Library and utilities for working with IFM Efector O3D3xx PMD-based ToF Cameras.
| libo3d3xx version | IFM Firmware Version | Supported Cameras | Notes |
|---|---|---|---|
| 0.1.7 | 0.06.13 | O3D303 | Initial Release |
| 0.1.8 | 0.06.39 | O3D303 | DEPRECATED, USE 0.1.9 |
| 0.1.9 | 0.06.39 | O3D303 | Initial support for 100k pixel images |
| 0.1.10 | 0.06.39 | O3D303 | DEPRECATED, USE 0.1.11 |
| 0.1.11 | 0.06.39 | O3D303 | Adds the XYZ OpenCV image |
| 0.2.0 | 1.1.288 | O3D303 | Cross-compilation support and exposing raw amplitude image |
| 0.3.0 | 1.3.1001 | O3D303 | 100k pixel support, pluggable pcic schemas, exposing extrinsics and unit vectors, installing to /usr, and more. |
| 0.4.0 | 1.3.1001 | O3D303 | Split up of the library into 3 modules: camera, framegrabber, image. |
| 0.4.1 | 1.4.1639 | O3D303 | Updates for Firmware version-1.4.x XML-RPC protocol changes. |
| 0.4.2 | 1.4.1639 | O3D303 | Fixed unit test validating Extrinsics (image module) |
| 0.4.3 | 1.4.1639 | O3D303 | Updated build scripts for Ubuntu 16.04 LTS (Xenial) and parallel installs of OpenCV 3 and 2.4 (e.g., systems w/ ROS Kinetic installed) |
| 0.4.4 | 1.4.1639 | O3D303 | SW triggering in framegrabber. |
| 0.4.5 | 1.4.1639 | O3D303 | SW triggering supports multiple concurrent PCIC connections |
| 0.4.6 | 1.6.2038 | O3D303 | Updates to XML-RPC protocol for 1.6 firmware |
| 0.4.8 | 1.6.2038 | O3D303 | Framegrabber is more robust to H/W volatility |
| 0.4.9 | 1.6.2114 | O3D303 | Support for v2 image chunk headers, ability to modulate exposure times on the fly. |
| 0.5.0 | 1.6.2114 | O3D303 | Addition of the oem module |
| 0.6.0 | 1.6.2114 | O3D303 | Addition of the pcicclient module |
| 0.7.0 | 1.6.2114 | O3D303 | Illu temp, pcic async messages |
| 0.7.1 | 1.6.2114 | O3D303 | Deadlock bug fix |
| 0.7.2 | 1.6.2114 | O3D303 | Time stamped image buffers |
| 0.7.3 | 1.6.2114 | O3D303 | Added o3d3xx-trace |
| 0.7.4 | 1.20.973 | O3D303 | Support for auto-exposure parameters |
| 0.7.5 | 1.20.1029 | O3D303 | Timestamp support in OEM image module |
High-level features of this library include:
- The code is written in modern C++11 (and will continue to evolve with the standard C++14, C++17, and beyond as compiler support matures).
- The library is modular, allowing developers to use only the parts they need without incurring the overhead of unnecessary dependencies.
- The
imagemodule of the library employs PCL and OpenCV native image formats for users who wish to immediately take advantage of the time-tested algorithms from these widely popular open-source packages. - Easily scriptable command line utilities are provided for performing common tasks associated with configuring, backing up, restoring, and introspecting, the camera settings. This scriptability lends itself to managing fleets of cameras for large-scale installations.
- A simple viewer application is provided (as part of the
imagemodule) for concurrently inspecting the point cloud, depth, amplitude, and confidence images. - A business-friendly (Apache 2.0) License is employed.
- The code is being actively developed and maintained at Love Park Robotics. Pull requests are welcome from those who wish to contribute code!
ROS bindings are available here
Implements the XML-RPC protocol employed by the O3D3xx cameras and provides a set of command-line utilities for configuring and managing the camera or fleet of cameras.
Implements a framegrabber for acquiring image data from the
O3D3xx. Additionally, this module defines a ByteBuffer interface allowing
developers to bridge the image data from the camera to their favorite
image and point cloud data structures.
- libo3d3xx_camera (part of this project)
Bridges the O3D3xx to OpenCV and PCL utilizing the framegrabber module's
ByteBuffer interface.
