TOFcam API

Every TOFcam device has its own class, which inherits from the base class TOFcam and implements the device-specific methods. All TOFcam subclasses implement a TOFcam_Settings and a TOFcam_Device_Info class, which are used to store the device settings and device information, respectively.

TOFcam670 API

Note

The native TOFcam670 API is merely a wrapper for the epc-tofcam-native python package. When developing native applications for the Raspberry Pi, consider using the epc-tofcam-native library directly.

TOFcam670

class epc.tofCam670.tofCam670.TOFcam670(ip_addr=None, port=8000)

Creates a new TOFcam670 object.

If no ip address is specified, this will assume the epc670 camera is available locally on this system (native interface).

If you provide an ip address, this will attempt to connect remotly over the network (web interface).

The TOFcam670 object holds two attributes:

settings: allows to control the settings of the camera.
device: allows to get device information from the camera.

get_amplitude_image(): Get amplitude image, with error codes removed (set to NaN)

get_distance_image(): Get distance image in mm, with error codes removed (set to NaN)

get_grayscale_image(): Get grayscale image

get_point_cloud(): Get point cloud in meters, with error codes removed (set to NaN)

get_raw_dcs_images(): Get raw DCS images

TOFcam670_Settings

class epc.tofCam670.tofCam670.TOFcam670Settings(cam: TOFcam670)

Class used to change settings on the TOFcam670.

get_roi(): Get the current region of interest (ROI) for the TOFcam670 device.

set_acquisition_mode(mode: AcquisitionMode): Set the acquisition mode of the TOFcam670 device.

set_average_filter(enabled=False): Set average filter settings.

set_dcs_rolling_mode(enabled=False): Set DCS rolling mode.

set_edge_filter(enabled=False, threshold=150): Set edge filter settings.

set_hdr(mode): Set the HDR mode of the TOFcam670 device. Mode 0: DIST_AMP, Mode 2: DIST_AMP_HDR.

set_hdr_rolling_mode(enabled=False): Set HDR rolling mode.

set_integration_hdr(int_times: list[int]) → None: Set the integration times for HDR mode. Expects a list of three integration times in microseconds.

set_integration_time(int_time_us: int): Set the integration time for the TOFcam670 device. Expects a single integration time in microseconds.

set_integration_time_grayscale(int_time_us: int): Set the integration time for grayscale mode.

set_interference_filter(enabled=False, threshold=300, latching=False): Set interference filter settings.

set_kalman_filter(enabled=False, threshold=200): Set Kalman filter settings.

set_lense_type(lense_type: str): Set the lens type for the TOFcam670 device.

set_median_filter(enabled=False): Set median filter settings.

set_minimal_amplitude(amplitude): Set the minimal amplitude for the TOFcam670 device.

set_modulation(frequency_mhz: float): Set the modulation frequency of the TOFcam670 device.

set_temporal_filter(enabled=False, alpha=0.3): Set temporal filter settings.

TOFcam670_Device

class epc.tofCam670.tofCam670.TOFcam670Device(cam: TOFcam670)

Class used to get information about the TOFcam670.

get_chip_infos(): Get the wafer ID and chip ID of the TOFcam670 device.

get_fw_version(): Get the firmware version of the TOFcam670 device.

TOFcam660 API

TOFcam660

class epc.tofCam660.tofCam660.TOFcam660(ip_address='10.10.31.180')

Creates a new TOFcam660 object and connects it to the ip address specified.

If no ip address is specified, the default ip address (10.10.31.180) is used.

The TOFcam660 object holds two attributes:

settings: allows to control the settings of the camera.
device: allows to get device information’s of the camera.

get_amplitude_image() → ndarray: Get an amplitude image from the camera as a 2D numpy array.

get_distance_and_amplitude() → tuple[ndarray, ndarray]: Get a distance and amplitude image from the camera as 2D numpy arrays. The distance is in mm.

get_distance_image() → ndarray: Get a distance image from the camera as a 2D numpy array. The distance is in mm.

