EVK3D viewer
This sample allows you to visualize an EVK3D stream as a depth map.
The EVK3D is an embedded 3D camera combining a Gen41 sensor (Technical Sample of the IMX636 sensor) and a modulated Vertical Cavity Self Emitting Laser (VCSEL) allowing to generate point clouds in the context of Structured Light depth measurement. If you want to know more about this kit, please contact us.
The source code of this sample can be found in <install-prefix>/share/metavision/sdk/stream/apps/metavision_evk3d_viewer
when installing Metavision SDK from installer or packages. For other deployment methods, check the page
Path of Samples.
How to start
You can directly execute pre-compiled binary installed with Metavision SDK or compile the source code as described in this tutorial.
To start the viewer based on the live stream from your EVK3D, make sure you have the calibration file associated to your device (contact us if you don’t have it) and run the following command (note that it can take a few seconds to display the depth map):
Linux
metavision_evk3d_viewer -c path/to/calibration_file.json -l 5 --fps 60
Windows
metavision_evk3d_viewer.exe -c path/to/calibration_file.json -l 5 --fps 60
To start the viewer based on recorded data, provide the full path to a RAW file containing point clouds.
Here, we use a file from the test data used for OpenEB and SDK installation from sources in the installation guides
(go to this page where you can find the files
0101_cm_mtr12_output.raw and 0101_cm_mtru_output.raw).
Linux
metavision_evk3d_viewer -i 0101_cm_mtr12_output.raw -l 5 --fps 60
Windows
metavision_evk3d_viewer.exe -i 0101_cm_mtr12_output.raw -l 5 --fps 60
Note
In the commands above, we specified two command line options:
-l 5: sets the line thickness used to visualize EVK3D projector line to 5 pixels so that the lines are more visible
--fps 60: sets the frame rate to display the depth map in order to enhance the rendering that could otherwise be random due to the absence of timestamp in the pointcloud data.