perciva_demo

Demo software to run Perciva 5D camera connected to a Windows PC

Requirements

Software tested on PC with Windows 11 and following installation using Visual Studio Community 2026 (Desktop development with C++) :

• Windows 11 SDK
• MSVC v18.x build tools
• C++ CMake tools for Windows

Note that it works also with MSVC v17.x (Visual Studio Community 2022)

Install openCV for windows in C: drive and check if *.lib binaries and *.cmake files are available here: C:/opencv/build/x64/vc16/lib. Modify the CMakeLists.txt if needed.

IMPORTANT: Add the link to openCV in the environment variable PATH: C:/opencv/build/x64/vc16/bin

Install Teledyne Spinnaker SDK on the PC. Modify the CMakeLists.txt with the correct path if needed.

To build this project and compile it, please use CMake into VSCode for example

User Guide

This application open two display windows showing depth map and demosaic image from Perciva camera. In depth image display, a ROI caculates an display the mean distance value. This ROI can be moved by click inside then click in the window to define a new center. The ROI size can be adapted changing in the code the constant: roi_size

ESC: Quit the application

3D image display:

This window displays the depth image from the camera. Some paraters are avaible to adjust the application settings. By default the Sparse depth image is displayed but the Dense depth image can also be used changing in the code the constant: dense_depth = FALSE

The maximum depth of the application can be modified with the parameter Max Depth (integer value in mm). The color displayed values and the color map are adjusted with this parameter.

For the ROI calculation two modes are available:

Mode=0: the calculated distance is the depth from the camera to the objetc. A paratemer can be adjusted to detect the presence of an object approaching the camera: the ROI rectangle turns orange when the depth is smaller than Depth th (integer value in mm)

Mode=1: the calculated distance is the height of the objetc: a subratction of the averaged value inside the ROI and a background distance defined by the parameter Back dist(integer value in mm). The Depth th parameter is still valid and defines the max height of the object to detect.

2D image display:

This window displays the demosaic image from the camera. Some camera controls are avalable.

Exposure: Exposure time of the sensor (integer value in us)

Again: Analog gain of the sensor from x1 to x16

Fps: frame rate in fps. Useful in case of flickering in the image.