get_flex_mod_distance_amplitude_dcs(calibData: dict, modFreq_MHz: int, minAmp: int = 0) → tuple[ndarray, ndarray, ndarray]: Acquire a DCS image with a flexibly chosen modulation frequency and calculate the distance and amplitude images from it.

get_grayscale_image() → ndarray: Get a grayscale image from the camera as a 2D numpy array

get_hw_trigger_image() → tuple[ndarray, ndarray] | ndarray

Wait until the hardware trigger data frame is received

Returns:: DataType.DISTANCE_AMPLITUDE → (distance, amplitude) as tuple[np.ndarray, np.ndarray] DataType.DISTANCE → distance as np.ndarray DataType.GRAYSCALE → grayscale as np.ndarray DataType.DCS → 4DCS as np.ndarray
Return type:: tuple[np.ndarray, np.ndarray] | np.ndarray

get_point_cloud() → ndarray: Returns a tuple holding point cloud from the camera as a 3xN numpy array and the corresponding amplitude values.

get_raw_dcs_images() → ndarray: Get a DCS image from the camera as a 2D numpy array.

TOFcam660_Settings

class epc.tofCam660.tofCam660.TOFcam660_Settings(cam: TOFcam660)

The TOFcam660_Settings class is used to control the settings of the TOFcam660.

disable_filters(): Disable all filters.

get_integration_time() → list[dict]: Get the integration time(grayscale & 3D) from the camera.

get_modulation_channels() → list[int]: Returns a list of available modulation channels.

get_modulation_frequencies() → list[float]: Returns a list of available modulation frequencies in MHz.

get_roi(): Returns the current region of interest. The ROI is a tuple of the form (x1, y1, x2, y2) where (x1, y1) is the top-left corner and (x2, y2) is the bottom-right corner.

set_compensations(setDrnuCompensation=True, setTemperatureCompensation=True, setAmbientLightCompensation=True, setGrayscaleCompensation=True): Enable or distable compensations for the camera.

set_eye_safety_mode(mode: int, fps: int)

Set the camera into eye safety mode

Parameters:

mode (int) – Eyes-safety mode. 0 = eye-safety mode disabled, 1 = eye-safety mode enabled, 2 = camera runs on given fps
fps (int) – fps to run the camera(only used when mode=2)

set_grayscale_illumination(enable=True): Enable or disable the illumination during grayscale capture.

set_hdr(mode: int) → None

Set the HDR mode for the camera.

Parameters:: mode (int) – The mode to set. 0: off, 1: spatial, 2: temporal

set_hw_trigger_data_type(data_type: DataType): Set the data type to acquire using the hardware trigger.

set_illuminator_segments(segment_1_on: bool = True, segment_2_on: bool = True, segment_3_on: bool = True, segment_4_on: bool = True, segment_2_to_4: bool = True): Set the illuminator segments for the camera.

set_integration_hdr(int_times: list[int]) → None

Set integration times for the camera.

Parameters:: integers (int_times is a list of 4) – [grayscale, low, mid, high]

set_integration_time(int_time_us: int): Set the integration time for standard mode in us.

set_integration_time_grayscale(int_time_us: int): Set the integration time for grayscale images in us.

set_lense_type(lense_type: int): Set the lense type for the camera.

set_minimal_amplitude(minimum: int): Set minimal amplitude needed to be considered a valid distance estimation.

set_modulation(frequency_mhz: float, channel=0): Set the modulation frequency and channel for the TOFcam.

set_modulation_clock_jitter(enable: bool)

Enable/disable modulation jitter fuctionality

Parameters:: enable (bool) – Enable Setting True = enable mod clk jitter, False = disable mod clk jitter

set_roi(roi: tuple[int, int, int, int])

Set the region of interest.

Parameters:: roi (tuple[int, int, int, int]) – (x1, y1, x2, y2) where (x1, y1) is the top-left corner and (x2, y2) is the bottom-right corner.

set_rolling_mode(mode: Literal['None', '1DCS', '2DCS'])

Set camera to the rolling acquisition mode

Parameters:: mode – rolling mode. “None” = (disabled), “1DCS” = (1DCS Rolling Mode), “2DCS” = (2DCS Rolling Mode)

TOFcam660_Device

class epc.tofCam660.tofCam660.TOFcam660_Device(cam: TOFcam660)

The TOFcam660_Device class is used to get and set device information’s of the TOFcam660.

get_calibration_data() → list[dict]: Get the calibration data(calibrated modulation freq., temperature, atan offset) from the camera.

get_chip_infos() → tuple[int, int]: Returns the chip id and wafer id of the epc660.

get_chip_temperature() → float

Returns the temperature of the epc660 chip in °C.

