I saw the following explanations in VoxelCLI's help,
"phase_corr_1: Phase correction for base frequency. This value is substracted from the obtained phase."

And the range is from -2,048 to 2,047,

My question is if this offset is caused by signal processing,
Why the range includes positive and negative?
Or I should ask under what condition? the value will be positive and what condition causes negative?

Hi sir,

I'm compiling voxelsdk to raspberry pi for arm based platform (kernel version 4.1.9+ & gcc version (Raspbian 4.7.3-11+rpi1) 4.7.3, & g++ version (Raspbian 4.9.2-10) 4.9.2 )). after make command, I found error below. Any suggestion? thx. & lt also looks the libpcl-all is not able to install onto RPI system. not sure is it related to the erroe or not. see below...

pi@raspberrypi ~/voxelsdk/build $ make
[ 1%] Building CXX object Voxel/CMakeFiles/voxel.dir/Device.cpp.o
c++: error: unrecognized command line option '-msse2'
make[2]: *** [Voxel/CMakeFiles/voxel.dir/Device.cpp.o] Error 1
make[1]: *** [Voxel/CMakeFiles/voxel.dir/all] Error 2
make: *** [all] Error 2

BR Kenny

Hi sir

I followed the wiki to make from voxelsdk source code & found below error in unbutu 14.04, 64 bits. Pls guide me how to get it resolved. thank you.

Linking CXX shared library libvoxelpcl.so
/usr/bin/ld: cannot find -lVoxel::voxel
collect2: error: ld returned 1 exit status
make[2]: *** [VoxelPCL/libvoxelpcl.so.0.5.5] Error 1
make[1]: *** [VoxelPCL/CMakeFiles/voxelpcl.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

I got different "tillum_calib" after the calibration of VoxelViewer. The value is 43 or 44 .
What's the function of this item?

Under "C:\Program Files\VoxelCommon\conf".
And I saw *.CONF file how to involve *.BIN.

For example,
[calib]
phasecorrection = TintinCDKCameraPhaseOffset.bin

File size is 153,600 bytes, that's to say 2 bytes per point,
Is the type "int16"?

Right now, except for the TintinCDK, the other boards don't support reading or saving calibration data to EEPROM. Until that support is added, we should avoid attempting to read from the EEPROM for those boards.

(additionally, for VoxelViewer, we need a way to query if there is EEPROM storage capability and provide the option to save to EEPROM only if the hardware supports it)

Refer to OPT9221 datasheet - Spatial Filter section

We are tryting to build a new program leverage "VoxelCLI.exe".
We have gotthen the way to "set parameter" like “mod_freq1”, “phase_corr_1”, “intg_time”…,

But, about lens capabilities listed in (*.conf) file, I don't know how to set into ToF module.
(Lens’ parameters like: “fx”, “fy”, “cx”, “cy”, “k1 ~ k3”, “p1 ~ p2”)
I check CLIManager's "set parameter", "set register", and I can't get the related key still.

I downloaded and built Voxel SDK few minutes ago, so it should be the latest version.

When I execute VoxelCLI.exe, It shows an error,

ERROR: MainConfigurationFile: Could not read VoxelCameraTest.conf

The question is, there is no .conf in that name under my path or folder.

The following are my settings,

VOXEL_FW_PATH-->C:\VoxelSDK-master-ver2\Build\TI3DToF
VOXEL_CONF_PATH-->C:\VoxelSDK-master-ver2\Build\TI3DToF
VOXEL_LIB_PATH-->C:\VoxelSDK-master-ver2\Build\TI3DToF\Release

PATH includes-->C:\VoxelSDK-master-ver2\Build\TI3DToF\Release;C:\VoxelSDK-master-ver2\Build\Voxel\Release;C:\VoxelSDK-master-ver2\Build\VoxelPCL\Release

and none of them can I find a configuration file named "VoxelCameraTest.conf".

By the way, should I care about other errors?

