Acquisition of specific point[pixel] LiDAR depth information

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Created Nov ’23

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Hello!

I have recently begun exploring the "Capturing depth using the LiDAR camera" Documentation using AVFoundation and intend to acquire the depth information of specific points based on touch.

I have two main doubts and would be grateful if any clarification can be provided.

How and in which format can I access the specific point/pixel information and ensure that it is tracking/displaying the accurate point I acquire from the touch gesture. [basically how are the pixels tagged to their specific data]
What is the unit of measure for the LiDAR Depth data? also what is the range for which data accuracy is guaranteed?

it would be great if you could push me in the right direction in the search of answers. [I have gone through the documentation in depth]

Thanks in advance.

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TSHKS OP

Dec ’23

Hello JoonAhn!

Thank you for your swift response. It is helpful.

I understand the overall process involved in acquiring the depth data via the singular point but until now I haven't been able to pinpoint the specific details of the touched point in regard to its LiDAR data.

I paid a visit to the GitHub link you provided and I am trying to understand the pickPoint function and how it can be used. Although a little tricky, I understood that I would need to fix a probeRadius with a unit radius length and then use certain length and cosine equations while also assigning the PickIdx to the idx for acquisition.

Please let me know if you have any more suggestions or advice while I try to edit the code and display a specific pixel's LiDAR data.

Thanks for the help once again.

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