VSEMI TOF SDK 2.0.1

Visionary Semiconductor Inc. Jun 21, 2021

Introduction

VSEMI ToF SDK 2.0 is a lightweight development kit for VSemi ToF camera, with no external dependency.

Built with the Time-of-Flight (ToF) depth vision technology, VSemi ToF camera was designed for reliable depth sensing with high accuracy. It was developed for easy and fast development and/or deployment in real applications, such as robotics, drones, and automotives. As a ToF 3D camera, VSemi ToF camera does not have moving components and is thus robust and wear-free.

Quick start:

Before start

• Plug your Vsemi ToF 3D sensor;
• Grant USB permission to the current user (refer to the instruction of sample applications), and remember that every time unplugged and plugged the sensor, need to re-grant USB permission;
• Compiling and running a sample application successfully is highly recommended before starting your own application;
• Dependencies: no dependency required for the ToF sensor driver, and additional dependencies depends on what you needed in your own application, for example, OpenCV,PCL or ROS, and if configured properly in your development environment.

Sample applications:

opencv_pcl: work with depth map and point cloud using OpenCV and PCL

The point cloud:

Depth Map:

ROS: ROS application

Point cloud with grayscale:

FoV Settings:

If the FoV of your sensor is not default FoV (For example, for Onion Tau camera, it is 80 x 30), makre sure change the value of angle_x and angle_y to the actual FoV of your sensor.

You may set FoV from the configuration panel in ROS sample application,

Or set FoV in source code by calling a method in Camera instance: setFoV(double angle_x, double angle_y)

Developing you own application

• Driver: copy the include files and binary library file into appropriate folder in your application development environment;

• Environment: configure your application environment to make sure the include files in your include path and binary library file in your link path (you may refer to the sample applications how to configure it by using cmake);

• Dependencies: additional dependencies depends on what you needed in your own application, for example, OpenCV, PCL or ROS, and configure them properly in your development environment.

The basics

For more information, refer to the sample applications under samples

Troubleshooting

The most common problem is that the application is not able to connect to the sensor, the reason might be:

• The ToF 3D sensor not plugged;
• USB permission not grant to current user;

Contact

To purchase Vsemi ToF Camera, please visit https://vsemi.io

Contact us: info@vsemi.io