Up to now, I have known how to set the major calibration result in configuration file, they include,
(1). lens parameters,
(2). frequency correction by (freq_corr, freq_corr_at),
(3). phase correction by (phase_corr_1)

But I don't know how to set "temperature curve" still?
I ever saw "VoxelViewer.exe" has a step to select an "Excel" file during calibration.

1. What's the Excel format?
2. In my program, how to set Excel data into ToF module?

On behalf of a user :
Error : No depth camera library found or loaded.

I helped him setup the PATH, VOXEL_CONF_PATH, VOXEL_FW_PATH and VOXEL_LIB_PATH to the folder where the “ti3dtof.dll” is generated by the source code.

But the error is still showing up, doesn’t solve like I did.

Is there other settings I missed?

For example what does UVCStreamerTest do, how to use it

The current frame callback mechanism does not permit user to pass user data through arguments. This forces use of globals/share data. To better support structured C++ programming, please provide a (void*) user pointer as an argument in the call back function, and allow the callback registration to pass the user pointer.

It will allow us to have multiple SDK versions installed without conflict

Sorry for this vague question.

I have this question because our teammates encountered a weird situation.

We have four computers, three of them are Win 8.1 64bit and the last one is Win 7 64bit.

The Win 7 and a Win 8.1 are used for coding 3dtof program, so PCL1.7.2, Voxel SDK built from source, Cypress, VS 2013 Update 4...etc are installed in it.

After we installed Voxel Viewer 0.3.9 and try to visuzlize point cloud, although the device can be captured,

but clicking the "play" button will cause this error,

Nevertheless, we found the way to solve it, that is, installing Voxel SDK binary package.

The weird thing is, the other two Win 8.1 computer can easily execute Voxel Viewer and visuzlize the point cloud without installing Voxel SDK.

Since one of them is used for doing paper work and the other is merely for personal usage, I believed no other software associate with 3dtof is installed in it.

Any idea?

Hi everybody,
I get data from the camera via the following callback:

depthCamera->registerCallback(DepthCamera::FRAME_XYZI_POINT_CLOUD_FRAME, [&](DepthCamera &dc, const Frame &frame, DepthCamera::FrameType c)
{
const XYZIPointCloudFrame *d_ = dynamic_cast<const XYZIPointCloudFrame *>(&frame);
...
}

The data in the pointer d is "inf". Only the d->points.at(i).i is valid.
Is there a reason why d->points.at(i).x, d->points.at(i).y and d->points.at(i).z are "inf"?
What do I have do to for getting the x,y and z data?

In TI's document, r = (phase / 4096) * (C / 2 * Freq),
Point cloud (XYZ)'s Z = (phase / 4096) * (C / 2 * Freq) * cos 𝜃

I have a little confuse about the calculate base "C / 2 * Freq",

As we knew, ToF principle bases on "target" reflect "modulation light",
Total light fly distance should include 2 parts = (light-source to target) + (target to ToF-sensor).
That's to say, real light fly distance is quite close to 2 times target distance (ToF-to-target).
I suppose the current "r" should be divided by an extra 2,
[Current], r = (phase / 4096) * (C / 2 * Freq),
[Suppose], r = (phase / 4096) * (C / 2 * Freq) / 2,

Does my idea make sense?

I am building Voxel SDK under Linux Deploy (ubuntu on android) and ran into the below issues, that seems purely within cmake. Please help see what the problem is. Below is the CMakeOutput.log:

-------- start ---

The system is: Linux - 3.4.48-g9738a5f-dirty - armv7l
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: /usr/bin/cc
Build flags:
Id flags:

The output was:
0

Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"

The C compiler identification is GNU, found in "/home/android/Software/voxelsdk/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out"

Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
Compiler: /usr/bin/c++
Build flags:
Id flags:

The output was:
0

Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"

The CXX compiler identification is GNU, found in "/home/android/Software/voxelsdk/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out"