WARNING: The temperature is only updated when a new frame is captured.

get_fw_version() → str: Returns the firmware version of the epc660.

power_reset(): Powercycle the camera.

read_register(reg_addr: int) → int: Read a value from a register on the epc660.

system_reset(): Reset the camera.

write_register(reg_addr: int, value: int) → None: Write a value to a register on the epc660.

TOFcam635 API

TOFcam635

class epc.tofCam635.tofCam635.TOFcam635(port: str | None = None)

creates a TOFcam635 object and connects the camera to the given port.

If no port is specified, the camera will try to find the correct port automatically.

The TOFcam635 object holds two attributes for settings and device information.

settings: can be used to control the settings of the camera
device: can be used to get information about the camera

get_amplitude_image(): returns an amplitude image as a 2D numpy array

get_distance_and_amplitude_image(): returns a tuple of 2D arrays (distance, amplitude)

get_distance_image(): returns a distance image as a 2D numpy array

get_grayscale_image(): returns a grayscale image as a 2D numpy array

get_point_cloud(): returns point cloud information as numpy array of shape (n, 3) with x, y, z coordinates

get_raw_dcs_images() → ndarray: Get a DCS image from the camera as a 2D numpy array.

TOFcam635_Settings

class epc.tofCam635.tofCam635.TOFcam635_Settings(cam: TOFcam635)

This class is used to control the settings of the TOFcam635 camera.

get_roi() → tuple[int, int, int, int]

Returns the current region of interest (ROI) of the camera.

Returns:: x0, y0, x1, y1
Return type:: tuple[int, int, int, int]

set_capture_mode(mode: int) → None

set the capture mode for next image aquisition

Parameters:: mode (int) – Capture mode. 0 = single measurement, 1 = pipelined measurement, 2 = streaming mode

set_hdr(mode=0) → None

Set the HDR mode for the camera.

Parameters:: mode (int) – The mode to set. 0 = off, 1 = spatial, 2 = temporal

set_illuminator_segments(illumination: int) → None

Set the active illumination segments in the ToFCAM635-B2

Parameters:: illumination (int) – Illumination mode. 0 = Disabled, 1 = WF enabled, 2 = NF enabled, 3 = WF & NF enabled

set_integration_time(int_time_us: int): set integration time for standard mode (e.g. hdr off)

set_integration_time_grayscale(int_time_us: int): set integration time for grayscale acquisition

set_integration_time_hdr(index: int, int_time_us: int) → None: set integration time for HDR mode

set_minimal_amplitude(amplitude: int)

set the minimal amplitude for valid distance calculation

Parameters:: amplitude (int) – minimal amplitude [ADC]

set_roi(roi: tuple[int, int, int, int]) → None

Set the region of interest (ROI) for the camera. The ROI is set to the nearest multiple of 4

returns: the set ROI

TOFcam635_Device

class epc.tofCam635.tofCam635.TOFcam635_Device(cam: TOFcam635)

This class is used to control the device information of the TOFcam635 camera.

get_chip_infos() → tuple[int, int]

returns chip information

Returns:: chipId, waferId
Return type:: tuple[int, int]

get_chip_temperature() → float: returns chip temperature in degree Celsius

get_device_ids() → tuple[int, int, int, int]

return device ids

Returns:: hwVersion, deviceType, chipType, oPmode
Return type:: tuple[int, int, int, int]

get_fw_version() → str: returns firmware version as string

read_register(reg_addr: int) → int: read a register of the epc635 camera chip.

write_register(reg_addr: int, value: int) → None: write a register of the epc635 camera chip.

