Modulation frequency selecteable 0.75 24 MHz Refer to unambiguity range
DUnabiguity Unambiguity range 2@ fMOD = 24MHz 6.25 m
@ fMOD = 12MHz 12.5 m
@ fMOD = 6MHz 25 m
@ fMOD = 3MHz 50 m
@ fMOD = 1.5MHz 100 m
@ fMOD = 0.75MHz 200 m
fSHIFT Channel 0 0 To avoid interference in multi
camera operation
environment
Channel 1 - fMOD / 30 MHz
Channel 2 - fMOD / ∼ 34 MHz
Channel 3 - fMOD / 40 MHz
Channel 4 - fMOD / 48 MHz
Channel 5 - fMOD / 60 MHz
Channel 6 - fMOD / 80 MHz
Channel 7 - fMOD / 120 MHz
Channel 8 - fMOD / 240 MHz
Channel 9 + fMOD / 240 MHz
Channel 10 + fMOD / 120 MHz
Channel 11 + fMOD / 80 MHz
Channel 12 + fMOD / 60 MHz
Channel 13 + fMOD / 48 MHz
Channel 14 + fMOD / 40 MHz
Channel 15 + fMOD / ∼ 34 MHz
Channel 16 + fMOD / 30 MHz
tINT Integration time selectable for distance 1 4'000 µs
Integration time selectable for gray scale 1 100'000 µs
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Parameter Description Conditions Min. Typ 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 Refer to Chapter Fehler:
Referenz nicht gefunden
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 _ 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 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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Figure 9: 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)
Front mounting
holes (4x)
Camera housing
and heat sink

4.5. . Mechanical dimensions
4.6. Camera connectors
4.6.1. LAN connector
Connector type: THD Connector RJ45, 8 8C 1000BASE-T
Matching plug: any RJ45 8 8C plugs
Accessory: LAN cables and GigE to USB adapter avaiable as accessories. Refer to Chapter 4.3.
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Holes for mounting screws:
4 x ø 3.5mm
Mounting screws:
Self tapping screws M5
Thread reach min. = 10mm
Figure 10: Mechanical dimensions
135mm 46mm
88mm
120mm
60mm
Figure 11: Camera connectors
in 1
Yello status LED
Green status LED
RJ 45 socket
J socket 6 pin

4.6. . Power and GPIO connector
Connector type: Term Block, R/A, 6 os STR 2.5mm
Matching plug: Term Block lug, 6 os STR 2.5mm
Accessory: For matching connector plug refer to Chapter 4.3.
No. Name Function Comments
1 VDD VDD: +24V Stable and free of noise power supply for the imager section.
2 GND Negative supply terminal
3 IN3 IN 0 Open-drain output, refer to Chapter Fehler: Referenz nicht gefunden
4 IN4 IN 1
5 IN5 OUT 0 Digital input, refer to Chapter Fehler: Referenz nicht gefunden
6 UART_TX OUT 1
Table 5: in table
GND
TOFcam-660
RI 130k
+3.3V
IN LVTTL 3.3V
GND
TOFcam-660
OUT
DLRL
VL
VL: Supply voltage for the load
RL: Load
DL: rotection diode for inductive loads
IL ≤ 50 mA
Figure 12: Input pins IN 0 and IN 1 Figure 13: Output pins OUT 0 and OUT 1
Make sure to use the right plug and insert it properly to avoid damage of the device connector!
4.7. Start up
The camera has a factory set I address which is 10.10.31.180 with a sub-net mask 255.255.255.0. You need to adjust the network
settings of the host computer according to this address. The LAN needs a 1000MB/s capability. Ensure that your firewall do not block the
data vizualization in the image window. In most cases you need to disable the firewall or to set an exception for the camera application.
Get back to your IT department in case of network communication problems.
To change the I address of the camera it is required to disassemble the camera to get access to the program memory.
lease contact your ES ROS sales office or send an email to [email protected] to get instructions how to do that.
•Connect your camera directly with your computer using a RJ45 patch-cable or additionally using a Gig-E capable RJ45 to USB
adapter.
•Connect your camera to the proper voltage using the prepared power supply.
•Start the GUI on your Computer.
The device notifies the power-up with a constantly lighting green LED. During network communication start-up the yellow status LED is
flashing. This can take up to 60 seconds. In the corner bottom left the GUI shows the network connection status.. 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.
Error cases:
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•If the green status LED do not ligth then the camera is not connected to a suitable power supply or not connected to a network
adapter.
•If the GUI indicates the camera as “Disconnected from 10.10.31.180” then the network settings are incorrect.
•If the GUI indicates the camera as “Connected to 10.10.31.180” but “Star”t a data stream do not open an image window then the
firewall blocks the application or the LAN has no Gig-E capability.
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5. GUI
First, before installation of a new software release, read the README and CHANGELOG files of the download package to get latest
product information.
5.1. GUI main window
After starting the “ES ROS_TOFCAM660_GUI” application, the control window of the GUI appears. The software connects automatically
to the device if a camera is physically connected to the computer. The connection is indicated in the status indicator line in the footer of the
control window, the header shows the GUI version in use, the current firmware installed on the camera as well as the wafer and chip ID of
the epc660 imager. The menu selection on the left side bar allows a user to step into the GUI control options.
A) Icamera type, GUI version, Firmware version, Chip-/Wafer-ID of the epc660 in the camera
B) Connection status:
C) Menu tab
View Chapter 5.1.1
lay Chapter Fehler: Referenz nicht gefunden
Settings Chapter 5.1.6
Save/Load Chapter 5.1.7
D) Controls for the selected menu tab
5.1.1. 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.
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Figure 14: Sections of the GUI main screen
A
B
C
D

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•“ icture“ and “Start“ open the “Image“ window according to the selection in the “Image Type” drop-down menu. lease see
Chapter Fehler: Referenz nicht gefunden 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“.
•Data to different I ” allows to stream the data record to another device than the GUI controls the camera. Refer to Chapter 5.1.6
how to select the I of the receiver.
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•The “Info” and “Scope” check boxes open additional windows with dedicated information. You will find additional description
about these functions in Chapter 5.1.5.
•“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.
•Integration time setting allows to define the exposure time to acquire one Differential correlation sample (DCS). Four DCS' are
required for distance acquisition.
•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.
•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 modulation frequency defines the unambiguity range. Refer to Chapter 4.4
•“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 not use the same modulation frequency.
•Binning horizontal and vertical
•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 12).
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Figure 15: Tooltip examples

5.1. . 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 Fehler: Referenz nicht gefunden.
•“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.
5.1.3. 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.
Live image window showing all different image types.
•“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.
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Figure 16: layer controls
Figure 17: Live view controls

•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 5.1.5. 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 (Fehler: Referenz nicht gefunden).
◦“ ixelscope“ shows the distance and amplitude values of a row of pixels (Fehler: Referenz nicht gefunden).
◦“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 (Fehler: Referenz nicht gefunden).
•“ROI“ selects a region of interest by using the left mouse buton. “Default ROI“ resets the ROI.
5.1.4. Point cloud
Live image window
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