Determining if the C compiler works passed with the following output:
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Change Dir: /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec4245501413/fast"
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make[1]: Entering directory /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp' /usr/bin/cmake -E cmake_progress_report /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/CMakeFiles 1 Building C object CMakeFiles/cmTryCompileExec4245501413.dir/src.c.o /usr/bin/cc -DOpenMP_FLAG_DETECTED -fopenmp -o CMakeFiles/cmTryCompileExec4245501413.dir/src.c.o -c /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/src.c Linking C executable cmTryCompileExec4245501413 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec4245501413.dir/link.txt --verbose=1 /usr/bin/cc -DOpenMP_FLAG_DETECTED -fopenmp CMakeFiles/cmTryCompileExec4245501413.dir/src.c.o -o cmTryCompileExec4245501413 -rdynamic make[1]: Leaving directory/home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp'

Source file was:

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Performing C++ SOURCE FILE Test OpenMP_FLAG_DETECTED succeded with the following output:
Change Dir: /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec3609738638/fast"
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make[1]: Entering directory /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp' /usr/bin/cmake -E cmake_progress_report /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/CMakeFiles 1 Building CXX object CMakeFiles/cmTryCompileExec3609738638.dir/src.cxx.o /usr/bin/c++ -DOpenMP_FLAG_DETECTED -fopenmp -o CMakeFiles/cmTryCompileExec3609738638.dir/src.cxx.o -c /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/src.cxx Linking CXX executable cmTryCompileExec3609738638 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec3609738638.dir/link.txt --verbose=1 /usr/bin/c++ -DOpenMP_FLAG_DETECTED -fopenmp CMakeFiles/cmTryCompileExec3609738638.dir/src.cxx.o -o cmTryCompileExec3609738638 -rdynamic make[1]: Leaving directory/home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp'

Source file was:

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Performing C++ SOURCE FILE Test COMPILER_HAS_HIDDEN_VISIBILITY succeded with the following output:
Change Dir: /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec75087033/fast"
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make[1]: Entering directory /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp' /usr/bin/cmake -E cmake_progress_report /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/CMakeFiles 1 Building CXX object CMakeFiles/cmTryCompileExec75087033.dir/src.cxx.o /usr/bin/c++ -fopenmp -DCOMPILER_HAS_HIDDEN_VISIBILITY -fvisibility=hidden -o CMakeFiles/cmTryCompileExec75087033.dir/src.cxx.o -c /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/src.cxx Linking CXX executable cmTryCompileExec75087033 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec75087033.dir/link.txt --verbose=1 /usr/bin/c++ -fopenmp -DCOMPILER_HAS_HIDDEN_VISIBILITY CMakeFiles/cmTryCompileExec75087033.dir/src.cxx.o -o cmTryCompileExec75087033 -rdynamic make[1]: Leaving directory/home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp'

Source file was:
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Performing C++ SOURCE FILE Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY succeded with the following output:
Change Dir: /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec596083390/fast"
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make[1]: Entering directory /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp' /usr/bin/cmake -E cmake_progress_report /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/CMakeFiles 1 Building CXX object CMakeFiles/cmTryCompileExec596083390.dir/src.cxx.o /usr/bin/c++ -fopenmp -DCOMPILER_HAS_HIDDEN_INLINE_VISIBILITY -fvisibility-inlines-hidden -o CMakeFiles/cmTryCompileExec596083390.dir/src.cxx.o -c /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp/src.cxx Linking CXX executable cmTryCompileExec596083390 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec596083390.dir/link.txt --verbose=1 /usr/bin/c++ -fopenmp -DCOMPILER_HAS_HIDDEN_INLINE_VISIBILITY CMakeFiles/cmTryCompileExec596083390.dir/src.cxx.o -o cmTryCompileExec596083390 -rdynamic make[1]: Leaving directory/home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp'

