Voxel Viewer
Voxel Viewer
The purpose of this user manual is to familiarize Voxel Viewer users with the software, including the GUI layout, and navigation around the menus, windows, and controls. This document also covers the various calibration procedures required for accurate measurements. Chapter 1 provides an introduction to the 3D time-of-flight (ToF) technology and provides an overview of the contents. Chapter 2 covers the user interface details, including the various display and control elements. Chapter 3 covers the basic operation of the Voxel Viewer, including setting of parameters, import and export of data. Chapter 4 covers the calibration that includes lens calibration, modulation frequency calibration, crosstalk and nonlinearity calibration, common phase calibration, and finally, pixel-wise calibration. The last chapter, Chapter 5, covers the time-of-flight controller (TFC) programming.
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1 Introduction
1.1 TI 3D Depth Sensors
Texas Instruments offers a family of 3D Depth Sensor chipsets. Each chipset includes an imaging component and a digital component, implemented as 1-chip, 2-chip, or 3-chip solutions. The first generation chipset, codename “Haddock”, is a 3-chip solution (OPT8140+VSP5324+OPT9220). The second generation chipset, codename “TinTin”, is a 2-chip solution (OPT8241+OPT9221); both have a 320x240 pixel resolution. Future generations will include 1-chip or 2-chip solutions in different pixel resolutions.
1.2 Operating Principles
All of these chipsets measure depth based on ToF principle where the scene is illuminated with modulated light at 850-nm wavelength. The phase difference between the emitted light and the light reflecting off the scene is measured, per pixel, and converted to depth; then the depth image is converted to point clouds, where each pixel is transformed into 3D coordinates with the origin at the optical center of the 3D ToF imager.
Figure 1. 3D Time-of-Flight Sensor Operating Principle 1.3 Voxel Viewer and Voxel SDK
To facilitate rapid time-to-market, TI offers an open-source software development kit (SDK), called Voxel SDK, from which one can develop custom 3D-ToF applications quickly. Furthermore, Voxel SDK contains sample applications that show how use the available APIs. The Voxel Viewer is a graphical application developed by TI that uses the Voxel SDK. The Voxel SDK enables users to evaluate the TI 3D ToF solutions without having to write any code.
