This version (30 Oct 2023 17:45) was approved by Andre Straker-Payne.The Previously approved version (06 Jun 2023 17:46) is available.

Depth Compute Command Line Interface (CLI)

Description

The Depth Compute CLI can take data gathered from the Data Collect CLI, and compute Depth, IR/Active Brightness, and XYZ frames.

The 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 lens
The AB 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)
The 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.

Run Data Collect first
In command prompt move to bin folder in GUI install location
Run the following command : tofi_compute_depth.exe --I=../data_output --CCB=../crXXX.ccb --MODE=10 --O=../proc_data --INI=../config/RawToDepth.ini

Processed Data is stored in proc_data folder - Please refer to python scripts in depth_compute folder for visualization examples

Run Data Collect first
In command prompt move to bin folder in GUI install location
Run either one of the following commands, depending on mode of data collected - (Please check correct mode number and ini file for your module here : mode_table)
- MP mode : tofi_compute_depth.exe --I=data_output --CCB=../XXX.ccb --MODE=1 --O=proc_data_mp --INI=../config/RawToDepthAdsd3500_lr-native.ini --ISP_Enable=1
- QMP mode : tofi_compute_depth.exe --I=data_output_qmp --CCB=../XXX.ccb --MODE=1 --O=proc_data_qmp --INI=../config/RawToDepthAdsd3500_lr-native.ini --ISP_Enable=1
Processed Data is stored in proc_data folder - Please refer to python scripts in depth_compute folder for visualization examples

If you followed the above steps and are running this from the installer then the following commands should work.

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