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README.md

libo3d3xx Examples

This directory contains example programs that utilize libo3d3xx. 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. Additonally, 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

It is assumed you have installed the camera, framegrabber, and image modules from this project before you proceed.

Building the examples

Assuming you are starting from the top-level directory of this source distribution:

$ cd modules/examples
$ mkdir build
$ cd build
$ cmake ..
$ make

What is included?

  • Image Module If you want to write a custom implementation of the framegrabber's ByteBuffer interface, i.e., to use an image or point cloud data structure other than OpenCV or PCL, you should look at this project's image module. It implements the ByteBuffer interface and makes the data available to the user employing OpenCV and PCL data structures. You would follow this as a guide but, of course, populate your chosen data structures with the parsed out bytes from the camera.

  • ex-100k Shows how to use the API to create a new application, set its resolution to 100K pixels, and stream data in that mode. We note that you really should use o3d3xx-dump and o3d3xx-config to create an application that employs the 100k imager, set it as active, and simply stream data from it rather than using the API to manipulate the applications on the camera. However, we have gotten enough requests for this, that we are going to show how to do it.

  • ex-cartesian Shows how to compute the Cartesian data from the unit vectors, extrinsics, and radial distance image.

  • ex-cartesian_compare Just like above, except we write out the point cloud as computed by the camera to a PCD file and the one we computed to a PCD file so that we can compare them visually using pcl_viewer.

  • ex-file_io Shows how to capture data from the camera and write the images to disk. In this example, the amplitude and radial distance image are written out as PNG files and the point cloud is written as a PCD.

  • ex-framegrabber_recycling Shows how to make your framegrabbing robust to the camera "disappearing" (e.g., due to power cycling, lost network, etc.).

  • ex-exposure_times 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-change_ip Shows how to change the IPv4 address of the camera.

  • ex-pcicclient_set_io Shows how to set digital IOs of the camera.

  • ex-pcicclient_async_messages Shows how to receive notification (and error) message via PCIC from the camera.

  • ex-fast_app_switch Shows how to switch between two different applications on the camera over PCIC. For convenience is prints out some (rough) timing metrics. NOTE: This assumes you have a camera capable of running the 100k pixel imager.

  • ex-oem_is_booted Shows how to check if the camera has completly booted.

  • ex-pcic_dos_attack Demonstrates a denial of service attack on pcic. It demonstrates behavior of the framegrabber when all allowable PCIC connections have been exhausted.