ToFCamera

ToFScanner: Camera2-based Time-of-Flight depth sensor scanner

Designed for Zebra TC73/TC78 devices with hardware ToF sensors (Camera ID: 2). Can operate independently of ARCore for pure Camera2 depth capture.

FIXES IMPLEMENTED FOR CONSTANT 8192mm DEPTH VALUES:

ROOT CAUSE FOUND: Sensor exposure time was 0ns - IR emitter was not activating!

FIX 1: Enable AUTO_EXPOSURE mode (THE CRITICAL FIX!) - Previous code disabled AE mode (CONTROL_AE_MODE_OFF) → 0ns exposure → no IR - Now enables AE mode (CONTROL_AE_MODE_ON) → camera controls IR emitter timing - Fallback: Manual exposure mode with explicit 20ms exposure + ISO 400 - Location: createCameraPreviewSession() - USE_AUTO_EXPOSURE flag

FIX 2: Configurable capture templates for experimentation - Started with TEMPLATE_PREVIEW (default for continuous streaming) - Can try TEMPLATE_RECORD or TEMPLATE_VIDEO_RECORD if needed - Location: CURRENT_TEMPLATE constant in companion object

FIX 3: Zero-exposure detection and diagnostics - Detects if exposure is still 0ns after enabling AE - Provides clear error message with troubleshooting steps - Suggests next templates/modes to try - Location: CaptureCallback.onCaptureCompleted()

FIX 4: Comprehensive sensor diagnostics - Logs all camera capabilities, control modes, AF/AE availability - Monitors capture results for exposure time, ISO, frame duration - Tracks capture success/failure rates - Location: startSession() and CaptureCallback

FIX 5: Stuck-depth-value detection (8192mm histogram analysis) - Detects when >90% of pixels have the same value - Provides actionable error messages - Location: processDepthImage()

EXPECTED RESULT: With AE mode enabled, exposure time should be non-zero (typically 10-30ms) and ToF sensor should return varying depth values instead of constant 8192mm.

If exposure is STILL zero after this fix:

• Try changing CURRENT_TEMPLATE to CameraDevice.TEMPLATE_RECORD

• Try USE_AUTO_EXPOSURE = false with manual exposure

• Contact Zebra support - may require vendor-specific Camera2 parameters