Reply to Understanding the return value of getUint16LittleEndian(array, index) on Tue, 17 Jan 2023 16:23:36 GMT

Electro — Tue, 17 Jan 2023 16:23:36 GMT

Hello, I have yet to get an Onion Tau LiDAR and have been wondering the capabilities of this device. What I want to accomplish is finding the closest point in the frame. One of the simplest ways of doing so seem to be through the getUint16LittleEndian(array, index) method. Is it possible to get a picture of what the method returns? Also, how do you call this method?

If this does return just the LiDARs smallest number (Z), is there any way of getting the index ((X, Y) or a index number if it is just one long array) of that smallest point?

Reply to Understanding the return value of getUint16LittleEndian(array, index) on Mon, 30 Jan 2023 22:27:19 GMT

Lazar Demin — Mon, 30 Jan 2023 22:27:19 GMT

@Electro the getUint16LittleEndian method is used for reading 16-bit integers from the Camera. It's used for reading the camera's configuration/settings. See this search for the getUint16LittleEndian method on the tau camera github repo for details of when it's used.

For your purposes of finding the closest point in the frame, you should look at the readFrame method. It will return a Frame object with distance/depth. See the related documentation entry for more info.

You can see the readFrame method in action, as well as how OpenCV is used to render pictures using the data in the example programs.

Enjoy!