Source file was:
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Performing C++ SOURCE FILE Test COMPILER_HAS_DEPRECATED_ATTR succeded with the following output:
Change Dir: /home/android/Software/voxelsdk/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec1079185125/fast"
/usr/bin/make -f CMakeFiles/cmTryCompileExec1079185125.dir/build.make CMakeFiles/cmTryCompileExec1079185125.dir/build
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Source file was:
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Up to now, I knew some parameters will mainly decide X,Y,Z of "point cloud".
(1) lens parameters (fx, fy, cx, cy, k1, k2...) in conf,
(2) parameter: [mod_freq1],
(3) parameter: [phase_corr1],
(4) parameter: [pixelwise offset, *.bin],
(5) temperature curve: I don't set this item temporarily,
Are there other key parameters ignored by me?

Is my understanding right about the 4 types data?
raw -> raw_processed -> depth -> point_cloud

1. raw: real raw, don't involve any parameter,
2. raw_prcessed: make raw apply "phase_corr1" + "pixelwise offset",
3. depth: make raw_processed apply "lens parameter", transfer phase to depth,
4. point cloud: involve depth and adjust X,Y by "lens parameter",

Concern1: Is "pixelwise offset, *.bin" involved from "raw_processed" or "depth"?
Concern2: Is "lens parameters" involved from "depth"?

A further question is,
During VoxelViewer calibration flow, it said temperature calibrate is necessary, should I give it a default value before we got the real temperature factor? How to set for this item? I see a parameter "tsensor_calib" to be set to -1, if I bypass temperature item in calibration flow,
I must remark (disable) "tsensor_calib" in conf, then VoxelViewer will keep workable.

Failed to build from source v0.6.0 on Linux.
The following is the error message.

CMake Error at config/common.cmake:4 (export):
  export called with target "voxelpcl" which requires target "voxel" that is
  not in the export list.

  If the required target is not easy to reference in this call, consider
  using the APPEND option with multiple separate calls.
Call Stack (most recent call first):
  VoxelPCL/CMakeLists.txt:66 (create_cmake_config)

CMake Error at config/common.cmake:4 (export):
  export called with target "ti3dtof" which requires target "voxel" that is
  not in the export list.

  If the required target is not easy to reference in this call, consider
  using the APPEND option with multiple separate calls.
Call Stack (most recent call first):
  TI3DToF/CMakeLists.txt:148 (create_cmake_config)

I saw a item key "#cross_talk_coeff" in conf.
It includes 9 groups data,
What's the function of this item?
And should I change it by some processing?

(In Tintin setting) #cross_talk_coeff =
(-1.01429887e-03,+0.0030195)
(-9.79181623e-02,-0.05651024)
(-1.01429887e-03,+0.0030195)
(-3.70414963e-02,-0.03120087)
(1.30868565e+00,0.02042769)
(-3.70414963e-02,-0.03120087)
(-1.01429887e-03,+0.0030195)
(-9.79181623e-02,-0.05651024)
(-1.01429887e-03,+0.0030195)

As result, I can't include TintinCDK specific header files.

We got the files being saved by VoxelCLI’s “save” function.
We removed frame header (ID & timestamp) just reserve pure data to check them.
We know the data of "pointcloud" is stored by 4 float (X,Y,Z,I) in sequence.

As to the other 3 formats (“depth”, “raw”, “raw_processed”), we don’t know the data format still.

1. “depth”, file size is 614,400 bytes, equal to 8 X 320 X 240, so each point occupies 8 bytes. So the data type is “double”? and what’s the unit (“mm”)?
2. “raw”, file size is 1,228,800 bytes, equal to 16 X 320 X 240, what’s the format to each 16 bytes?
3. “raw_processed”, file size is 460,800 bytes, equal to 6 X 320 X 240, what’s the format to each 6 bytes? And we see the code “CLIManager.cpp” mentioned about 4 data sections, and they are “phase”, “amplitude”, “ambient” and “flags”, how to save these 4 kinds data into 6 bytes?

