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Merge branch '51-o3d3xx-o3x1xx-add-python-based-examples' into 'main'
Release for O3D and O3X examples Closes #51 See merge request syntron/support/csr/ifm3d/ifm3d-examples!50
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,4 @@ | ||
| ifm3dpy | ||
| numpy | ||
| numpy | ||
| open3d | ||
| opencv_python |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,194 @@ | ||
| #!/usr/bin/env python3 | ||
| ############################################# | ||
| # Copyright 2024-present ifm electronic, gmbh | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
| ############################################# | ||
| """This program is a small viewer that can | ||
| be used to display amplitude, distance, xyz or JPEG | ||
| images from any of the supported devices (O3X, O3D and O3R). | ||
| The JPEG image is only supported for the O3R platform. | ||
| """ | ||
|
|
||
| import argparse | ||
| import collections | ||
| from functools import partial | ||
| import logging | ||
| import time | ||
| from typing import Callable | ||
| import cv2 | ||
| from ifm3dpy.device import Device, O3R | ||
| from ifm3dpy.framegrabber import FrameGrabber, buffer_id | ||
|
|
||
|
|
||
| logger = logging.getLogger(__name__) | ||
| logging.basicConfig(level=logging.INFO, format="%(message)s") | ||
|
|
||
| try: | ||
| import open3d | ||
|
|
||
| OPEN3D_AVAILABLE = True | ||
| except ModuleNotFoundError: | ||
| OPEN3D_AVAILABLE = False | ||
|
|
||
|
|
||
| def get_jpeg(self, img_queue: collections.deque): | ||
| """Get the JPEG image from the frame | ||
| and decodes it so it can be displayed. | ||
| """ | ||
| rgb = cv2.imdecode(self.get_buffer(buffer_id.JPEG_IMAGE), cv2.IMREAD_UNCHANGED) | ||
| img_queue.append(rgb) | ||
|
|
||
|
|
||
| def get_distance(self, img_queue: collections.deque): | ||
| """Get the distance image from the frame | ||
| and normalizes it for display. | ||
| """ | ||
| img = cv2.normalize( | ||
| self.get_buffer(buffer_id.RADIAL_DISTANCE_IMAGE), | ||
| None, | ||
| 0, | ||
| 255, | ||
| cv2.NORM_MINMAX, | ||
| cv2.CV_8U, | ||
| ) | ||
| img = cv2.applyColorMap(img, cv2.COLORMAP_JET) | ||
| img_queue.append(img) | ||
|
|
||
|
|
||
| def get_amplitude(self, img_queue: collections.deque): | ||
| """Returns the amplitude data extracted | ||
| from the frame. | ||
| """ | ||
| img_queue.append(self.get_buffer(buffer_id.NORM_AMPLITUDE_IMAGE)) | ||
|
|
||
|
|
||
| def get_xyz(self, img_queue: collections.deque): | ||
| """Returns the xyz data extracted | ||
| from the frame. | ||
| """ | ||
| img_queue.append(self.get_buffer(buffer_id.XYZ)) | ||
|
|
||
|
|
||
| def display_2d(fg: FrameGrabber, getter: Callable, title: str): | ||
| """Display the requested 2D data (distance, amplitude or JPEG)""" | ||
| if getter.__name__ == "get_jpeg": | ||
| fg.start([buffer_id.JPEG_IMAGE]) | ||
| else: | ||
| fg.start( | ||
| [ | ||
| buffer_id.NORM_AMPLITUDE_IMAGE, | ||
| buffer_id.RADIAL_DISTANCE_IMAGE, | ||
| ] | ||
| ) | ||
| img_queue = collections.deque(maxlen=10) | ||
| fg.on_new_frame(partial(getter, img_queue=img_queue)) | ||
| time.sleep(3) | ||
|
|
||
| cv2.startWindowThread() | ||
| cv2.namedWindow(title, cv2.WINDOW_NORMAL) | ||
| while True: | ||
| if img_queue: | ||
| cv2.imshow(title, img_queue.pop()) | ||
| cv2.waitKey(15) | ||
|
|
||
| if cv2.getWindowProperty(title, cv2.WND_PROP_VISIBLE) < 1: | ||
| break | ||
|
|
||
| cv2.destroyAllWindows() | ||
|
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||
|
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||
| def display_3d(fg: FrameGrabber, getter: Callable, title: str): | ||
| """Stream and display the point cloud. | ||
| """ | ||
| fg.start( | ||
| [buffer_id.XYZ] | ||
| ) | ||
| img_queue = collections.deque(maxlen=10) | ||
| fg.on_new_frame(partial(getter, img_queue=img_queue)) | ||
| time.sleep(3) | ||
| vis = open3d.visualization.Visualizer() | ||
| vis.create_window(title) | ||
|
|
||
| first = True | ||
| while True: | ||
| if img_queue: | ||
| img = img_queue.pop() | ||
|
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| img = img.reshape(img.shape[0] * img.shape[1], 3) | ||
| pcd = open3d.geometry.PointCloud() | ||
