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DS86/87 ToF Camera
Specification

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Table of Contents
1 General Information ....................................................................................................................................... 4
Terms of Use ........................................................................................................................................ 4
2 Precautions ..................................................................................................................................................... 5
Safe Usage Instructions ....................................................................................................................... 5
Power ................................................................................................................................................... 5
Usage ................................................................................................................................................... 5
Temperature ......................................................................................................................................... 6
3 Specifications and Requirement ..................................................................................................................... 7
General Specifications ......................................................................................................................... 7
Electrical Specifications ...................................................................................................................... 8
3.2.1 Recommended Operating Conditions ....................................................................................... 8
3.2.2 Power Consumption ................................................................................................................. 8
3.2.3 Absolute Maximum Ratings ..................................................................................................... 8
DS86 Dimension ................................................................................................................................. 9
DS87 Dimension ............................................................................................................................... 10
Optical Specifications ......................................................................................................................... 11
3.5.1 Field of View ........................................................................................................................... 11
Working Condition Requirements ...................................................................................................... 11
3.6.1 Hardware Requirements .......................................................................................................... 11
3.6.2 Software Requirements............................................................................................................ 11
3.6.3 Environmental Requirements ................................................................................................. 12
3.6.4 Coordinate of the Camera System .......................................................................................... 12
4 Interface with Host ....................................................................................................................................... 13
DS86 Interface ................................................................................................................................... 13
DS87 Interface ................................................................................................................................... 14
LED Indication .................................................................................................................................. 15
5 Installation .................................................................................................................................................... 16
Hardware Installation ........................................................................................................................ 16
5.1.1 DS86 Installation Steps .......................................................................................................... 16
5.1.2 DS87 Installation Steps .......................................................................................................... 16
5.1.3 POE Mode Installation (DS87)............................................................................................... 17
ScepterSDK ....................................................................................................................................... 17
5.2.1 FrameViewer(OpenCVSample).............................................................................................. 17
ScepterGUITool ................................................................................................................................. 17
Default IP address .............................................................................................................................. 18
DHCP to obtain IP ............................................................................................................................. 18
Firmware Upgrade ............................................................................................................................. 18
6 Features......................................................................................................................................................... 19
Hardware Trigger Mode .................................................................................................................... 19
Software Slave Trigger Mode ............................................................................................................ 20
Exposure Time Configuration ........................................................................................................... 20
6.3.1 Auto Exposure ........................................................................................................................ 20
6.3.2 Manual Exposure .................................................................................................................... 21
Data Filtering ..................................................................................................................................... 21
IR Image ............................................................................................................................................ 21
HDR Mode ........................................................................................................................................ 21

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RGBD Map ........................................................................................................................................ 22
6.7.1 ColorImgToDepthSensor ........................................................................................................ 22
6.7.2 DepthImgToColorSensor ........................................................................................................ 22
7 DS86/87 Accessories and Package ............................................................................................................... 23
8 Appendix....................................................................................................................................................... 25
RoHS Compliance ............................................................................................................................. 25
Laser Specification ............................................................................................................................ 25
FCC Statement................................................................................................................................... 25
9 Revision History ........................................................................................................................................... 27

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1 General Information
The purpose of this document is to familiarize the customer with the correct operation of the ToF
DS86/87 products. This document provides important information about the camera’s features,
hardware specification, safe use of the camera, and installation procedures.
Model
Enclosure Rating
PoE+
RGB
DS86
IP42
No
Yes
DS87
IP67
Yes
Yes
DS86 can only be powered by DC power and IP42 rating.
While DS87 can be powered either by DC power or Power over Ethernet, and IP67 rating enclosure toresist dust and water.