How to modify parameters like illumination and int time from DepthCapture.cpp ?

recalculating of illumination power from the digipot register setting gives a value that is higher than the upper limit of range. The forward and reverse functions do not match correctly (probably rounding issue).

This causes issues when setting 100% illumiation power and switching profiles

I use a Tintin for test, and I want to change the modulation frequency to 24MHz (default is 48MHz).
I try to change both to 24, but fail (point_cloud is disappear).
If I just change mod_freq2 = 24, and keep mod_freq1 = 48.
Point_cloud reappear, but I can't tell which frequency is under working?

Waht's the difference between "mod_freq1" and "mod_freq2"?

In my program, I try to figure out a value for "phase_corr1" for Voxel-D,
The steps include,

1. Make ToF far from a white wall 25 cm,
2. Set mod_freq1 = 24,
3. Get 100 frames' "raw" data,
4. Extract and average raw -> phase from 10 X 10 pixles around lens center (Cx, Cy),
5. Under the rule of C/2F, 24MHz -> 6.25m, phase (in 25cm) = 4,096/6.25*0.25 = 164,

If I got the average = 2,000 in step 4, then I think phase_corr1 = 2,000 - 164 = 1,836.

Actually, I found the value 1,836 is quite different from I got from VoxelViewer's calibration flow.
Under the same condition (25cm, 24MHz), I got 107 after VoxelViewer's calibration?
I resume VoxelViewer and check the phase->distance info in right-bottom corner.
107 can't make distance right, but point cloud keep a good shape.
I apply 1,836 to phase_corr1, the center point phase->distance is quite close to my set 0.25mm, but the total shape is awful.

The following pictures are test in the same conditions for reference,

In the direction mentioned in title,

I can see four different type of boards?

I know the differences between Haddock and TinTin,

but what are Voxel14 and VoxelD (and also Voxel24 mentioned in the descriptions)?

In addition, I noticed there are various name of .conf files,

how do I know which one is loaded when I open a device, let's say, TinTin for example,

by using SimpleVoxelViewer.exe or VoxelCLI.exe?

Hi,

We would like to get a program code for TinTin board that captures frames and write them in a dump file in a streaming way.
Our idea is to read this dump file that contains a processed depth map from Matlab and perform some algorithm for a people counting application.
Can you help us on this?

regards,
Amjad

CameraSystemReadStreamTest currently reads .vxl files and prints out the frame size in each frame.
It can be made more useful by providing options to extract these frames to raw binary files.

I noticed in my latest Ubuntu install of pcl following the below command:

  sudo apt-get install libpcl-all

it does not install libpcl-visualization.so needed b voxelsdk. I had to download pcl-1.7.2 directly from PCL Github and build it to have PCL properly installed. Please verify this and update the wiki.

On Behald of Alex :
While trying to build the Voxel-SDK library -

In Ubuntu 15.04 (SWIG 2.0.5 and g++ 4.9.2 I am getting compile errors from both SWIG (when it encounters a construct llike this:
Foo<bar>
it can be fixed by adding a space:
Foo<bar >)
and from g++ (being unable to generate a default constructor)

I used VoxelCLI.exe command "save" to get stream data,

I would like to know what are the data format generated by setting various parameters like raw/raw_processed/depth/pointcloud?

especially depth and pointcloud.

Thank you.

Dear Sir: I download your voxel sdk and try it. (using the PCL-1.7.2-AllInOne-msvc2013-win64.exe that you upload in box.) however, SimpleVoxelViewer.exe asks for vtkRenderingContextOpenGL-6.1.dll.
But the PCL-1.7.2-AllInOne-msvc2013-win64.exe only provide vtkRenderingContextOpenGL-6.2.dll.
How can I fix it?
tnks a lot!

PCL and Qt are optional dependencies and not strictly required. Need to update the build system to mark these as optional and build without them.

