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Hardware Preparation

• RGB-D Sensor Camera (SKU:SEN0583), Quantity: 1, Purchase Link: DFRobot
• PC

On-page preview

Before using this device, make sure that the 192.168.233.0/24 address segment is not occupied in your network environment, because the MS-A075V uses RNDIS and sets its IP address http://192.168.233.1.

Connect the module to the PC with power according to the figure above, then the built-in fan will start to work and the red light will be displayed at the lens. Select the browser and enter http://192.168.233.1 to preview the 3D point cloud image. After power-on, the system and program will be started 10s-15s delayed.

Quick preview using web upper computer (front and side) :

We can preview the depth pseudo-color point cloud map. Open the interaction panel in the upper right corner, uncheck RGB_Map in the first line.

Interactive configuration

The preview webpage contained many function configurations, we can change them to get different live preview result.

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.

Save data

The webpage provides 2 buttons at the bottom of the control bar.

• SaveRaw：Save one frame raw data. If you want to use the depth data or IR or RGB data for development, you need to know the data struct of raw. We provide a detailed jupyter notebook about the data processing of raw for users and developers.
• SavePointCloud：Sava one frame 3D point map, and its saved format is pcd. Can be previewed via the script provided above.

Note: The data of raw can be get through open interface, which developers can do development on. While the pointcloud data does not provide any interface since it's calculated based on the raw data and camera internal parameters.

SSH login

In addition to using the web page to preview directly, we can also login using SSH with password root

In the web preview page we know the ip address of this device is 192.168.233.1, with which we can login to this device.

command: ssh [email protected]