Arducam Depth Camera

Overview

This project is a use example based on arducam's depth camera. It includes basic image rendering using opencv, displaying 3D point clouds using PCL, and publishing depth camera data through the ROS2 system. The depth camera is the depth data obtained by calculating the phase difference based on the transmitted modulated pulse. The resolution of the camera is 240*180. Currently, it has two range modes: 2 meters and 4 meters. The measurement error is within 2 cm. The depth camera supports CSI and USB two connection methods, and needs an additional 5V 2A current power supply for the camera.

Quick Start

Clone this repository

Clone this repository and enter the directory.

  git clone https://github.com/ArduCAM/Arducam_tof_camera.git
  cd Arducam_tof_camera

Install dependencies for Raspberry Pi

Run in the Arducam_tof_camera folder Whatever you want to run the C/C++ examples or Python examples, you need to install the dependencies.

  ./Install_dependencies.sh

Run the setup_rock_5a.sh if on rock 5a platform.

  ./setup_rock_5a.sh

Install dependencies for Jetson

Run in the Arducam_tof_camera folder Whatever you want to run the C/C++ examples or Python examples, you need to install the dependencies.

  ./Install_dependencies_jetson.sh

Run Examples

Platform: Raspberry Pi or Jetson

Depth Examples

Python

Run

Python Example

Run in the example/python folder

  cd example/python

  python3 preview_depth.py
  #or
  python3 capture_raw.py

C/C++

Compile

Run in the Arducam_tof_camera folder

  ./compile.sh

Run

C Example

Run in the build/example/c folder

  cd build/example/c

  ./preview_depth_c

C++ Example

Run in the build/example/cpp folder

  cd build/example/cpp

  ./preview_depth
  #or
  ./capture_raw

Point Cloud Examples

C/C++

Dependencies

  sudo apt update
  sudo apt-get install libopen3d-dev

Compile

Run in the Arducam_tof_camera folder

  ./compile_pointcloud.sh

Run

Run in the build/open3d_preview folder If you do not see a point cloud window, please try adding the environment variable export MESA_GL_VERSION_OVERRIDE=4.5 before running the program.

  cd build/open3d_preview

  ./preview_pointcloud