TI 3D ToF Calibration, Document

• White Paper SLOA230–January 2016 Filtering for 3D Time-of-Flight Sensors
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• Technical White Paper SLOA190B – January 2014 Revised May 2014  Time-of-Flight Camera – An Introduction


• Figure 6: Same face, different shading.
• Table 1: Comparison of 3D Imaging Technologies
• Non-Gesture Applications
• Gesture Applications

TI Designs People Counting for Demand Controlled Ventilation Using 3D Time-of-Flight (ToF) Reference Design

• Wide field of view: H74.4° × V59.3°
• 4.5.1.3 Image Subtraction
• void Horus::clipBackground(Mat &dMat, Mat &iMat, float dThr, float iThr)
• {
•  for (int i = 0; i < dMat.rows; i++) {
•  for (int j = 0; j < dMat.cols; j++) {
•  float val = (iMat.at(i,j)>iThr && dMat.at(i,j)>dThr) ? 255.0 : 0.0;
•  dMat.at(i,j) = val;
•  }
•  }
• }
• 4.5.2 Binary Image and Morphology Filter

• 4.5.3.3 Region Growing

• Figure 14. Region Growing Algorithm in People Counting [8]
• 6.10 Install PCL
•  freeglut3
• • libboost-chrono1.55.0
• • libboost-date-time1.55.0
• • libboost-filesystem1.55.0
• • libboost-iostreams1.55.0
• • libboost-system1.55.0
• • libboost-thread1.55.0
• • libc6 (≥ 2.9)
• • libgcc1 (≥ 1:4.4.0)
• • libgl1-mesa-glx | libgl1
• • libgomp1 (≥ 4.9)
• • libpng12-0 (≥ 1.2.13-4)
• • libqhull6 (≥ 2012.1)
• • libstdc++6 (≥ 4.9)
• • libusb-1.0-0 (≥ 2:1.0.8)
• • libvtk5.8
• If all the dependencies are met, install the pre-built PC
• 
  
• Install Voxel SDK 
• debian# ./install_voxelsdk.sh
• debian# cd /usr/local/include debian# sudo ln ±s voxel-0.6.0 voxel
• debian# export VOXEL_SDK_PATH=/home/debian/Software/voxelsdk/build 
•  debian# vi ~/.bashrc
• export VOXEL_SDK_PATH=/home/debian/Software/voxelsdk/build 
• 8.1 Frame Size and Frame Rate Performance

• 8.2.1 OPT8241 CDK Power Profile

• Simple People Tracking algorithm
• Getting Started with  3D Time-of-Flight Sensing Session 5 System offset calibration
• 3D-TOF Calibration Flow
• Lens Calibration
• – Find radial and tangential distortions so pin-hole camera
• model can be used to compute point clouds from depths.
• Frequency Calibration
• – Compensate distance error arise from frequency error.
• Nonlinearity Calibration
• – Compensate for nonlinearity from imperfect sinusoids.
• Common Phase Calibration
• – Determine common phase offset at image center and
• correlate that phase to a known distance.
• Pixel-wise Calibration
• – Determine expected additional offsets for off-center pixels
• so distance to off-center pixels can be correlated.
• Temperature Calibration
• – Compensate for phase drift from temperature.
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