TOFCAM-635.pdf

§°§Ò§ë§Ö§Ö §à§á§Ú§ã§Ñ§ß§Ú§Ö 

TOFcam-635 ¡ª §ï§ä§à §Þ§Ú§ß§Ú§Ñ§ä§ð§â§ß§Ñ§ñ §Ú §ï§Ü§à§ß§à§Þ§Ú§é§ß§Ñ§ñ 3D TOF-§Ü§Ñ§Þ§Ö§â§Ñ. §°§ß §à§ã§ß§à§Ó§Ñ§ß §ß§Ñ §Ù§Ñ§á§Ñ§ä§Ö§ß§ä§à§Ó§Ñ§ß§ß§à§Û §ä§Ö§ç§ß§à§Ý§à§Ô§Ú§Ú §Ó§â§Ö§Þ§Ö§ß§Ú §á§â§à§Ý§Ö§ä§Ñ (TOF) ESPROS §ã §Ú§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö§Þ §é§Ú§á§Ñ epc635 TOF. §¬§Ñ§Þ§Ö§â§Ñ §å§á§â§Ñ§Ó§Ý§ñ§Ö§ä §á§à§Õ§ã§Ó§Ö§ä§Ü§à§Û §Ú §Þ§Ú§Ü§â§à§ã§ç§Ö§Þ§à§Û §æ§à§â§Þ§Ú§â§à§Ó§Ñ§ä§Ö§Ý§ñ §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§ñ §Õ§Ý§ñ §á§à§Ý§å§é§Ö§ß§Ú§ñ §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Û §ã §â§Ñ§ã§ã§ä§à§ñ§ß§Ú§ñ §Ú §Ó §à§ä§ä§Ö§ß§Ü§Ñ§ç §ã§Ö§â§à§Ô§à. §¬§Ñ§Þ§Ö§â§í §à§ä§Ü§Ñ§Ý§Ú§Ò§â§à§Ó§Ñ§ß§í §Õ§Ý§ñ §à§Ò§Ö§ã§á§Ö§é§Ö§ß§Ú§ñ §ä§à§é§ß§í§ç §ä§â§Ö§ç§Þ§Ö§â§ß§í§ç §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Û §Ô§Ý§å§Ò§Ú§ß§í. §ª§ã§á§à§Ý§î§Ù§å§ñ §Õ§â§Ñ§Û§Ó§Ö§â ROS §à§ä ESPROS, §Þ§à§Ø§ß§à §á§à§Ý§å§é§Ú§ä§î §ä§â§Ö§ç§Þ§Ö§â§ß§í§Ö §à§Ò§Ý§Ñ§Ü§Ñ §ä§à§é§Ö§Ü §Ó §Þ§Ú§â§à§Ó§à§Û §Õ§Ö§Ü§Ñ§â§ä§à§Ó§à§Û §ã§Ú§ã§ä§Ö§Þ§Ö §Ü§à§à§â§Õ§Ú§ß§Ñ§ä. §ª§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§ñ §Ô§Ý§å§Ò§Ú§ß§í §Ü§à§Þ§á§Ö§ß§ã§Ú§â§å§ð§ä§ã§ñ §ã §å§é§Ö§ä§à§Þ §à§ê§Ú§Ò§à§Ü DRNU, §à§ê§Ú§Ò§à§Ü §Þ§à§Õ§å§Ý§ñ§è§Ú§Ú, §à§Ü§â§å§Ø§Ñ§ð§ë§Ö§Ô§à §à§ã§Ó§Ö§ë§Ö§ß§Ú§ñ, §ä§Ö§Þ§á§Ö§â§Ñ§ä§å§â§í §Ú §à§ä§â§Ñ§Ø§Ñ§ä§Ö§Ý§î§ß§à§Û §ã§á§à§ã§à§Ò§ß§à§ã§ä§Ú §ã§è§Ö§ß§í. §¢§Ý§Ñ§Ô§à§Õ§Ñ§â§ñ §Ó§í§ã§à§Ü§à§Û §á§â§à§Ú§Ù§Ó§à§Õ§Ú§ä§Ö§Ý§î§ß§à§ã§ä§Ú §é§Ú§á§Ñ §Ú§Þ§Ú§Õ§Ø-§ã§Ü§Ñ§ß§Ö§â§Ñ §ã §å§ß§Ú§Ü§Ñ§Ý§î§ß§í§Þ §á§à§Õ§Ñ§Ó§Ý§Ö§ß§Ú§Ö§Þ §à§Ü§â§å§Ø§Ñ§ð§ë§Ö§Ô§à §ã§Ó§Ö§ä§Ñ §Ü§Ñ§Þ§Ö§â§å §Ó§à §Þ§ß§à§Ô§Ú§ç §ã§Ý§å§é§Ñ§ñ§ç §Þ§à§Ø§ß§à §Ú§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ä§î §á§â§Ú §ñ§â§Ü§à§Þ §ã§à§Ý§ß§Ö§é§ß§à§Þ §ã§Ó§Ö§ä§Ö. §¯§Ñ §Ó§í§ç§à§Õ§Ö TOFcam-635 §á§â§Ö§Õ§ã§ä§Ñ§Ó§Ý§Ö§ß§í §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§ñ §Ô§Ý§å§Ò§Ú§ß§í §Ú §à§ä§ä§Ö§ß§Ü§à§Ó §ã§Ö§â§à§Ô§à, §é§ä§à §á§à§Ù§Ó§à§Ý§ñ§Ö§ä §Ú§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ä§î §Þ§ß§à§Ø§Ö§ã§ä§Ó§à §ß§à§Ó§í§ç §á§â§Ú§Ý§à§Ø§Ö§ß§Ú§Û, §ß§Ñ§á§â§Ú§Þ§Ö§â. §Õ§Ý§ñ §Þ§à§Ò§Ú§Ý§î§ß§à§Û §â§à§Ò§à§ä§à§ä§Ö§ç§ß§Ú§Ü§Ú. §¿§ä§à§ä §Þ§à§Õ§å§Ý§î §Ù§ß§Ñ§Ü§à§Þ§Ú§ä §Ó§Ñ§ã §ã §ß§à§Ó§Ö§Û§ê§Ú§Þ§Ú §ä§Ö§ç§ß§à§Ý§à§Ô§Ú§ñ§Þ§Ú §ä§â§Ö§ç§Þ§Ö§â§ß§à§Û §Ô§Ý§å§Ò§Ú§ß§í.