Terms of Use
We offers a 1-year-warranty for the DS86/87 products.
Warranty Information
Please do follow the guidelines below when using the ToF camera.
Do not remove the product’s serial number label
Warranty will be void, if the label is damaged or removed and the serial number can’t be read from thecamera’s registers.
Do not disassemble the product housing
Do not disassemble the housing. Touching any internal components may damage the products.
Prevent any objects or substances from entering the product housing, otherwise the product may
fail or damaged.
Avoid electromagnetic areas
Do not use the camera near strong electromagnetic areas. Prevent the product from electrostatic
charging.
Transport in original packaging
Transport and store the camera in its original packaging only. Suggest not to discard the packaging.
Clean with careIf you have to clean the housing of the camera, follow the guidelines in the notice as below:
 Use a soft, dry cloth that won’t generate static during cleaning; To remove tough stains, use a soft cloth dampened with a small amount of neutral detergent (Purewater or alcohol), after that wipe dry;
 Make sure no any residual detergent after cleaning, before reconnecting the camera to power.
Read the manual
Do read the manual carefully before using the camera.

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2 Precautions
Safe Usage Instructions
DANGER
Electric Shock Risk
Non-standard and improper power supplies may result in fire and electric shock.
You must confirm the camera power supply used that meets the absolute specification ofvoltage and current.

CAUTION
Invisible Radiation
This camera uses laser to work, improper use may damage the eye. Lasers are classified as risk
group 1 (low risk) according to EN 60825 which means that the product presents no risk related
to exposure limits under normal usage conditions. Eye safety is only guaranteed when thecamera is used properly.

Power
DS86 can only work with external DC power;
DS87 can work with either Power over Ethernet or external DC power.
The DC power can accept 9V~26V power source. For higher than 28V or lower than 9V, the device shallnot work well or even be damaged.
For PoE power source, the PSE device shall apply the PoE+ standard (802.3at) or above, lower than that
may cause the product doesn’t work well or even be damaged.
We doesn’t produce PoE injector, but we can purchase it from 3rd party and ship to customer at originalcost. Below is the PoE+ injector available vendor list.

Vendor
H3C
TP LINK

Model Number
EWPAM2NPoE+
TL-PoE+170S

Usage
1. Don’t try to open the camera housing. Each camera has been calibrated at the factory to achieveprecise measurements. Touching internal components may damage the camera and cause calibration
data lost.
2. Incorrect plugging in and unplugging of the camera’s power cable can damage the camera. To avoid

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switch-on surges damaging the camera, please plug in the power cable into the camera’s power
connector firstly before getting power source on.
3. Don’t try to change the position of the lens, may cause damage to the camera.
4. Do store the camera carefully when not in use, in original package the best.

Temperature
To avoid damaging the camera and to achieve best performance, please observe the maximum andminimum housing temperatures in Section 3.1

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3 Specifications and Requirement
General Specifications
Specification

DS86

DS87

Technology

ToF (Time-of-flight) Depth Camera

Depth Sensor Resolution and Frame rate

640 x 480@15FPSToF HDR Mode

Supported with Max. 10fps

Depth Sensor Field of View

H-67° V-50°

RGB Sensor Resolution and Frame rate

1600*1200@15fps

RGB Sensor Field of View

H-70° V-50°

Output Formats

16bit (Depth) + 8bit (IR) + JPEG (RGB)

Use Range

0.15m～5m*

Accuracy<1%*Power Consumption

Average Max. 7W(Ref)Illumination

940nm, 2 x 6W Optical Power VCSEL

Dimension(L*H*W)

125mm*50mm*34.5mm

131.3mm*50mm*44.5mm

Weight256g

326g

Power Supply

DC power

PoE+ or DC power

Interface

Gigabit Ethernet

Digital I/O(Synchronization)

1in, Passive Sync Signal

Enclosure Rating

IP42

Working/Storage Temperature-20℃-50℃/-30℃-70℃

SoftwareC/C++ /Python/C #/ROS1/ROS2

Operation System

Windows 7/8/10/11，Linux，Arm Linux

Cooling

Passive, no fan

Certification

FCC/CE/FDA

Technology

Class 1

IP67

*Accuracy error and Use Range vary with the reflectivity of the measured object

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Electrical Specifications
3.2.1 Recommended Operating Conditions
Parameter
DC Power
Digital I/O(Ext_Trigger)
OperatingTemperature
Storagetemperature
Operatinghumidity
Storagehumidity