- libo3d3xx_camera (part of this project)
- libo3d3xx_framegrabber (part of this project)
- OpenCV (>= 2.4)
- PCL (>= 1.7.1)
Additionally, your compiler must support a modern C++ implementation, i.e., C++11. You should note that we will not hesitate to employ features in C++14/17 and beyond as necessary. Bottom-line: keep your compiler current. We have validated:
- g++ 4.8.x on Ubuntu Linux 14.04 LTS
- g++ 5.3.x on Ubuntu Linux 16.04 LTS
(Assumes Ubuntu Linux)
If you want to build, test, and install all three modules (camera,
framegrabber, and image) and you want to accept the default build options,
these are the directions you want to follow.
Assuming you are starting from the top-level directory of this source distribution:
$ mkdir build
$ cd build
$ cmake ..
$ make
That is it, you are done! Please don't walk away from your computer while the
code is building. To install the packages, we need root access, so, a sudo
is issued and will prompt you for your password.
NOTE: This automated build runs make check to run the unit tests. It
assumes that the hardware is available and running with factory default
settings. If your camera is using an IP address different from the factory
default of 192.168.0.69, you can set the O3D3XX_IP environment variable to
point to the proper IP. Please note, the unit tests will wipe out your current
camera settings and applications. You should back up your camera prior to
running the unit tests.
If you need finer-grained control over the build of the individual modules, you are not on Ubuntu, you want to selectively build a module, or you are cross-compiling, etc., these are the instructions for you.
NOTE: The dpkg commands issued in support of the installation(s) are here
as an example. The particular version and architecture may differ on your
computer.
Assuming you are starting from the top-level directory of this source distribution:
$ cd modules/camera
$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
$ make
$ make check
$ make package
$ sudo dpkg -i libo3d3xx-camera_0.4.0_amd64.deb
If you are not on Debian or Ubuntu, you can substitute the make package and
dpkg ... commands with make install.
(You must ensure that you have already installed the camera module prior to building and installing the framegrabber module.)
Assuming you are starting from the top-level directory of this source distribution:
$ cd modules/framegrabber
$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
$ make
$ make check
$ make package
$ sudo dpkg -i libo3d3xx-framegrabber_0.4.0_amd64.deb
If you are not on Debian or Ubuntu, you can substitute the make package and
dpkg ... commands with make install.
(You must ensure that you have already installed the camera and framegrabber modules prior to building and installing the image module.)
Assuming you are starting from the top-level directory of this source distribution:
$ cd modules/image
$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
$ make
$ make check
$ make package
$ sudo dpkg -i libo3d3xx-image_0.4.0_amd64.deb
If you are not on Debian or Ubuntu, you can substitute the make package and
dpkg ... commands with make install.
Also note that due to some library changes (and a VTK bug) from Ubuntu 14.04 to
16.04, linking the o3d3xx-viewer and building the deb file dependencies now
has some conditional code in the build scripts to accomodate for this. If you
are on Ubuntu (and you don't mess with your /etc/issue file), the build
scripts auto-detect your Ubuntu version and try to do the right thing. However,
if you are not on Ubuntu, you have to give the build some extra
hints. Specifically, in the cmake line above, you can lie to us and tell us
you are on a particular Ubuntu version, for example:
$ cmake -DUBUNTU_VERSION:STRING=16.04 ..
So, the above line will have the build scripts act as if you are on the 16.04 variant of Ubuntu.
If you are building the modules individually, you can further customize the
build by supplying -D... options on the cmake command line. To see what is
available to you, please look at the individual module's top-level
CMakeLists.txt file. For example, this snippet is from the camera module:
# These can be set with -D... on the command line
option(BUILD_TESTS "Build unit tests" ON)
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_STATIC_LIBS "Build static libraries" ON)
option(BUILD_EXE_VERSION "Build o3d3xx-version" ON)
option(BUILD_EXE_RESET "Build o3d3xx-reset" ON)
option(BUILD_EXE_LS "Build o3d3xx-ls" ON)
option(BUILD_EXE_DUMP "Build o3d3xx-dump" ON)
option(BUILD_EXE_CONFIG "Build o3d3xx-config" ON)
option(BUILD_EXE_RM "Build o3d3xx-rm" ON)
option(BUILD_EXE_REBOOT "Build o3d3xx-reboot" ON)
option(BUILD_EXE_IMAGER_TYPES "Build o3d3xx-imager-types" ON)
option(BUILD_EXE_IFM_IMPORT "Build o3d3xx-ifm-import" ON)
option(BUILD_EXE_IFM_EXPORT "Build o3d3xx-ifm-export" ON)
So, for example, if you did not want to build and run the unit tests (bad idea, BTW), you could:
$ mkdir build
$ cd build
$ cmake -DBUILD_TESTS=OFF ..
$ ... etc ...
Please see the cross compiling article.
Please see the Github Issues.
Please see the file called LICENSE.
Tom Panzarella tom@loveparkrobotics.com
With contributions by: