Differences

This shows you the differences between two versions of the page.

--- resources:eval:user-guides:ad-96tof1-ebz:ug_xavier_nx [21 Dec 2020 15:01] – created Virgil Litan
+++ resources:eval:user-guides:ad-96tof1-ebz:ug_xavier_nx [17 Dec 2021 13:01] (current) – Add point cloud description 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-xavier-nx-devkit|Nvidia Xavier NX]]
   * 9V to 19V power supply for Jetson.
@@ Line 14: / Line 14: @@
 ==== Prepare SD card ====
-  * Follow steps presented on [[https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit#write|Nvidia Website]] for creating Xavier NX 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
-  * ADI ToF camera driver and devicetree should be taken from [[https://github.com/analogdevicesinc/aditof_sdk/tree/master/misc/nvidia/jetson/kernel_src|aditof_sdk]] TODO update this after merge with master
+  * ADI ToF camera driver and devicetree should be taken from [[https://github.com/analogdevicesinc/aditof_sdk/tree/master/misc/nvidia|aditof_sdk]].
   * 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://developer.ridgerun.com/wiki/index.php?title=Jetson_Xavier_NX/Development/Building_the_Kernel_from_Source|Building_the_Kernel_from_Source]] selecting "CONFIG_VIDEO_ADDI9036" and "CONFIG_EEPROM_AT24" using menuconfig
@@ Line 31: / Line 31: @@
   * connect the 9V-19V power supply to the Xavier NX. Once power is connected to the Jetson the system will boot the Linux OS from the SD card.
 <note important>Password for "analog" user is "analog". This user has sudo rights</note>
+{{ :resources:eval:user-guides:ad-96tof1-ebz:xavier-nx-ad96tof1.jpg?400 | Jetson Xavier nx connections rev. C}}
 ==== Power off sequence ====
@@ Line 46: / Line 46: @@
 ===== 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 Xavier NX and display it using OpenCV.
+[[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]]
-{{navigation AD-96TOF1-EBZ#none#.:|Overview#none#}}
+  * 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}}

Wiki

Analog Devices Wiki

Differences

Analog Devices Wiki

Differences

Page Tools