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ToF Camera Eval Kit – Getting Started

ToF Camera Eval Kit Getting Started

About

The Eval kit was specially created for users who want a quicker start. A Raspberry Pi 4 & a ToF camera are bundled in a metal enclosure. Pre-assembled hardware with pre-installed software caters to quick evaluation. Additional air-cooling, compatibility with PoE HATs, and many more thoughtful features are awaiting your discovery. Let’s get started.

Step1: Check items against the packing list

Items included in the Kit package:

  • 1 x Metal Enclosure (containing the following parts assembled)
  • 1 x Raspberry Pi 4 (4GB) (with 1 x 16GB SD card with everything pre-installed, with 2-pin power cable & ribbon cable)
  • 1 x Arducam ToF Camera
  • 1 x Cooling fan (4 x 4 cm)
  • 1 x Mini tripod

Step2: Check the power adapter type

Caution

Use a 5V/4A adapter with Pi OR the camera might NOT work properly.

Step3: Using the Kit

Connect the mini tripod to the metal enclosure. Power on the Kit and then start to run examples (or to run other commands of yours) once the system finishes booting.

Step4: Running Examples

Simply input the following commands respectively and enter. Examples will run automatically.

Example1: Preview Depth

Preview the Depth map and Gray-scale map example, using CSI interface connected to the camera.

preview_depth

preview depth

Example2: Preview Raw

Preview RAW data example, using CSI interface connected to the camera.

capture_raw

preview raw

Example3: Preview 3D Point cloud

Preview 3D point cloud, using CSI interface connected to the camera.

preview_pointcloud

preview 3D point cloud

Example4: ROS2 Publishing

ROS2 publish point cloud topics

ros2 run arducam tof_pointcloud

ros2 publishing

Additional info

List of Installation Tools

System version: Raspberry Pi OS (32-bit) bullseye, published on 6th Sept. 2022

deb package

  • libopencv
  • libcblas-dev
  • ibhdf5-dev
  • libhdf5-serial-dev
  • libatlas-base-dev
  • libjasper-dev
  • libqtgui4

  • libqt4-test

  • libpcl-dev

  • ros2-humble

  • arducam-tof-sdk-dev

  • arducam-config-parser-dev

  • arducam-usb-sdk-dev

  • cmake

  • git
  • build-essential

pip package

  • opencv-python
  • ArduCamDepthCamera

Notes of Examples

Path of examples

/home/pi/Arducam_tof_camera

C++ Examples

/home/pi/Arducam_tof_camera/example

preview_depth: Running on Raspberry Pi, Preview the Depth map and Gray-scale map example, using CSI interface connected to the camera

capture_raw: Running on Raspberry Pi, Preview RAW data example, using CSI interface connected to the camera

/home/pi/Arducam_tof_camera/pcl_preview

Running on Raspberry Pi, Preview 3D pointcloud, using CSI interface connected to the camera.

/home/pi/Arducam_tof_camera/ros_publisher/src

Running on ROS2, publish pointcloud and depth topics

/home/pi/Arducam_tof_camera/jetson

jetson_nano_preview: Running on Jetson Nano, Preview the Depth map and Gray-scale map example, using CSI interface connected to the camera

jetson_nx_preview: Running on Jetson NX, Preview the Depth map and Gray-scale map example, using CSI interface connected to the camera

Python examples

/home/pi/Arducam_tof_camera/example/python

preview_depth: Running on Raspberry Pi, Preview the Depth map and Gray-scale map example, using CSI interface connected to the camera

capture_raw: Running on Raspberry Pi, Preview RAW data example, using CSI interface connected to the camera