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 virtual environment.

Create a new virtual environment

python3 -m venv my_venv

Activate the virtual environment

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