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resources:eval:user-guides:ad-fxtof1-ebz:ug_jetson [14 Apr 2021 14:08] – Created fxtof1 user guide for jetson Septimiu Vanaresources:eval:user-guides:ad-fxtof1-ebz:ug_jetson [02 May 2022 07:41] (current) – Nvidia source file link updated Robert Budai
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 ==== Prepare SD card ==== ==== 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-fxtof1-ebz]] 
-  * Download L4T BSP [[https://developer.nvidia.com/embedded/linux-tegra|L4T BSP]] package (Tested release R32.3.1)+  * Download L4T BSP [[https://developer.nvidia.com/embedded/linux-tegra-r321|L4T BSP]] package (Tested release R32.3.1)
   * Extract kernel_src from BSP package   * 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]]   * 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]]
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   * Plug the SD card into the Nvidia Jetson SD card slot   * 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 HDMI cable from the monitor to the Jetson HDMI connector
-  * Connect the molex cable between the camera and the interposer +  * Connect the 25 pins flex cable between the camera and the interposer 
-  * Connect the camera cable between the Jetson Nano and the P1 connector of the interposer+  * Connect the 15 pins camera cable between the Jetson Nano and the P1 connector of the interposer. **Make sure to use the cable with contacts on opposite sides.** 
 +<WRAP center round important 100%> 
 +Some of the AD-FXTOF1-EBZ kits are missing the correct 15 pins cable to connect to Raspberry Pi or the Nvidia platforms. If in your box there is only one 15 pins cable having the contacts on the same side, please get a new cable with contacts on opposite sides (e.g. [[https://www.digikey.com/en/products/detail/w%C3%BCrth-elektronik/686715152001/4573357| 15 pins cable, contacts on opposite sides]]) 
 +</WRAP>
   * Connect a USB mouse and keyboard to the Jetson   * Connect a USB mouse and keyboard to the Jetson
   * Connect the interposer to the power supply   * Connect the interposer to the power supply
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 <note important>Password for "analog" user is "analog". This user has sudo rights</note> <note important>Password for "analog" user is "analog". This user has sudo rights</note>
 {{:resources:eval:user-guides:ad-fxtof1-ebz:ad-fxtof1-ebz-jetson-connection.jpg|}} {{:resources:eval:user-guides:ad-fxtof1-ebz:ad-fxtof1-ebz-jetson-connection.jpg|}}
 +<note important> One CSI connector board version </note>
 +{{:resources:eval:user-guides:ad-fxtof1-ebz:ad-fxtof1-ebz-jetson-connection-b01.jpg|}}
 +<note important> Two CSI connectors board version </note>
  
 ==== Power off sequence ==== ==== Power off sequence ====
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   * remove the 5V supply from the interposer   * remove the 5V supply from the interposer
  
 +===== 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 3m
 +
 +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).
 +
 +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 ==== ==== Troubleshooting ====
  
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     * The SD card is corrupted and this prevents the system from booting. Reflash the SD card or check generated devicetree or kernel image     * 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 
-===== Running the evaluation application =====+    * 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.
  
-[[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-FXTOF1-EBZ#none#.:|Overview#none#}} {{navigation AD-FXTOF1-EBZ#none#.:|Overview#none#}}
  
resources/eval/user-guides/ad-fxtof1-ebz/ug_jetson.1618402088.txt.gz · Last modified: 14 Apr 2021 14:08 by Septimiu Vana

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