Reference

Driver

To run the preview module on Windows, install the RNDIS driver. Windows Installation driver tutorial: Click to view.

Library

• Python SDK: Click to download
• ROS1 Package: Access package download
• ROS2 Package: Access package download

API Description

• The camera provides an open interface to retrieve raw data (Depth map, IR map, RGB map) for development.
• The Python SDK encapsulates HTTP requests and native data decoding functions to simplify data handling.

Here tells the functions of each widgets

• RGB_Map checkbox, control RGB map. Display the deep pseudo-colored point map when checked, display the RGB-mapped point cloud map when unchecked.
• colorMap drop-down bar, provides several pseudo-color mapping options(cmap)，jet is recommended. Avaliable when RGB_Map is unchecked.
• deepRangeMax and deepRangeMin slide bar are used for setting the mapping range of cmap, the depth value between deepRangeMin and deepRangeMax are OK. Avaliable when RGB_Map is unchecked.
• NormalPoint checkbox, control the display of normal point(There maybe some invalidation points when TOF worked, need to do opposite action). Recommend checked.
• OE_Points checkbox, control the display of OE point. Recommend unchecked.
• UE_Points checkbox, control the display of UE point. Recommend unchecked.
• Bad_Points checkbox, control the display of bad point. Recommend unchecked
• SpatialFilter checkbox, control the Spatial filtering. Processing based on the spatialFilterSize value below and the algorithm specified by the SpatialFilterType.
• TemporalFilter checkbox, control the Temporal filtering, A time average is calculated based on the temporalfilteralpha values below.
• TemporalFilteralpha slide bar, set the time for Temporal filtering. Adjust it moderate, can be tested by yourself.
• SpatialFilterType drop-down bar, set the Spatial filtering algorithm, provides Gaussian filtering and Bilateral filtering. Bilateral filtering requires high performance, not recommended.
• SpatialFilterSize slide bar, set the range for Spatial Filter. Adjust it moderate, can be tested by yourself.
• FlyingPointFilter checkbox, control the flying point filter. Set the the following FlyingPointThreshold value as the filtering threshold, those that exceed the threshold will be filtered out. Set it moderate, otherwise the validation points will be filtered out.