 §à§ë§å§ë§Ö§ß§Ú§Ö. §£§ã§Ö §ã§Ý§à§Ø§ß§í§Ö §Ú§ß§Ø§Ö§ß§Ö§â§ß§í§Ö §Ú §ä§â§å§Õ§à§Ö§Þ§Ü§Ú§Ö §Ù§Ñ§Õ§Ñ§é§Ú §á§â§à§Ö§Ü§ä§Ú§â§à§Ó§Ñ§ß§Ú§ñ, §Ü§Ñ§ã§Ñ§ð§ë§Ú§Ö§ã§ñ §à§á§ä§Ú§Ü§Ú, §à§ã§Ó§Ö§ë§Ö§ß§Ú§ñ §Ú §à§Ò§â§Ñ§Ò§à§ä§Ü§Ú §ã§Ú§Ô§ß§Ñ§Ý§à§Ó, §å§Ø§Ö §â§Ö§ê§Ö§ß§í.

§¶§å§ß§Ü§è§Ú§Ú 

¡ö160 x 60 §á§Ú§Ü§ã§Ö§Ý§Ö§Û (9600 §á§Ú§Ü§ã§Ö§Ý§Ö§Û) 

¡ö §±§à§Ý§Ö §Ù§â§Ö§ß§Ú§ñ (FOV) 50¡ã x 19¡ã (§Ô§à§â x §Ó§Ö§â§ä§Ú§Ü§Ñ§Ý§Ú) 

¡ö §¥§Ú§Ñ§á§Ñ§Ù§à§ß§í §Ú§Ù§Þ§Ö§â§Ö§ß§Ú§ñ §â§Ñ§ã§ã§ä§à§ñ§ß§Ú§Û §á§à §Ò§Ö§Ý§à§Û §è§Ö§Ý§Ú: §º§Ú§â§à§Ü§Ú§Û §å§Ô§à§Ý §à§Ò§Ù§à§â§Ñ: 0,1...7,5 §Þ, §è§Ö§ß§ä§â§Ñ§Ý§î§ß§í§Û §Ý§å§é (NFOV): 1,0...15 §Þ 

¡ö §³§Ü§à§â§à§ã§ä§î §Ú§Ù§Þ§Ö§â§Ö§ß§Ú§ñ §Õ§à 50 §Ú§Ù§Þ§Ö§â§Ö§ß§Ú§Û TOF §Ó §ã§Ö§Ü§å§ß§Õ§å 

¡ö §µ§ã§ä§à§Û§é§Ú§Ó§à§ã§ä§î §Ü §ã§à§Ý§ß§Ö§é§ß§à§Þ§å §Ú §à§Ü§â§å§Ø§Ñ§ð§ë§Ö§Þ§å §à§ã§Ó§Ö§ë§Ö§ß§Ú§ð §Õ§à 100 §Ü§Ý§ð§Ü§ã 

¡ö §¬§Ñ§Ý§Ú§Ò§â§à§Ó§Ñ§ß§ß§í§Û §Ú §Ü§à§Þ§á§Ö§ß§ã§Ú§â§à§Ó§Ñ§ß§ß§í§Û 

¡ö §´§Ö§Þ§á§Ö§â§Ñ§ä§å§â§ß§Ñ§ñ §Ü§à§Þ§á§Ö§ß§ã§Ñ§è§Ú§ñ 

¡ö §±§â§à§ã§ä§à§ä§Ñ §Ó §Ú§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ú 

¡ö §£§í§ã§à§Ü§à§ã§Ü§à§â§à§ã§ä§ß§à§Û §á§à§ã§Ý§Ö§Õ§à§Ó§Ñ§ä§Ö§Ý§î§ß§í§Û §Ú§ß§ä§Ö§â§æ§Ö§Û§ã UART 10 §®§Ò§Ú§ä/§ã. 

