libo3d3xx

Library and utilities for working with IFM Efector O3D3xx Cameras.

libo3d3xx provides facilities for interfacing with O3D3xx cameras built and sold by IFM Efector. The O3D3xx cameras are 3D cameras based on the PMD Tech Photonic Mixer Device time-of-flight imager. This toolbox bridges the IFM hardware to the open-source computer vision packages: OpenCV and PCL.

At its core, libo3d3xx provides a way to stream images from an O3D3xx camera in real-time and access the 2D data as OpenCV images (applies to the Amplitude (raw and normalized), Depth, and Confidence images) and the 3D data as both an OpenCV image and a PCL point cloud (i.e., the CARTESIAN_X, CARTESIAN_Y, and CARTESIAN_Z are fused to create a point cloud). We note that the PCL point cloud constructed by this library has point type pcl::PointXYZI (referred to as o3d3xx::PointT). For the intensity channel, we use the normalized Amplitude image data registered to each point. We do this because, unlike in earlier PMD-based IFM cameras, the Intensity image is not currently available. We expect the Amplitude image can act as a proxy for the Intensity image as it relates to PCL algorithms that may rely on that data.

The code has been developed on 64-bit Ubuntu Linux 14.04 LTS. This is currently the only platform that the software has been tested on. It is expected that some tweaks will need to be made to use the software on other platforms. You can contact Love Park Robotics for assistance in porting or file an issue request

Software Compatibility Matrix

libo3d3xx version	IFM Firmware Version	Supported Cameras	Notes
0.1.7	0.06.13	O3D303	Initial Release
0.1.8	0.06.39	O3D303	DEPRECATED, USE 0.1.9
0.1.9	0.06.39	O3D303	Initial support for 100k pixel images
0.1.10	0.06.39	O3D303	DEPRECATED, USE 0.1.11
0.1.11	0.06.39	O3D303	Adds the XYZ OpenCV image
0.2.0	1.1.288	O3D303	Cross-compilation support and exposing raw amplitude image

Features

High-level features of this library include:

• The code is written in modern C++11.
• The library employs PCL and OpenCV native image formats.
• Easily scriptable command line utilities are provided for performing common tasks associated with configuring, backing up, restoring, and introspecting, the camera settings. This scriptability lends itself to managing fleets of cameras for large-scale installations.
• A simple viewer application is provided for concurrently inspecting the point cloud, depth, amplitude, and confidence image.
• A business-friendly (Apache 2.0) License is employed.
• The code is being actively developed and maintained at Love Park Robotics. Pull requests are welcome from those who wish to contribute code!

ROS bindings are available here

Prerequisites

• Boost (>= 1.54)
• Gtest (unit testing)
• Glog (logging infrastructure)
• libxmlrpc
• OpenCV (>= 2.4)
• PCL (>= 1.7.1)
• CMake (>= 2.8.11)

Additionally, your compiler must support C++11. We are using g++ 4.8.2 on Ubuntu Linux 14.04 LTS.

Installation

(Assumes Linux)

To build and install libo3d3xx you can issue the following commands from the top-level directory of this source distribution:

$ mkdir build
$ cd build
$ cmake ..
$ make
$ make check
$ sudo make install

NOTE: Running make check will run unit tests. It assumes that the hardware is available and running with factory default settings. If your camera is using an IP address different from the factory default of 192.168.0.69, you can set the O3D3XX_IP environment variable to point to the proper IP. Please note, the unit tests will wipe out your current camera settings and applications. You should back up your camera prior to running the unit tests.

There is also a make package target that will build the binary debian package. You can then install this with the usual Debian/Ubuntu dpkg tool. From the beginning the process would look like:

$ mkdir build
$ cd build
$ cmake ..
$ make
$ make check
$ make package
$ sudo dpkg -i libo3d3xx_0.2.0_amd64.deb

NOTE: The version string in the deb file may be different based upon the version of libo3d3xx that you are building.

Installing the debian file is the preferred method of installation, albeit assumes you are on a system such as Debian or Ubuntu. It is preferred because it has runtime dependency checking built in as well as a clean way to uninstall the software (i.e., sudo dpkg --purge libo3d3xx).

After installation, you may find it useful to add the following to your ~/.bash_profile:

if [ -f /opt/libo3d3xx/etc/setup.bash ]; then
	source /opt/libo3d3xx/etc/setup.bash
fi

This will modify your LD_LIBRARY_PATH and PATH to ensure the library is available to your environment.

More detail on the build process can be found at:

• Custom builds
• Cross compiling

Running

• Using the library
• Command-line utilities
• Unlocking the 100k Pixel Imager

TODO

Please see the Github Issues.

LICENSE

Please see the file called LICENSE.

AUTHORS

Tom Panzarella tom@loveparkrobotics.com