TOFcam611 API

TOFcam611

class epc.tofCam611.tofCam611.TOFcam611(port: str | None = None)

creates a TOFcam611 object and connects the camera to the given port. This class can also be used for the TOFrange since they share the same communication protocol.

If no port is specified, the TOFcam611 object will try to find the correct port automatically.

The TOFcam611 object holds two attributes for settings and device information.

settings: can be used to control the settings of the camera
device: can be used to get information about the camera

get_amplitude_image(): returns the amplitude image as 2D numpy array

get_dcs_images() → ndarray: returns 4 DCS images as a numpy array of shape (4, 8, 8)

get_distance_and_amplitude_image(): returns a tuple of (distance, amplitude) images as 2D numpy arrays

get_distance_image(): returns the distance image as 2D numpy array

get_grayscale_image()

!!! ATTENTION !!!

TOFcam611 doesn’t implement capturing of grayscale images. Therefore the grayscale image is estimaged as the sum of 4 DCS images. returns the grayscale image as 2D numpy array

initialize(): initialize the camera with default values and set power to on

TOFcam611_Settings

class epc.tofCam611.tofCam611.TOFcam611_Settings(interface: InterfaceWrapper, device_type: int)

TOFcam611_Device

class epc.tofCam611.tofCam611.TOFcam611_Device(interface: InterfaceWrapper)

get_chip_infos() → tuple[int, int]: returns (chipType, version)

get_chip_temperature() → float: returns the chip temperature in °C

get_device_ids() → tuple[int, int, int]: returns a tuple with (chipType, device, version)

get_fw_version() → str: returns the firmware version as string in format ‘major.minor’

get_production_date(): returns the production date as tuple (year, week)

Hawkeye API

Hawkeye

class epc.hawkeyeBt.hawkeyeBt.HawkeyeBt(mac_address: str)

get_amplitude_image(): returns an amplitude image as a 2d numpy array

get_device_information() → tuple[int, int, int, int, str, str]

returns device information

Returns:: WaferId, ChipId, ChipType, DeviceType, PcbVersion (3 bytes), FwVersion (3 bytes)
Return type:: tuple[int, int, int, int, str, str]

get_distance_image(): returns a distance image as a 2d numpy array

get_grayscale_image(): returns an grayscale image as a 2d numpy array

get_temperature() → float: Returns the temperature of the camera in Degrees Celsius.

get_uptime() → timedelta: Returns the timedelta since the camera booted up in seconds.

Hawkeye_Settings

class epc.hawkeyeBt.hawkeyeBt.Hawkeye_Settings(cam: HawkeyeBt)

get_modulation_frequencies() → list[float]: Returns a list of available modulation frequencies in MHz.

get_modulation_frequency() → float | None: Reads the currently set modulation frequency back from the camera.

get_roi() → tuple[int, int, int, int] | None: Returns the current region of interest. The ROI is a tuple of the form (x1, y1, x2, y2) where (x1, y1) is the top-left corner ⇱ and (x2, y2) is the bottom-right ⇲ corner.

set_compensations(setPhaseOffsetCompensation: bool = True, setPhaseErrorCompensation: bool = True, setTemperatureCompensation: bool = True, setGrayscaleDsnuCompensation: bool = True): Enable or disable compensations for the camera.

set_integration_time(int_time_us: int): Set the integration time in us.

set_minimal_amplitude(amplitude: int): Set minimal amplitude needed to be considered a valid distance estimation.

set_modulation(frequency_mhz: float, channel: int = 0): Set the modulation frequency and channel for the camera.

set_roi(roi: tuple[int, int, int, int]): Set the region of interest. :param roi: (x1, y1, x2, y2) where (x1, y1) is the top-left corner ⇱ and (x2, y2) is the bottom-right ⇲ corner. :type roi: tuple[int, int, int, int]

Hawkeye_Device

class epc.hawkeyeBt.hawkeyeBt.Hawkeye_Device(cam: HawkeyeBt)

get_chip_infos() → tuple[int, int]

returns chip information

Returns:: chipId, waferId
Return type:: tuple[int, int]

get_device_id() → str

returns device id

Returns:: A string containing PCB version, device type and chip type

get_fw_version() → str: returns firmware version as string