¡ö §¯§Ú§Ù§Ü§à§Ö §ï§ß§Ö§â§Ô§à§á§à§ä§â§Ö§Ò§Ý§Ö§ß§Ú§Ö 

¡ö §¤§â§Ñ§æ§Ú§é§Ö§ã§Ü§Ú§Û §Ú§ß§ä§Ö§â§æ§Ö§Û§ã §Õ§Ý§ñ Windows §Ú Mac 

¡ö §±§â§Ú§Ý§à§Ø§Ö§ß§Ú§Ö ROS §Õ§Ý§ñ Linux

¡ö §¢§Ú§Ò§Ý§Ú§à§ä§Ö§Ü§Ñ Python §Õ§Ý§ñ Windows 

¡ö §ª§ã§ç§à§Õ§ß§í§Û §Ü§à§Õ §á§â§à§Ô§â§Ñ§Þ§Þ§ß§à§Ô§à §à§Ò§Ö§ã§á§Ö§é§Ö§ß§Ú§ñ §á§à §Ù§Ñ§á§â§à§ã§å. 

¡ö §£§à§Ù§Þ§à§Ø§ß§í §Ú§ß§Õ§Ú§Ó§Ú§Õ§å§Ñ§Ý§î§ß§í§Ö §Ó§Ö§â§ã§Ú§Ú

§±§â§Ú§Ý§à§Ø§Ö§ß§Ú§ñ 

¡ö §ª§Ù§Þ§Ö§â§Ö§ß§Ú§Ö §â§Ñ§ã§ã§ä§à§ñ§ß§Ú§Û §à§ä §ã§Ñ§ß§ä§Ú§Þ§Ö§ä§â§à§Ó §Õ§à §ß§Ö§ã§Ü§à§Ý§î§Ü§Ú§ç §Þ§Ö§ä§â§à§Ó 

¡ö §®§à§Ò§Ú§Ý§î§ß§í§Ö §â§à§Ò§à§ä§í, §Ñ§Ó§ä§à§Þ§Ñ§ä§Ú§é§Ö§ã§Ü§à§Ö §å§á§â§Ñ§Ó§Ý§Ö§ß§Ú§Ö §ä§â§Ñ§ß§ã§á§à§â§ä§ß§í§Þ§Ú §ã§â§Ö§Õ§ã§ä§Ó§Ñ§Þ§Ú, §á§â§Ö§Õ§à§ä§Ó§â§Ñ§ë§Ö§ß§Ú§Ö §ã§ä§à§Ý§Ü§ß§à§Ó§Ö§ß§Ú§Û 

¡ö §³§Ü§Ñ§ß§Ö§â §Õ§Ý§ñ §ã§Ò§à§â§Ñ §Õ§Ñ§ß§ß§í§ç SLAM §Ó §Þ§à§Ò§Ú§Ý§î§ß§í§ç §â§à§Ò§à§ä§Ñ§ç 

¡ö §±§à§Õ§ã§é§Ö§ä §Ý§ð§Õ§Ö§Û §Ú §á§â§Ö§Õ§Þ§Ö§ä§à§Ó, §Þ§à§ß§Ú§ä§à§â§Ú§ß§Ô §Ó §ã§Ñ§Ý§à§ß§Ö 

¡ö §°§ä§Ü§â§í§ä§Ú§Ö §Õ§Ó§Ö§â§Ö§Û, §å§á§â§Ñ§Ó§Ý§Ö§ß§Ú§Ö §Ú §Ò§Ö§Ù§à§á§Ñ§ã§ß§à§ã§ä§î §Þ§Ñ§ê§Ú§ß§í, §ª§ß§ä§Ö§â§ß§Ö§ä §Ó§Ö§ë§Ö§Û 

¡ö §µ§á§â§Ñ§Ó§Ý§Ö§ß§Ú§Ö §Ø§Ö§ã§ä§Ñ§Þ§Ú (§é§Ö§Ý§à§Ó§Ö§Ü§à-§Þ§Ñ§ê§Ú§ß§ß§í§Û §Ú§ß§ä§Ö§â§æ§Ö§Û§ã) 

¡ö §¬§Ý§Ñ§ã§ã§Ú§æ§Ú§Ü§Ñ§è§Ú§ñ §à§Ò§ì§Ö§Ü§ä§à§Ó