The Depth Compute CLI can take data gathered from the Data Collect CLI, and compute Depth, IR/Active Brightness, and XYZ frames.
RadialDepth
folder contains depth images where the depth at each pixel is the distance to the corresponding point in the scene measured “radially” from the center of the lensAB
folder contains Active Brightness images where the value at each pixel is the intensity of the return laser light from the corresponding point in the scene (IR frame)XYZ
folder contains point cloud images where the values at each pixel are the real world cartesian coordinates (X,Y,Z) of the corresponding point in the scene. The Z image can be used standalone as an image where the value of each pixel is the distance to the corresponding point in the scene measured from the plane of the camera.tofi_compute_depth.exe --I=../data_output --CCB=../crXXX.ccb --MODE=10 --O=../proc_data --INI=../config/RawToDepth.ini
tofi_compute_depth.exe --I=data_output --CCB=../crXXX.ccb --MODE=10 --O=proc_data_mp --INI=../config/RawToDepthAdsd3500_mp.ini --ISP_Enable=1
tofi_compute_depth.exe --I=data_output_qmp --CCB=../crXXX.ccb --MODE=7 --O=proc_data_qmp --INI=../config/RawToDepthAdsd3500_qmp.ini --ISP_Enable=1
If you followed the above steps and are running this from the installer then the following commands should work.
cd path/of/tofi_compute_depth.exe
Visualize Depth
python tools\depth_compute\visualize_depth.py proc_data_mp\RadialDepth\data_output_0.bin 1024 1024
Vizualize AB
python tools\depth_compute\visualize_ab.py proc_data_mp\AB\data_output_0.bin 1024 1024
Vizualize Pointcloud
python tools\depth_compute\visualize_pointcloud.py 1024 1024 proc_data_mp\XYZ\data_output_0.bin