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tof-demo [2016/10/10 13:03] – damientof-demo [2018/05/22 10:33] (current) – external edit 127.0.0.1
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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.