| pcd.points = open3d.utility.Vector3dVector(img) | ||
|
|
||
| vis.clear_geometries() | ||
| vis.add_geometry(pcd, first) | ||
| if not vis.poll_events(): | ||
| break | ||
|
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| vis.update_renderer() | ||
|
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| first = False | ||
|
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| vis.destroy_window() | ||
|
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|
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| def main(): | ||
| image_choices = ["distance", "amplitude", "jpeg"] | ||
| if OPEN3D_AVAILABLE: | ||
| image_choices += ["xyz"] | ||
|
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| parser = argparse.ArgumentParser() | ||
|
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| parser.add_argument( | ||
| "--image", | ||
| help="The image to received (default: distance). The jpeg image is only available for the O3R.", | ||
| type=str, | ||
| choices=image_choices, | ||
| required=True, | ||
| ) | ||
| parser.add_argument( | ||
| "--ip", | ||
| help="IP address of the sensor (default: 192.168.0.69)", | ||
| type=str, | ||
| required=False, | ||
| default="192.168.0.69", | ||
| ) | ||
| parser.add_argument( | ||
| "--xmlrpc-port", | ||
| help="XMLRPC port of the sensor (default: 80)", | ||
| type=int, | ||
| required=False, | ||
| default=80, | ||
| ) | ||
| parser.add_argument( | ||
| "--port", | ||
| help="The port from which images should be received (for the O3R only)", | ||
| type=str, | ||
| required=False, | ||
| ) | ||
| args = parser.parse_args() | ||
|
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| getter = globals()["get_" + args.image] | ||
|
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| device = Device(args.ip, args.xmlrpc_port) | ||
| device_type = device.who_am_i() | ||
| logging.info(f"Device type is: {device_type}") | ||
| if device_type == device.device_family.O3R: | ||
| if args.port is None: | ||
| raise ValueError("A port should be provided.") | ||
| o3r = O3R(args.ip) | ||
| fg = FrameGrabber(device, pcic_port=o3r.port(args.port).pcic_port) | ||
| logging.info(f"Port: {args.port}") | ||
| else: | ||
| fg = FrameGrabber(device) | ||
| if args.image == "jpeg": | ||
| raise ValueError("JPEG images are only supported on the O3R platform.") | ||
|
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| title = f"{device_type} viewer" | ||
|
|
||
| if args.image == "xyz": | ||
| display_3d(fg, getter, title) | ||
| else: | ||
| display_2d(fg, getter, title) | ||
|
|
||
|
|
||
| if __name__ == "__main__": | ||
| main() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,90 +1,3 @@ | ||
| # O3D3xx and O3X1xx examples | ||
|
|
||
| # ifm3d Examples | ||
|
|
||
| This project is formerly the `examples` sub-module of the | ||
| [ifm3d](https://github.com/ifm/ifm3d) project. It has been moved to a | ||
| standalone project to increase its efficacy as a teaching tool. Specifically, | ||
| beyond providing concrete code examples for interfacing to `ifm3d` it also | ||
| shows how to integrate `ifm3d` into an external project via `cmake`. This | ||
| project relies upon `ifm3d` version 1.4.3 or better. The remainder of the old | ||
| `README` now follows -- with minor edits. | ||
|
|
||
| This directory contains example programs that utilize `ifm3d`. The | ||
| intention is to create standalone programs that illustrate one very specific | ||
| concept in order to serve the purpose of letting developers ramp up quickly | ||
| with using the library. The build infrastructure in this directory is minimal | ||
| and the programs are intended to be run in place. Additionally, unless | ||
| specifically stated otherwise, things like performance and robust error | ||
| handling are not demonstrated. The purpose is to clearly illustrate the task | ||
| without clouding it with the details of real-world software engineering -- | ||
| unless, of course, that was the point of the example. | ||
|
|
||
| It is expected that this library of examples will grow over time in response to | ||
| common themes we see on the issue tracker. | ||
|
|
||
| ## Prerequisites | ||
