XYZ bin file generation using tofi_compute_depth

[Vignesh-E]

Hi there,

We are trying to extract point cloud data from the raw frame, like wise you guys did using TOF module.

./tofi_compute_depth --I=./ADTF3175_TOF/raw_frames_release_mode3 --O=./ADTF3175_TOF/raw_frames_release_mode3/processed --CCB=./crXXX.ccb --MODE=3 --INI=config/RawToDepthAdsd3500_lr-qnative.ini --ISP_Enable=1

if we run the above command, it will gives us three different frames namely AB, Radian depth and xyz bin files right. whats the logic used to extract xyz from raw frame.

I tried using a GenerateXYZTables() function, but still not able extract same xyz frames.

Pls, help with necessary info.

[andrestraker]

Hi,

For lr-qnative the frame received from the ADSD3500 already needs to be de-interleaved, followed by extraction of the AB, depth and confidence frames.

Afterwards, the XYZ can be derived.

This can be seen in the following code: https://github.com/analogdevicesinc/ToF/tree/main/sdk/common/adi/depth-compute-opensource/src

Note, we have an example that will show this functionality more directly. This example is expected to be ready by 7/3. I will update here.

Regards,
Andre

[Vignesh-E]

Hi andre,

Is it possible build tofi_compute_depth binary in TOF git repository?

It is not getting built by default. Do I need enable any flag to build tofi_compute_depth binary?

Regards,
Vignesh

[andrestraker]

No, it is not possible to do so. It is supplied as a binary in the eval kits, 4.3.0 and earlier.

[Vignesh-E]

how to calcuate distance using xyz bin file?

[andrestraker]

z is the distance in mm.

[Vignesh-E]

This distance is the measurement from camera to oobject right?

[andrestraker]

Correct.

[Vignesh-E]

Hi andre,

I'm running in mode 3, so every 4 ,5 byte has Absolute Brightness.
For few pixel it has values only in 4th byte and 5th byte is 0, for few pixel values in 4th and 5th byte

I'm reading and displaying it as uint16 data, for pixel which has data in 4th and 5th was not giving proper video.

I'm not sure how to process it for preview and display

Can you please help me on this

Thanks
Vignesh

[andrestraker]

Hi Vignesh,

I am assuming you are referring to the fact that the data coming from the eval kit is interleaved before processing. The NXP we use in the eval kit does not support virtual channels. Therefore the data comes interleaved from the ToF sensors.

You can see how to de-interleave the data via the following code:

ToF/sdk/common/adi/depth-compute-opensource/src/tofiCompute.cpp

Line 66 in 08d887e

DeInterleaveDepth(uint8_t *p_frame_data, uint32_t n_bits_in_depth,

Note, this discussion is relevant to pre-v5.0.0.

Regards,
Andre