Symbol
VDD

Min
9

Vin
Ta

Typ.
12

Max
26

Units
V

3.3

24

V

-20

50

°C

-30

70

°C

20

80

%

20

80

%

3.2.2 Power Consumption
Parameter

Model

Conditions

Average

Max

Units

Active Mode

DS86/87

HDR
5fps@4000μs

550

1600

mA

110

114

mA

Broadcast
DS86/87
Mode
Note: 12V input voltage

3.2.3 Absolute Maximum Ratings
This is a stress rating only and functional operation of the devices at those or any other conditions
above those indicated in the operation listings of this specification is not promised. Exposure to
maximum rating conditions for extended periods may affect device reliability.
Parameter
DC Power
Digital I/O(Ext_Trigger)
OperatingTemperature

Ver1.0

Symbol
VDD

Min
9

Vin
Ta

Typ.
12

Max
28

Units
V

-0.3

24

V

-20

50

°C

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DS86 Dimension
This drawing contains information about the dimensions and user mounting location of DS86.

Front View

Back View

Bottom View

Top View

Left View

Right View

Fig. 3.1: ToF Camera Dimensions (Unit: mm)

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DS87 Dimension
This drawing contains information about the dimensions and user mounting location of DS87.

Front View

Back View

Bottom View

Top View

Left View

Right View

Fig. 3.2: ToF Camera Dimensions (Unit: mm)

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Optical Specifications
3.5.1 Field of View

The field of view refers to the view angle of the ToF products. The ToF sensor’s aspect ratio is 4:3,
typically the horizontal field of view is larger than the vertical field of view.
The typical field of view of DS86/87 is H-67° and V-50°.

Working Condition Requirements
3.6.1 Hardware Requirements
DS86：
 CAT5e Ethernet cable (CAT6 Included in package) M8 A CODE Multiple Functional cable (Included in package)
DS87：
 M12 X CODE CAT6a Ethernet cable (Included in package) M8 A CODE Multiple Functional cable (Included in package)Or PoE+ Power Supplier (Not included in package)

3.6.2 Software Requirements
Operating system： 32-bit Windows 7/10/11
 64-bit Windows 7/10 (recommended)/11
 Linux (x86，x64)

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3.6.3 Environmental Requirements
Housing temperature during operation:
Humidity during operation:
Storage temperature:
Storage humidity:-20–50 °C
20–80 %, relative-30–70 °C
20–80 %, relative

3.6.4 Coordinate of the Camera System
There are two coordinate system need to be understood, one is camera coordinate system (CCS), one
is world coordinate system (WCS).
CCS: CCS describe the two-dimensional data, the origin of coordinates is the optic center.
WCS: WCS describe the three-dimensional information.
The CCS data can switch to the WCS data using the camera internal parameters.

The origin of the coordinate system is defined as the below figure shows:
1. X coordinate locates 25mm from the top edge of the camera.
2. Y coordinate locates 52.3mm from the right edge of the camera.
3. Z coordinate is zero offset at the front of the surface of lens.

MeshLab and CloudCompare tools are recommended to analyze the point cloud data saved by
ScepterGUITool or ScepterSDK.

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4 Interface with Host
DS86 Interface
DS86 is equipped with RJ45, M8 A CODE Multiple Functional Interface as shown in below figure.
For more information about pin assignments and connector types, see the following sections.

M8 A CODE Multiple Functional Interface
PinLine Color

Designation

1

BLACK

GND

2

RED

VCC

3

WHITE

Ext_Trigger

4

YELLOW

NC

5

BLACK

GND

6

BLUE

IP RESET

Pin

Designation

Direction

Description

1.5

GND

GND

GND

2

VCC

Power

DC 12-24V

3

Ext_Trigger

INPUT

External trigger input（3.3V-24V）

6

IP RESET

INPUT

Ver1.0

Pull high (3.3V-24V) for 10 seconds then the IP is resetas 192.168.1.101.

