Arducam time of flight camera for 3d segmentation and distance estimation

Описание: This project combines an Arducam Time of flight depth camera with an esp32-cam to do 3-dimensional segmentation and distance estimation. I've used a raspberry pi 4B to capture and process the images from the depth and the esp32-cam.

UPDATE: If you get an error with the camera (bad cast or similar), it's because of the index. So, for cam.open(ac.TOFConnect.CSI,0), try cam.open(ac.TOFConnect.CSI,2). Basically to get the index, you can use find_webcam_index defined below. This usually returns 0 or 2. Try "v4l2-ctl-list-devices" to check if "unicam" is there first. You camera might be called something else.

camIDx = int(find_webcam_index("unicam"))
and then try cam.open(ac.TOFConnect.CSI, camIDx)

where:

import subprocess

def find_webcam_index(device_name):
command = "v4l2-ctl --list-devices"
output = subprocess.check_output(command, shell=True, text=True)
devices = output.split('\n\n')

for device in devices:
if device_name in device:
lines = device.split('\n')
for line in lines:
if "video" in line:
parts = line.split()
for part in parts:
if part.startswith('/dev/video'):
print(part)
return (part[10:])

The Arducam depth camera can be bought at the below site (also available on Amazon).
https://www.arducam.com/product/time-...

To setup the arducam camera follow the instruction here:
https://github.com/ArduCAM/Arducam_to...

Files are on Github:
https://github.com/jonathanrandall/Ti...

Solution for esp32-cam feed delay on raspberry pi is here:
https://stackoverflow.com/questions/4...