| - [fmt](https://github.com/fmtlib/fmt.git) | ||
| - [openCV](https://opencv.org/releases/) | ||
|
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||
|
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||
| ## Building the examples | ||
|
|
||
| Assuming you are starting from the top-level directory of this source | ||
| distribution: | ||
|
|
||
| $ mkdir build | ||
| $ cd build | ||
| $ cmake .. | ||
| $ cmake --build . | ||
|
|
||
| ### Windows examples | ||
| For Windows-based target, with Visual Studio 2017, assuming you are starting from the top-level directory of this source | ||
| distribution: | ||
|
|
||
| $ set IFM3D_CMAKE_GENERATOR="Visual Studio 17 2022" | ||
| $ cd ifm3d-examples/o3d3xx-o3x1xx | ||
| $ mkdir build | ||
| $ cd build | ||
| # Note: To show images Opencv is used,hence build path to opencv is added into -DCMAKE_PREFIX_PATH | ||
| $ cmake -G %IFM3D_CMAKE_GENERATOR% -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DCMAKE_PREFIX_PATH=F:\windows\ifm3d_deps\install;F:\opencv-4.9.0-windows\opencv\build .. | ||
| $ cmake --build . --config Release --target ALL_BUILD | ||
|
|
||
| At this stage, projects are built and you will find *IFM3D_EXAMPLES.sln* in build folder. | ||
| Use Release / RelWithDebInfo configuration to run and investigate application examples. | ||
| Please add PATH variable to projects : | ||
|
|
||
| PATH=%IFM3D_BUILD_DIR%\install\bin;%IFM3D_BUILD_DIR%\install\x64\vc%MSVC_MAJOR_VERSION%.%MSVC_MINOR_VERSION%\bin;%PATH% | ||
|
|
||
| For instance, you can fill directly in VS *Project Properties* / *Debugging* / *Environment* with `PATH=C:\ifm3d\install\bin;C:\ifm3d\install\x64\vc14.1\bin;%PATH%` | ||
|
|
||
| ## What is included? | ||
|
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|
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||
| * [ex-file_io](file_io/ex-file_io.cpp) Shows how to capture data from the camera and | ||
| write the images to disk. In this example, the amplitude image is written out as PNG files. | ||
| * [ex-getmac](getmac/ex-getmac.cpp) | ||
| Request the MAC address from the camera. The MAC address can be used as | ||
| a unique identifier. | ||
| * [ex-timestamp](timestamp/ex-timestamp.cpp) | ||
| Request some frames from the camera and write the timestamps to stdout | ||
| * [ex-exposure_times](exposure_time/ex-exposure_times.cpp) Shows how to change imager | ||
| exposure times on the fly while streaming in pixel data and validating the | ||
| setting of the exposure times registered to the frame data. | ||
| * [ex-fast_app_switch](fast_app_switch/ex-fast_app_switch.cpp) Shows how to switch between two | ||
| applications on the camera using PCIC | ||
| * [ex-pcicclient_async_messages](pcicclient_async_messages/ex-pcicclient_async_messages.cpp) Shows how to | ||
| use the PCICClient module to receive asynchronous notification (and error) | ||
| messages from the camera. | ||
| * [ex-pcicclient_set_io](pcicclient_set_io/ex-pcicclient_set_io.cpp) Shows how to mutate the digial IO pins | ||
| on the O3D camera by the PCIC interface. | ||
| * [ex-simpleImage_ppm_io](simpleimage/example/ex-simpleImage_ppm_io.cpp) Shows how to write your own | ||
| image container which does not depend on PCL nor OpenCV. | ||
| * [ex-multi_camera_grabber](multi_camera_grabber/ex-multi_camera_grabber.cpp) demonstrate's how to acquire frames from multiple ifm 3D camera's, | ||
| see the example [documentation](doc/ex-multi_camera_grabber.md) for more details. | ||
|
|
||
| ### Note: Use of `Device` and `LegacyDevice` class | ||
|
|
||
| Please note `Device` is the base class and `LegacyDevice` inherits from the `Device` class. Object from `ifm3d::Device` can be created while accessing the device functionalities and `ifm3d::LegacyDevice` object can be created while using the application specific methods of legacy devices like `O3D/O3X`. | ||
|
|
||
| ## LICENSE | ||
| Please see the file called [LICENSE](LICENSE). | ||
| This folders container Python and C++ examples for the O3D3xx and O3X1xx series of devices. Head to the `cpp` or to the `python` folder for more details on the individual examples in these languages. |
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