The following command-line utilities are provided with libo3d3xx:
- o3d3xx-viewer
- o3d3xx-config
- o3d3xx-dump
- o3d3xx-ls
- o3d3xx-reboot
- o3d3xx-reset
- o3d3xx-rm
- o3d3xx-version
- o3d3xx-hz
- o3d3xx-ifm-import
- o3d3xx-ifm-export
All of the command-line utilities accept the --help and the --version
flags. --help will list the arguments accepted by the program and --version
will display the version of libo3d3xx that the program is linked to.
A brief description of each program now follows:
This program streams real-time image data from the camera and displays it on the screen. To run the program:
$ o3d3xx-viewer
This will open up two windows. The first window will display the point cloud:
Each point in the point cloud is colored by the associated pixel's amplitude image value. The viewer window itself is a modified version of PCL's viewer application, so, all the normal key commands will work, `q' will exit the program. Additionally, 'A' will display a coordinate axes indicator on the screen and 'a' will remove it.
The second window displays four images:
The top-left image is a rendering of the radial depth map. The top-right image is an interpretation of the confidence image. In this binary image rendering, "good" pixels are shown in green and "bad" pixels are shown in yellow. The bottom-left image shows the normalized amplitude image and the bottom-right is the raw amplitude image.
This program is used to configure all of the camera settings including device,
network, application, and imager configuration. In addition, this program can
serve as a means to restore the camera from a backup
JSON file that conforms to the file structure generated
by o3d3xx-dump.
To perform a full restore from a file, assuming you have the backup in
/tmp/camera.json you can run:
$ o3d3xx-config < /tmp/camera.json
OR
$ o3d3xx-config --file /tmp/camera.json
If you just want to mutate a single setting, for example changing the active application to the application located at index 1, you can:
$ echo '{"o3d3xx":{"Device":{"ActiveApplication":"1"}}}' | o3d3xx-config
The JSON syntax is available as an example in this camera.json.
This program will dump the current camera configuration to JSON. The JSON is written to stdout. To backup to a file, use your shell I/O redirection facilities:
$ o3d3xx-dump > camera.json
An example of the produced JSON is available in this camera.json.
This program will list the applications currently installed on the camera and
provide an indication which application is currently active -- that is, the
application that would apply when running the o3d3xx::FrameGrabber. An
example of running this program and its output is show below:
$ o3d3xx-ls
* [1] id=964899043, name=Factory Default Test Application, description=
In this example, there is only one application on the camera and it is marked as active. The number in square brackets indicates the application index.
This program performs a soft boot of the camera.
This program will return the camera to factory default settings.
This program is used to remove an application from the camera. It takes the
application index as an argument. NOTE: to add applications you can use
o3d3xx-config (see above).
This program displays the version of the library.
This program can be used to measure the effective frame rate achieved by the
FrameGrabber based upon the imager config of the active application. The
program allows for configuring a number of frames to capture and a number of
runs to perform before computing the FPS statistics. See --help for details.
This program can be used to import IFM Vision Assistant files (e.g., applications) into the camera.
This program can be used to export data (e.g., applications) from the camera into a format that is compatible with IFM Vision Assistant.