epc-tofcam-native

The epc_tofcam_native library provides a high-level interface for capturing and processing data from ESPROS EPC TOF sensors. It acquires raw TOF images from the sensor via the Linux V4L2 API and computes calibrated distance and amplitude images from the raw DCS frames. It exposes Python bindings for the underlying libepctofcam C++ library. All frame data is returned as 2D numpy arrays.

Website: https://www.espros.com
Products: https://www.digikey.com/en/supplier-centers/espros
Documentation: https://docs.espros.com/

Requirements

• Compatible espros ToF Sensor (e.g. epc670) must be installed and accessible on the system. (See epc670 tofhat manual)
• This Library is intended to run on all arm based APU's but has manly been tested on the raspberry pi 5.

Quickstart

Install the package using pip on your raspberry pi

pip install epc-tofcam-native

The following is an example script that captures distance/amplitude images from a epc670-tofhat

"""Basic example of using the Python API to capture a frame from the TOF camera."""

from epc_tofcam_native import TOFCam, TOFControl, FrameType

cam = TOFCam()
cam.open()
cam.setControl(TOFControl.MODULATION_FREQUENCY_HZ, 10_000_000)
cam.setControl(TOFControl.EXPOSURE_US, 2000)
cam.startStream()

frame = cam.captureFrame()
distance = frame.get(FrameType.DISTANCE)
amplitude = frame.get(FrameType.AMPLITUDE)

# distance and amplitude are 2D numpy arrays
# add your own code here to process or visualize them

cam.stopStream()
cam.close()