Development Guide

This page documents the EVAL-ADSD3100-NXZ development platform, providing guidance on using the Time-of-Flight (ToF) SDK.

Overview

The SDK operates under MIT license and serves as a reference design for customers.

Key Resources:

Architecture

Two deployment scenarios are supported:

EVAL-ADTF3175D Setup

Device runs embedded Linux with ADSD3500 sensor. Connects to host (Windows/Linux) via USB 3.0 UVC using Protobuf for commands.

Embedded Linux SoC

User application links directly with SDK on device.

Development Architecture

Figure 1 SDK Architecture Diagram

Core Classes

Essential classes for development:

  • System - Entry point for camera discovery

  • Camera - Main camera interface

  • CameraDetails - Camera information and capabilities

  • DepthSensorInterface - Low-level sensor access

  • Frame - Container for captured data

  • FrameDataDetails - Frame metadata

C++ Development Guide

Step 1: Get List of Available Cameras

Use System class to obtain a vector of Camera objects:

#include <aditof/system.h>

aditof::System system;
std::vector<std::shared_ptr<aditof::Camera>> cameras;
system.getCameraList(cameras);

Step 2: Apply SDK Configuration

Apply the SDK configuration JSON file specifying parameters like frame rate and network settings:

cameras.front()->setControl("initialization_config", configFile);

Step 3: Initialize Camera

Initialize the selected camera:

cameras.front()->initialize();

Step 4: Display Version Details (Optional)

Retrieve SD card, kernel, and U-Boot versions:

std::string sdVersion, kernelVersion, ubootVersion;
cameras.front()->getControl("sd_card_image_version", sdVersion);
cameras.front()->getControl("kernel_version", kernelVersion);
cameras.front()->getControl("uboot_version", ubootVersion);

Step 5: Retrieve Available Frame Types

Get available modes:

std::vector<std::string> frameTypes;
cameras.front()->getAvailableFrameTypes(frameTypes);

Available frame types include:

  • sr-native

  • lr-native

  • sr-qnative

  • lr-qnative

  • pcm-native

  • sr-mixed

  • lr-mixed

Step 6: Select Frame Mode

Set the desired frame type:

cameras.front()->setFrameType("lr-qnative");

Step 7: Start Camera

Begin camera operation:

cameras.front()->start();

Step 8: Request Frame

Request a frame from the device:

aditof::Frame frame;
cameras.front()->requestFrame(&frame);

Step 9: Extract Frame Data

Access frame data and details:

uint16_t *depthData;
aditof::FrameDataDetails details;
frame.getData("depth", &depthData);
frame.getDataDetails("depth", details);

Python Development Guide

Configuration Steps

import aditof

# Specify camera IP addresses
camera_ips = ["10.43.0.1"]

# Set FSYNC toggle mode (0=manual, 1=automatic, 2=disabled)
fsync_mode = 1

# Initialize cameras
system = aditof.System()
cameras = []
for ip in camera_ips:
    cameras.extend(system.getCameraListAtIp(ip))

# Load configuration
cameras[0].setControl("initialization_config", "config.json")
cameras[0].initialize()

# Set frame type and start
cameras[0].setFrameType("lr-native")
cameras[0].start()

Frame Capture

# Create Frame object
frame = aditof.Frame()

# Request frame from camera
cameras[0].requestFrame(frame)

# Access frame details
frame_details = aditof.FrameDataDetails()
frame.getDataDetails("depth", frame_details)
print(f"Width: {frame_details.width}, Height: {frame_details.height}")

# Stop camera
cameras[0].stop()

Available Frame Types

The ADSD3500 sensor supports multiple resolution modes:

Frame Type

Raw Size

Output Size

Description

sr-native / lr-native

1024x4096

1024x1024

Full resolution

sr-qnative / lr-qnative

2560x512

512x512

Quarter resolution

sr-mixed / lr-mixed

2560x512

512x512

Mixed mode

pcm-native

1024x1024

PCM mode

Frame data includes: raw, depth, infrared (ir), confidence (conf), XYZ coordinates, and metadata.

API Return Codes

The SDK uses the Status enum for return code handling. See the Doxygen documentation for complete API reference.