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--- resources:eval:user-guides:ad-96tof1-ebz:ug_jetson [21 May 2020 10:49] – Add password for analog user 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
@@ Line 4: / Line 4: @@
 ==== Required hardware ====
-  * [[https://www.analog.com/en/design-center/evaluation-hardware-and-software/evaluation-boards-kits/ad-96tof1-ebz.html|AD-96TOF1-EBZ development kit]]
+  * [[adi>en/design-center/evaluation-hardware-and-software/evaluation-boards-kits/ad-96tof1-ebz.html|AD-96TOF1-EBZ development kit]]
   * [[https://developer.nvidia.com/embedded/jetson-nano-developer-kit|Nvidia Jetson Nano]]
   * 5V power supply for Jetson. (Jetson board can be powered up from USB but external 4A 5V supply is recommended)
@@ Line 14: / Line 14: @@
 ==== Prepare SD card ====
-  * Follow steps presented on [[https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#write|Nvidia Website]] for creating Jetson Nano SD card
+  * Download and flash on a SD card the latest image provided from the following link: [[repo>aditof_sdk#ad-96tof1-ebz]]
   * Download L4T BSP [[https://developer.nvidia.com/embedded/linux-tegra|L4T BSP]] package (Tested release R32.3.1)
   * Extract kernel_src from BSP package
@@ Line 39: / Line 39: @@
   * remove the 5V supply from the Nvidia Jetson
   * Set the camera board power switch to off
+===== Running the evaluation application =====
+[[https://github.com/analogdevicesinc/aditof_sdk/tree/master/examples/aditof-demo | This example]] demonstrates how to capture data from the TOF system on the Nvidia jetson and display it using OpenCV.
+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's status and, after a few seconds, the evaluation application GUI will be displayed.
+{{:resources:eval:user-guides:ad-96tof1-ebz:aditof_demo.png|}}
+When starting the application, a terminal window will open to display status messages (also warning and error messages, in case there are any issues). Shorty the main window will show up.
+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, the host PC acquires the frames at a lower rate.
+==== 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://github.com/analogdevicesinc/aditof_sdk/blob/master/doc/linux/build_instructions.md#enabling-the-point-cloud-display-in-aditof-demo|Enable Point Cloud Aditof-Demo]]
+  * 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.
+{{ :resources:eval:user-guides:ad-96tof1-ebz:aditof_demo_pointCloud.png?800 | aditof-demo}}
 ==== Troubleshooting ====
@@ Line 44: / Line 81: @@
   * 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.
-===== Running the evaluation application =====
-[[https://github.com/analogdevicesinc/aditof_sdk/tree/master/examples/imshow-jetson | This example]] demonstrates how to capture data from the TOF system on the Nvidia jetson and display it using OpenCV. Due to limitations in the Nvidia Jetson software infrastructure for MIPI virtual channels support, only one video stream is available at a time, depth or IR.
 {{navigation AD-96TOF1-EBZ#none#.:|Overview#none#}}

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