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DS87 Interface
DS87 is equipped with two aviation connectors (M12 X CODE and M8 A CODE) as shown in below
figure. When connected to cables with IP67 protection, the product can achieve an IP67 level. Whenthe device is powered by POE, installing an IP67 waterproof plug on the M8 A CODE Multiple Functional
Interface allows the product to maintain an IP67 level.
For more information about pin assignments and connector types, see the following sections.

M8 A CODE Multiple Functional Interface
PinLine Color

Designation

1

BLACK

GND

2

RED

VCC

3

WHITE

Ext_Trigger

4

YELLOW

NC

5

BLACK

GND

6

BLUE

IP RESET

Pin

Designation

Direction

Description

1.5

GND

GND

GND

2

VCC

Power

DC 12-24V

3

Ext_Trigger

INPUT

External trigger input（3.3V-24V）

6

IP RESET

INPUT

Pull high (3.3V-24V) for 10 seconds then the IP is resetas 192.168.1.101.

M12 X CODE Ethernet Interface

Ver1.0

Pin

Designation

Designation

1

TX_D1+

Tranceive Data+2

TX_D1-

Tranceive Data-3

RX_D2+

Receive Data+

4

RX_D2-

Receive Data-5

BI_D4+

Bi-directional Data+

6

BI_D4-

Bi-directional Data-

7

BI_D3-

Bi-directional Data-

8

BI_D3+

Bi-directional Data+

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LED Indication
An LED at the back side of the camera indicates the camera status.
The LED animation table is shown as below:
1. Ethernet Broadcast, no connection established, BLUE LED blinking repeatedly.

2. Ethernet connection established, BLUE LED constantly on.

3. IP RESET, Press the IP RESET button for 5 seconds, PURPLE LED is on for 5 seconds and blink twice
then the product reset itself.

4. Firmware Upgrade, RED LED is on until firmware upgrade finished.

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5 Installation
Hardware Installation
You have read and understood the warnings listed under "Precautions" on Chapter 2;
To achieve reliable distance measurements, please follow below tips:
 Better not using the camera in strong sunlight. If have to, keep the ambient light below 100k Lux.
 Do NOT place any objects in the scene that are not part of your intended target, especially mirrors
or other shiny surfaces/objects.
 Maintain a stable housing temperature during operation.
 Take measures to provide cooling to camera.
 Mount the camera robustly.
 All accessories are ready.

5.1.1 DS86 Installation Steps
DS86 product transmits the required data to host by Ethernet cable, and it doesn’t support Power over
Ethernet, so the power adaptor shall be used.
The steps are as below:
1. Mount the camera in an appropriate fixture, e.g., a camera bracket.
2. Connect the DS86 ToF camera to the host processor with the Ethernet cable.
3. Insert the DC connector of the power supply adaptor into the Multiple Functional Interface of thecamera.
4. Connect the adaptor to power source.
5. Please do set the IP address of the camera and host PC in the same segment.
6. The default IP address of DS86 is 192.168.1.101, you can change the IP address by the ScepterGUITool.
Please do read the document before reconfiguring the camera.

5.1.2 DS87 Installation Steps
The steps are as below:
1. Mount the camera in an appropriate fixture, e.g., a camera bracket.
2. Connect the DS87 ToF camera to the host processor with the M12 X CODE CAT6a Ethernet cable.
3. Insert the DC connector of the power supply adaptor into the Multiple Functional Interface of thecamera.
4. Connect the adaptor to power source.
5. Please do set the IP address of the camera and host PC in the same segment.

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6. The default IP address of DS87 is 192.168.1.101, you can change the IP address by the ScepterGUITool.

5.1.3 POE Mode Installation (DS87)
The steps are as below:
1. Mount the camera in an appropriate fixture, e.g., a camera bracket.
2. Plug one end of the Ethernet cable into the M12 X CODE CAT6a Ethernet Interface of the camera,
and plug the RJ45 end into the Ethernet port of your PoE switch or PoE injector.
3. Connect the PoE switch or PoE injector to your host processor by Ethernet cable.
4. Connect the PoE switch or PoE injector to power source.

