ifm3dpy Viewer

This is an example application for retrieving different kinds of images from an O3R platform.

Download the code

If you built ifm3d from source, you already have the code, in ifm3d/examples/o3r/viewer. If not, you can find the script here.

Installation

The recommended way is to use a venv.

Create a new venv

python3 -m venv my_venv

Activate the venv

Platform

Shell

Command to activate virtual environment

POSIX

bash/zsh

$ source /bin/activate

fish

$ source /bin/activate.fish

csh/tcsh

$ source /bin/activate.csh

PowerShell Core

$ /bin/Activate.ps1

Windows

cmd.exe

C:> \Scripts\activate.bat

PowerShell

PS C:> \Scripts\Activate.ps1

Install ifm3dpy

From pip

pip install ifm3dpy

From Source

# In the ifm3d root folder
pip install -r requirements.txt
pip install .

Consider the python documentation for more details.

Install requirements

pip install -r examples/python/viewer/requirements.txt

Usage

usage: ifm3dpy_viewer.py [-h] --pcic-port PORT --image {jpeg,distance,amplitude,xyz} [--ip IP] [--xmlrpc-port XMLRPC_PORT]

optional arguments:
  -h, --help            show this help message and exit
  --pcic-port PORT      The pcic port from which images should be received
  --image {jpeg,distance,amplitude,xyz}
                        The image to received (default: distance)
  --ip IP               IP address of the sensor (default: 192.168.0.69)
  --xmlrpc-port XMLRPC_PORT
                        XMLRPC port of the sensor (default: 80)

Display the distance image

python examples/python/viewer/ifm3dpy_viewer.py --pcic-port 50012 --image distance

Display the amplitude image

python examples/python/viewer/ifm3dpy_viewer.py --pcic-port 50012 --image amplitude

Display the point cloud

python examples/python/viewer/ifm3dpy_viewer.py --pcic-port 50012 --image xyz

Display the jpeg image

python examples/python/viewer/ifm3dpy_viewer.py --pcic-port 50010 --image jpeg