Hi,

This question sometimes happen when doing some changes in .conf file.

This would allow switching betweeen release and non-release builds without overwriting all files each time. We can do this by generating the output file structure under a build-name directory instead of the top-level build directory.

(The current behavior is a regression from 0.5.7 due to the restructuring of the output directories).

Hi,

I wanted to know if the tin-tin CDK was tested on USB3.0 ports on Linux? We have some NUC i5s that we would like to use with these CDKs. Is it expected to work the same way ?
Also where is the documentation for the board that specifies the trigger pin, we would like to trigger it externally for data acquisition.
-Best Regards,
Chinmay

Please find point-wise response (for software-parts here) -

1. Regarding stream capture in Python -
   A: Please have a look at VoxelSDK/Test/CameraSystemTest.py. It is currently illustrating capture of point cloud frame, but by using 'Voxel.DepthCamera.FRAME_RAW_FRAME_UNPROCESSED' while registering for callback you can get 'frame' object which is of type 'Voxel.RawDataFrame'. This should give access to raw quad data. So, in your case, you'll have to change the registerCallback()'s argument and also fix the callback() as required. Note that callback() is called in a separate thread just like in the case of callback by using plain C++ SDK.
2. Documentation
   A: Currently, VoxelSDK Wiki and Doxygen is what we have. We plan to have more details put to it in time. Also, the ultimate documentation in case of open-source code is the code itself. 😊 That said, if you have any specific questions, please do send them to us.
3. What is the difference between close(), reset(), and stop() for DepthCamera objects?
   A: close() -- closes all internal links to the camera including its stream interfaces and control interfaces. In effect, that DepthCamera instance is done for and cannot be used for any further communication.
   reset() -- performs a "software" reset of depth camera. Instance remains intact and is usable after this. Software reset in effect resets the registers and re-initializes internal states of depth camera hardware.
   stop() -- stops the stream, so callbacks do not get called after this. Works only if DepthCamera instance is currently streaming (started by call to start())
4. We eventually want to run mulitiple cameras (4 for now) with the VoxelSDK. To solve the correspondence problem we need a unique identifier per frame per camera. How can we do this?
   A: Every frame coming out of Voxel SDK has a 'timestamp' field which gives real local time as a unix timestamp. Its unit is micro-seconds. Also, every frame has an 'id' field which is generated internally with a running counter. Note that these counters are not unique across DepthCamera instances and also not unique across start() -- stop() cycles.
5. What is the limit on the number of cameras that can be managed with the CameraSystem Object?
   A: There is no limit imposed by the software. It is only limited by
   -- number of devices that you can actually connect to your computing device running Voxel SDK
   -- CPU/memory resources available on your computing device. We observed that on a 2.5GHz machine, a 320x240 stream capture at 60fps takes on an average 6-8% of CPU time.
   -- limits of USB hub that you connect, etc.

I've not answered one question regarding first frame being not usable. I'll leave it for Anand to answer. It might be good to leave the first few frames in general.

Feel free to ask more questions or if something is not clear here.

Questions email:

We are currently using the Python script you sent us to set registers, read out frames, and extract the raw quads. This works fine for right now, but we'd like to use Python to stream from the camera and grab a frame when called. Looking through VoxelSDK, I can see that this should be possible, but I'm having issues with it. Could you send us a script demonstrating how to stream the raw quads? That is, we'd like to be able to set the registers and then be able to set the camera to streaming and then capture a frame when called.

Also, is there any other documentation for the VoxelSDK beyond the GitHub Wiki and Doxygen? It'd be helpful if there were a document which described in detail what each object/function is/does.

