All changes required for RPi are applicable to Nvidia Xavier AGX. So please follow the instructions presented here: Raspberry Pi User Guide
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.
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:
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.
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: Enable Point Cloud Aditof-Demo