ScepterSDK
ScepterSDK is a cross platform software development kit. It can support DS86/87 and contains multiple
versions on different operation systems, including Windows, Linux, Arm Linux, ROS, ROS2, Python, C#
etc.
Download or clone SDK project from our GitHub:
https://github.com/ScepterSW/ScepterSDK

5.2.1 FrameViewer(OpenCVSample)
FrameViewer(OpenCVSample) is an open source application in SDK project that can guide user how tocall the SDK APIs. It has a pre-build version app in PrecompiledSamples folder, the source code is in
Samples/OpenCV folder. See the document for the details.

ScepterGUITool
ScepterGUITool is a graphic tool on Windows and Ubuntu for DS86/87.
Download or clone ScepterGUITool from our GitHub:
https://github.com/ScepterSW/ScepterGUITool

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Default IP address
The default IP address of the DS86/87 is 192.168.1.101, if you want to set the IP with others or enable
DHCP method, please use ScepterGUITool to change the default setting:

DHCP to obtain IP
The product IP can be set to be obtained through DHCP, and the product needs to be connected to aserver network that supports DHCP, such as a router:

Firmware Upgrade
The user can use ScepterGUITool to upgrade the firmware of the DS86/87:
1. Click " " and select the path where the firmware is located.
2. Click the "Upgrade" button and wait for the upgrade.
3. Progress bar to "100%" upgrade is complete, wait for the camera to reboot.

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6 Features
Hardware Trigger Mode
At Hardware slave trigger mode, DS86/87 products will wait for the hardware trigger signal on
Ext_Trigger by default, and will not start a frame of exposure until a valid hardware trigger pulse isreceived on the Ext_Trigger pin. Once the exposure is over, the product goes back to waiting for thetrigger.
Step 1: set DS86/87 product as hardware slave trigger mode by a software API. Please refer to thesample code of DS86/87 hardware slave trigger mode.
Step 2: Feed the DS86/87 with a correct hardware trigger signal.
1. External input trigger signal voltage should range 3.3V-24V.
2. Driving current ability should be more than 5mA.
3. It is recommended to add a hardware debounce circuit on the Ext_Trigger line.
4. The requirement to T1 should be above 1ms.
5. By default, the hardware trigger is rising edge activated, please refer to the following figure:
T1

T1

Frame start

Frame start

EXT_Trigger

Camera Exposure

You can configure the hard trigger signal parameters through ScepterGUITool. The signal parameters are
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Input signal Params For HW Trigger:
1) polarity: signal validity detection polarity. 0 is active low and 1 is active high.
Value Range: [0, 1]
2) width: signal width validity detection, signal less than the width setting will not respond. 16-bit, in μs.
Value Range: [1, 65535]
3) interval: continuous signal interval validity detection, no response to signal less than interval setting.
Value Range: [34000, 65535]

Software Slave Trigger ModeAt software slave trigger mode, DS86/87 product outputs image only at every trigger API call.
Step 1: set DS86/87 product as software slave trigger mode by a software API.
Step 2: Call the API of software trigger to issue a frame start.
Please refer to the sample code of DS86/87 software slave trigger mode.

Exposure Time Configuration
6.3.1 Auto Exposure
At auto exposure mode, DS86/87 products can automatically set the exposure time, according to theenvironment around. Basically, the more near object, the lower the exposure time will be, it has
maximum exposure time limitation. And the maximum exposure time depends on the frame rate, thelower frame rate, the bigger maximum exposure time.
Frame rate(fps)Maximum exposure time(μs)
1-5
4000
6-10
2000
11-15
1300

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6.3.2 Manual Exposure
The user can set DS86/87 product at manual exposure mode, with a fixed exposure time. The value ofmaximum exposure time depends on the frame rate.
Frame rate(fps)Maximum exposure time(μs)
1-5
4000
6-10
2000
11-15
1300

Data Filtering
In the software SDK, we implemented data filtering to improve the depth data performance.
The filtering algorithm includes: FillHole
 Spatial Filter Time Filter Flying Pixel Filter
 Confidence Filter

IR Image
Besides the depth image, DS86/87 camera can also output a VGA resolution IR image. And the IR image
is exactly timing synchronized with the depth image. Pixel to pixel mapping is also exactly aligned.

HDR Mode
DS86/87 camera support HDR mode, High Dynamic Range (HDR) is used to achieve a larger exposure
dynamic range than ordinary digital image technology. After the DS series camera turns on the HDR
mode, for the overexposed area under the long exposure time, use the short exposure time to measure,and combine the two to obtain a more accurate depth image, reducing the impact of distance andobject reflectivity on ToF imaging.

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RGBD Map
DS86/87 camera support RGBD Map function.

6.7.1 ColorImgToDepthSensor
RGB image map to Depth domain. When enabled, images with RGB pixels map to Depth pixel space
are output and displayed, that is, RGB images corresponding to depth pixels one by one.

Depth Image

ColorImgToDepthSensor Image

6.7.2 DepthImgToColorSensor
Depth image map to RGB domain. When enabled, the images with Depth pixels aligned to the RGB
pixel space are output and displayed, that is, the depth image corresponding to RGB pixel one by one.

DepthImgToColorSensor Image

Ver1.0RGB Image

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7 DS86/87 Accessories and Package
In package item list:
DS86
Part No.

DS86

314000309438

Description

PictureDS86 Depth Camera Module-CAT6 Ethernet Cable, 23AWG 4 Pair, Shielded Twisted Pair
-Cord Length: 3m-M8 A CODE 6PIN Multiple Functional Cable-Cord Length: 2m

314000309436

UGDS86

Ver1.0No.

Color

Wire Gauge

Signal

1

BLACK

22AWG

GND(Power GND)

2

RED

22AWG

DC 12-24V

3

WHITE

28AWG

EXT_TRIGGER

4

YELLOW

28AWG

NC

5

BLACK

28AWG

GND(Signal GND)

6

BLUE

28AWG

IP RESETDS86 User guide

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DS87
Part No.

Description

DS87

PictureDS87 Depth Camera Module-M12 X CODE CAT6a Ethernet Cable， 24AWG 4 Pair， shielded
314000309437

Twisted Pair
-Aviation Connector to RJ45
-Cord Length: 3m-M8 A CODE 6PIN Multiple Functional Cable-Cord Length: 2m

314000309436

UG DS87

No. Color

Wire Gauge

Signal

1

BLACK

22AWG

GND(Power GND)

2

RED

22AWG

DC 12-24V

3

WHITE

28AWG

EXT_TRIGGER

4

YELLOW

28AWG

NC

5

BLACK

28AWG

GND(Signal GND)

6

BLUE

28AWG

IP RESETDS87 User guideYou can ask we to do customization to the cable for any reason, for example extending the cable length.
Please do NOT use the accessories from other parts except our Company, otherwise warranty will void.
Optional item list:
Item

Component

Description

Quantity

1

H3C EWPAM2NPOE+

802.3at PoE Injector

1

2

TP LINK-PoE+170S

802.3at PoE Injector

1

Optional items need customer to pay for.

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8 Appendix
RoHS ComplianceThis product complies with the limits of Pb, Hg, Cd, Cr (VI), PBB，PBDE，DEHP，BBP，DBP，DIBP as
set by RoHS Directive (EU)2015/863 amending Annex Il to Directive 2011/65/EU.

Laser Specification

CAUTIONUse of controls or adjustments or performance of procedures other than those specified herein may
result in hazardous radiation exposure.

Complies with 21 CFR 1040.10 and 1040.11 except for conformance withIEC 60825-1 Ed.3
The following Class1 laser label is located on the bottom of the sensor.

FCC Statement

This equipment has been tested and found to comply with the limits for a Class A digital
device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protectiVer1.0page 25 of 27

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on against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in acc
ordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

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9 Revision History
VersionDescription

1.0

Initial Version

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