Finally, I have several questions about the VoxelSDK/camera:
We've noticed that the first frame read out from the camera is scrambled and aliased about 25% of the time. We don't observe this for any frame past the first one. Do you know why?
What is the difference between close(), reset(), and stop() for DepthCamera objects?
We eventually want to run mulitiple cameras (4 for now) with the VoxelSDK. To solve the correspondence problem we need a unique identifier per frame per camera. How can we do this?
What is the limit on the number of cameras that can be managed with the CameraSystem Object
We're all really excited about the potential of TI time of flight cameras. Thanks a lot for the support!

Thanks!

What's the function of *.dml under \VoxelCommon\conf?
I saw they are "OPT8320", "OPT9220", "OPT9221".
I remove them and "VoxelViewer" will fail to link device, but "VoxelCLI" is workable still.

Can I use voxelsdk with makefile only? Because I am wrapping voxelsdk into another sdk, which didn't use cmake system. Thank you !

(VS 2013 community + qt-vs-addin-1.2.3 + Qt 5.4.2)
I try to involve the sample code (SimpleVoxelViewer.cpp) into my new create Qt project.
I got compile errors while the code involves “PCLViewer” or “CLIManager”,
(1) Voxel::PCLViewer v;, or,
(2) Voxel::CLIManager manager(sys);

error LNK2019: unresolved external symbol "public: void __cdecl Voxel::PCLViewer::stop(void)" (?stop@PCLViewer@Voxel@@QEAAXXZ) referenced in function "public: virtual __cdecl Voxel::PCLViewer::~PCLViewer(void)" (??1PCLViewer@Voxel@@UEAA@XZ)

The error message, it looks like I lack some specific lib file(s).
But I have involved the following lib(s) in the project setting,
What LIB(s) else I need to link? Or that message caused by the other problems?

We can see many .conf under the following directory,
..\Program Files\Texas Instruments\Voxel Viewer-0.3.9\VoxelViewer\VoxelCommon\conf
Form the file name, we can see some file is set for "Long Range", some one is for "Short Range"...
If my NB connects a Tintin, and I resume VoxelViewer.exe, which file (.conf) will be used as default?
Or where to set to make a file as the default setting?

Hi all,

I've compile the source code in release mode before and the executable(SimpleVoxelViewer) can successfully run.

However, I tried compile in debug mode a moment ago and run the executable, sadly it crashed.

So I set a few break points in the code to see what happened, the result shows that the device seems cannot be found.

I traced the code to "Configuration.cpp" and found that the program tried to load "ti3dtof.dll" from the wrong path.

So I then copied all the files from debug folder to release folder, and the device can be found.

but this time another error popped up, and I couldn't figure out why

VoxelCLI has most features needed to work with a camera. However it is missing the ability to set a camera profile.

This would be useful to allow switching to profiles other than the default

There's a compile error while the make all command for voxelsdk under my environment as below.

Ubuntu 14.04x64
g++/gcc v4.9.2
And the issue was the same one described by this post
I've wrote a fix solution you might want to check, if it won't lead into other new issues, please consider merge it in.

After installing the binary for Voxel SDK and building DepthCapture.cpp, the executable doesn't perform any action.

I found a problem, and the steps like,

1. Place ToF 20cm in front of a whilte wall,
2. As I knew, the default modulation frequency is 48MHz, we set "phase_corr1 = 0" in conf, and reset wisepixel bin file to all zero.
3. Use VoxelCli->"save raw", and decode phase data, the average phase around the center (160,120) is about 1,700.
4. VoxelCli->"set mod_freq1 = 24", and "save raw" again, the average phase in the center is almost same to we got (1,700) in default 48Mhz.

I think it doesn't work to change modulation frequence by command.
And hardware team suggests me to use 24Mhz upon Voxel-D for some reason.

How to change the default frequency to 24Mhz?
I see some relative code in "ToFTinTinCamera.cpp".
And I need more solid info to indicate me modify it.

How do I control using Voxel SDK the TinTin CDK's illumination?

Is there voxelsdk C++ example showing how to get calibration point cloud? The current example does not seem to provide calibrated point cloud (selecting the profile that has the proper calibration?).