Depth Compute CLI

The Depth Compute CLI processes data from the Data Collect CLI to generate three types of output frames.

Important

This tool has been removed from the host starting with Eval Kit version 5.0.0.

Output Folders

RadialDepth

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.

AB (Active Brightness)

Active Brightness images showing laser return intensity from scene points (IR frame).

XYZ

Point cloud data with real-world Cartesian coordinates (X, Y, Z) for each pixel. The Z image alone functions as a distance measurement from the camera plane.

Usage

EVAL-ADSD3100-NXZ and EVAL-ADTF3175-NXZ

tofi_compute_depth.exe --I=../data_output --CCB=../crXXX.ccb --MODE=10 --O=../proc_data --INI=../config/RawToDepth.ini

EVAL-ADTF3175D-NXZ (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
Depth Compute CLI

Figure 1 Depth Compute CLI Output

Visualization

Use the provided Python scripts to visualize the output:

Visualize Depth

python tools\depth_compute\visualize_depth.py proc_data_mp\RadialDepth\data_output_0.bin 1024 1024

Visualize Active Brightness

python tools\depth_compute\visualize_ab.py proc_data_mp\AB\data_output_0.bin 1024 1024

Visualize Point Cloud

python tools\depth_compute\visualize_pointcloud.py 1024 1024 proc_data_mp\XYZ\data_output_0.bin