How to: deserialize O3R data

Some of the data provided by the O3R platform needs to be deserialized to be used. This is the case for:

• the intrinsic calibration parameters (ifm3dpy.deserialize.Calibration), which provides details like which optical model is used (Fisheye, pinhole) and the values for each of the model’s parameters,

• the extrinsic calibration (optics to user) parameters ( ifm3dpy.deserialize.ExtrinsicOpticToUser), which provides the transformations between the optical system and the reference point on the camera housing,

• the ODS zone information (ifm3dpy.deserialize.ODSInfoV1), which contains the zone id being used and the occupancy of the zones,

• the ODS occupancy grid information (ifm3dpy.deserialize.ODSOccupancyGridV1), which contains occupancy grid data and the transformation matrix,

• the RGB information (ifm3dpy.deserialize.RGBInfoV1), which provides exposure times and calibration parameters for the O3R RGB cameras.

For more information on the data structures of each buffer please refer to the Python API documentation or the [C++ API documentation].

The usage of the deserializer is the same for all the buffers mentioned above: create the object, and call the deserialize function. Follow the example below for an example on deserializing the RGBInfoV1 buffer.

PythonC++