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tof-demo [2016/10/10 13:03]
damien
tof-demo [2018/05/22 10:33] (current)
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 +====== Quimesis'​ ToF interface demo ======
 +
 +//​Quimesis'​ ToF ((//​Time-of-Flight//​)) interface board// runs a Linux-based OS, interfacing with [[http://​bluetechnix.com/​en/​products/​depthsensing/​category/​modules/​ | Bluetechnix'​ TIM/LIM]].
 +
 +A demonstration application is provided to illustrate how to manage the boards IO's in order to retrieve point clouds captured by the 3D camera. It can be build using the ''​ToF interface SDK''​.
 +
 +===== ToF interface SDK =====
 +
 +Quimesis'​ ToF SDK provides the required libraries used in the demonstration application.
 +It can be built as follow:
 +
 +<​code>​
 +$ tar -xvzf sdk-quimesis-tof.tar.gz
 +$ cd sdk-quimesis-tof
 +$ make quimesis_tof_a20_sdk_defconfig
 +$ make
 +</​code>​
 +
 +This will build all the libraries of the SDK under the ''​output/​host''​ directory.
 +
 +===== ToF interface demo application =====
 +
 +Quimesis'​ //ToF interface demo// application aims at giving an example of how the interface board can be used to retrieve a //point cloud// from the Bluetechnix'​s ToF modules.
 +
 +To build the demonstration application,​ the //ToF interface SDK// should be used as follow:
 +
 +<​code>​
 +$ tar -xvzf demo-tof-interface.tar.GZ
 +$ cd demo-tof-interface
 +$ mkdir build
 +$ cd build
 +$ cmake -DCMAKE_TOOLCHAIN_FILE=<​path/​to/​sdk-quimesis-tof/​output/​host/​usr/​share/​buildroot/​toolchainfile.cmake>​ ..
 +$ make
 +</​code>​
 +
 +This will produce a ''​demo_tof''​ binary that you can copy to and execute on the //ToF interface// board.
 +
 +
 +==== Demo application outlines ====
 +
 +The camera can be enabled/​disable via the board GPIOs:
 +<​code>​
 +    io_enableTIM();​
 +    io_enableLIM();​
 +    [...]
 +    io_disableLIM();​
 +    io_disableTIM();​
 +</​code>​
 +
 +[[https://​support.bluetechnix.at/​wiki/​Bluetechnix_%27Time_of_Flight%27_API | Bluetechnix 'Time of Flight'​ API]] is used to communicate with the 3D camera.
 +
 +The //BTA frames// are converted into [[http://​www.pointclouds.org/​ | PCL]] point clouds //(x, y, z)//, before being //​published//​ as [[http://​zeromq.org/​ | ZeroMQ]] messages.
  
tof-demo.txt ยท Last modified: 2018/05/22 10:33 (external edit)