This page is in preparation for the next release. See the ADCAM tag v0.1.0-a.1 for the latest release.
This repository contains the source code for the ADI ADCAM Camera Kit, which is built around the ADTF3175D Time-of-Flight (ToF) Mega-Pixel imager and the ADSD3500 Depth ISP.
The ADCAM hardware interfaces with the NVIDIA Jetson Orin Nano Developer Kit or the Raspberry Pi 5 over MIPI CSI-2 for image data, and uses USB-C solely for power. Unlike the earlier ADTF3175D Evaluation Kit, the ADCAM introduces two key improvements:
- Dual ADSD3500 Depth ISPs
Depth computation is fully handled by hardware, eliminating the need for proprietary SoC-based depth processing libraries. The only exception is the radial-to-XYZ (point cloud generation) step, which is implemented in the open-sourcelibaditoflibrary.
This repository depends on the following components:
- ToF-drivers
Provides the V4L2 camera sensor driver for the ADSD3500 Depth ISP, along with device tree sources and kernel patches as required. - libaditof
Provides the SDK supporting the ADCAM system, integrating ADSD3500 Depth ISP processing with the ADI ToF imager.
- License:
- Hardware Documentation:
See the latest Quick Start Guide for details on getting the system and hardware ready for any development use.
- NVIDIA Jetson Orin Nano Developer Kit: JetPack 6.2.1
- Raspberry Pi 5: Raspberry Pi OS Full (64-bit) Debian Trixie, release 2025-12-04
| Example | Language | Description |
|---|---|---|
| tof-viewer | C++ | Graphical User interface for visualising stream from depth camera |
| data-collect | C++ | A command line application that takes in command line input arguments (like number of frames, mode to be set, folder location to save frame data) and captures the frames and stores in path provided |
| first-frame | C++ Python |
An example code that shows the steps required to get to the point where camera frames can be captured. |
| Example | Language | Description |
|---|---|---|
| ROS2 Application | C++ | A more extensive ROS2 example based on the ADI ToF SDK. |
| Stitching Algorithm | C++ | A stiching algorithm using ADI ToF data. |
| Directory | Description |
|---|---|
| apps | Applications specific to various targets and hosts |
| bindings | SDK bindings to other languages |
| ci | Useful scripts for continuous integration |
| cmake | Helper files for cmake |
| dependencies | Contains third-party and owned libraries |
| doc | Documentation |
| drivers | Holds drivers for nxp and nvidia |
| examples | Example code for the supported programming languages |
| scripts | Useful development scripts |
| tools | Standalone applications |
| ToF-drivers (submodule) | ADSD3500 V4L2 Camera Sensor device driver |
| libaditof (submodule) | Submodule with SDK source code |
Note, prior to committing to the repo it is important to format the source code, see the code formatting document.
- CMake
- g++
- Python 3 - note, we are assuming Python 3.8 in this document, change as needed for your setup
- OpenCV - for the examples
- OpenGL - for the examples
- Doxygen - for documentation generation
- Graphviz - for documentation generation
sudo apt update
sudo apt install cmake g++ \
libopencv-dev \
libgl1-mesa-dev libglfw3-dev \
doxygen graphviz \
libxinerama-dev \
libxcursor-dev \
libxi-dev \
libxrandr-dev \
python3.10-devsudo apt update
sudo apt install cmake g++ \
libopencv-dev \
libgl1-mesa-dev libglfw3-dev \
doxygen graphviz \
libxinerama-dev \
libxcursor-dev \
libxi-dev \
libxrandr-dev \
python3.13-devIn addition the depth compute libraries are required.
You can get the two library from the ADCAM release software, but please note in which case it is under an evaluation license.
For a non-eval license please contact us at tof@analog.com.
These libraries must be in a folder called libs that in one level below the cloned ADCAM repo folder. For example:
(aditofpython_env) analog@analog-desktop:~/dev/ADCAM$ pwd
/home/analog/dev/ADCAM
(aditofpython_env) analog@analog-desktop:~/dev/ADCAM$ tree ../libs
../libs
├── libtofi_compute.so
└── libtofi_config.so
Let's start with a standard build. Where we need:
- Clone the repo.
- Update the required submodules.
- Check out the requried branch.
- Build the code.
git clone https://github.com/analogdevicesinc/ADCAM.git
cd ADCAM
git submodule update --init
git checkout <branch or tag>
cd libaditof
git checkout <branch or tag>
cd ..
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build . -j 6There are a number of build options available via the root CMakeLists.txt file: https://github.com/analogdevicesinc/ADCAM/blob/6e5b722b5c36923065c4a3be96ad0553d387e699/CMakeLists.txt#L20C1-L24C109
option(WITH_EXAMPLES "Build examples?" ON)
option(WITH_DOC "Build documentation?" OFF)
option(WITH_PYTHON "Build python bindings?" ON)
option(WITH_NETWORK "Build network interface?" OFF)
set(WITH_PLATFORM "AUTO" CACHE STRING "Platform selection") # Options are: "AUTO", "NVIDIA", "RPI" or "HOST"
- WITH_EXAMPLES: Builds all examples that are in the examples folder. Default: ON - ie, build examples.
- WITH_DOC: Builds the doxygen documentation. Default: OFF - ie, do not build documentation.
- WITH_PYTHON: Builds the Python bindings library, which is required for the Python examples (see: examples/bindings/python). Default: OB - ie, build Python bindings.
- WITH_NETWORK: Its complicated, ignore for now. Default: OFF - ie, do not build with network functionality enabled.
- WITH_PLATFORM: Sets the target platform for the build. Default: AUTO - ie, attempt to auto detect the platform.
- AUTO: Auto detect between the NVIDIA, Raspberry or Host device
- NVIDIA: Forces a build for NVIDIA Jetson Orin Nano Dev Kit
- RPI: Forces a build for the Raspberry Pi 5
An example build showing how to change an option during the build process. For this we will disable building the Python bindings.
Starting in the root of the cloned ADCAM folder:
git checkout rel-0.2.0-a.1
cd libaditof
git checkout rel-7.0.0-a.1
cd ..
mkdir build
cd build
cmake -DWITH_PYTHON=OFF -DCMAKE_BUILD_TYPE=Release ..
cmake --build . -j 6
