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resources:eval:user-guides:ad-96tof1-ebz:ug_jetson [25 Mar 2020 12:53] – [Prepare SD card] Bogdan Togorean | resources:eval:user-guides:ad-96tof1-ebz:ug_jetson [17 Dec 2021 13:00] (current) – [Enabling the point cloud display in aditof-demo] Septimiu Vana | ||
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==== Required hardware ==== | ==== Required hardware ==== | ||
- | * [[https:// | + | * [[adi>en/ |
* [[https:// | * [[https:// | ||
* 5V power supply for Jetson. (Jetson board can be powered up from USB but external 4A 5V supply is recommended) | * 5V power supply for Jetson. (Jetson board can be powered up from USB but external 4A 5V supply is recommended) | ||
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==== Prepare SD card ==== | ==== Prepare SD card ==== | ||
- | * Follow steps presented | + | * Download and flash on a SD card the latest image provided from the following link: [[repo> |
* Download L4T BSP [[https:// | * Download L4T BSP [[https:// | ||
* Extract kernel_src from BSP package | * Extract kernel_src from BSP package | ||
* ADI ToF camera driver and devicetree should be taken from [[https:// | * ADI ToF camera driver and devicetree should be taken from [[https:// | ||
+ | * Copy paste and replace content of kernel_src folder from L4T BSP with the one downloaded from ADI ToF Repository | ||
+ | * Build Kernel and devicetree blob following instructions from [[https:// | ||
+ | * Copy generated kernel Image and devicetree to SD card | ||
+ | |||
+ | ==== Power on sequence ==== | ||
+ | |||
+ | * Plug the SD card into the Nvidia Jetson SD card slot | ||
+ | * Connect the HDMI cable from the monitor to the Jetson HDMI connector | ||
+ | * Connect the camera cable between the Jetson Nano and the P1 connector of the ToF board | ||
+ | * Connect a USB mouse and keyboard to the Jetson | ||
+ | * connect the 5V power supply to the camera board and set the camera power switch S2 to on. Once the camera board is powered up the DS1 LED will turn on | ||
+ | * connect the 5V power supply to the Jetson Nano. Once power is connected to the Jetson the system will boot the Linux OS from the SD card. | ||
+ | <note important> | ||
+ | |||
+ | {{ : | ||
+ | |||
+ | ==== Power off sequence ==== | ||
+ | |||
+ | * Open a terminal and type **//sudo poweroff// | ||
+ | * remove the 5V supply from the Nvidia Jetson | ||
+ | * Set the camera board power switch to off | ||
+ | |||
+ | ===== Running the evaluation application ===== | ||
+ | |||
+ | [[https:// | ||
+ | |||
+ | Once Linux boots you'll see on the HDMI monitor the Linux desktop and on the top left corner a shortcut to the evaluation application. Double clicking on the icon will start the evaluation application. A console window will open to show the application' | ||
+ | |||
+ | {{: | ||
+ | |||
+ | When starting the application, | ||
+ | |||
+ | The evaluation application allows to do live streaming of depth and IR data as well as recording the depth and IR data and playing back from a file. The depth data is displayed as a color map ranging from warm to cold colors as the distance from the camera increases. A point in the middle of the depth image shows the distance in mm to the target. | ||
+ | |||
+ | There are 3 operating modes that determine the range of the system: | ||
+ | |||
+ | * Near - 25cm to 80cm | ||
+ | * Medium - 30cm to 4.5m | ||
+ | * Far - 3m to 6m | ||
+ | |||
+ | When in a certain operating mode the system will measure distances outside of the mode's range but those will not be accurate. | ||
+ | |||
+ | The evaluation application also displays the temperature in deg C of the camera (AFE) and laser boards as read from the temperature sensors installed on each board. | ||
+ | |||
+ | The framerate at which data is acquired from the system is constantly updated on the GUI. The camera board outputs data at 30 frames per second (fps), but due to USB connection limitations, | ||
+ | |||
+ | ==== Enabling the point cloud display in aditof-demo ==== | ||
+ | |||
+ | * The demo application has the capability to display a point cloud image if it detects an OpenCV module called viz. | ||
+ | Unfortunately OpenCV does not provide binaries for this module so a manual build is needed. The steps required to | ||
+ | install OpenCV and include it in the project are presented here: | ||
+ | [[https:// | ||
+ | |||
+ | * If aditof-demo finds all the OpenCV required modules a button in the interface will allow you to display the point cloud. By toggling the button a separate window will appear. | ||
+ | {{ : | ||
+ | |||
+ | |||
+ | |||
+ | |||
+ | ==== Troubleshooting ==== | ||
+ | |||
+ | * Linux does not boot | ||
+ | * The SD card is corrupted and this prevents the system from booting. Reflash the SD card or check generated devicetree or kernel image | ||
+ | * The demo application hangs after closing the main window | ||
+ | * Due to some limitations the application always hangs if it is closed using the regular X button from the window top bar (title bar). To avoid this unpleasant hang, we've made available a second X button in the top right corner right above the title bar that can be used to safely close the demo application. We hope this to be a temporary workaround. | ||
+ | |||
+ | {{navigation AD-96TOF1-EBZ# | ||
+ |