Overview

libDepthEye SDK is a cross-platform library for PointCloud.AI® DepthEye™ depth cameras.

Developer kits containing the necessary hardware to use this library are available for purchase at pointcloud.ai/buy .

Supported TOF chip

Sony IMX556

The IMX556 is a fully integrated optical Time-of-Flight (ToF) camera sensor. The sensor features 640 x 480 (VGA) time-of-flight pixels based on the DepthSense® pixel technology. Combined with a modulated light source, this sensor is capable of measuring distance and reflectivity with VGA resolution.

Functions and Features

• Back-illuminated Time-of-flight image sensor ◆High signal to noise ratio (SNR)
• Full resolution @max60 frame/s (4phase/frame) ◆Pixel binning readout function
• Independent flipping and mirroring
• Built-in temperature sensor
• Unit cell size : 10.0 um (H) × 10.0 um (V)
• Operation temperature : -30 to +75 ̊C
• Performance guarantee temperature : -10 to +60 ̊C

What’s included in the SDK:

What	Description
Dependent library files	We provide SDK for those platforms : Linux \ Mac OS \ Windows .
Code Samples	These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications. Check some of the C++ examples including capture, pointcloud parsing.
Tools	DepthEyeViewer is a visualization tool which is based on the libDepthEye SDK API.
Wrappers	Python API, ROS, OpenCV and more to come

Visualization tool Snapshot

Getting started

0) Hardware Install

Please add one usb hub with Independent power supply. Then insert the double head USB cable together on the USB hub and connect the usb hub to your PC.

1) SET POINTCLOUD_SDK_PATH

To install vim and cmake, please run:

sudo apt-get install cmake vim

Please run # uname -a to check system platform version first.

Plateform	SDK Path
MacOs	/libs/macos
Ubuntu	/libs/ubuntu
Ubuntu arm64	/libs/ubuntu_arm
Windows	/libs/windows

Modify .bashrc to set environment variables：

# vim ~/.bashrc

add below source code to the end of bashrc file：

export POINTCLOUD_SDK_PATH="your_directory/libs/ubuntu"
export PATH=$POINTCLOUD_SDK_PATH/lib:$POINTCLOUD_SDK_PATH/bin:$PATH

PS：Please remember to replace ubuntu with your system platform.

We need to make above changes come into effect：

# source ~/.bashrc

Finally, echo the constant to verify ：

# echo $POINTCLOUD_SDK_PATH

2) SET USB Driver

(For Ubuntu only)

./config/setupDriverOnLinux.sh

3) Make

In the root directory of SDK, run below commands one by one：

$ mkdir build

$ cd build/ 

$ cmake ..

$ make 

You can get message as below :

[100%] Built target DepthMeasure

Plug the module and run it:

./bin/DepthMeasure

You can see the result!

Wiki

Learn more to use libDepthEye at our wiki.

Others

Please send mail to sdk@pointcloud.ai. We will reply you asap.

Check or raise issue on [Issue tracking] (https://github.com/pointcloudAI/libDepthEye/issues)