diff --git a/O3R/Docker/README.md b/O3R/Docker/README.md index 967e8b2..38b99c3 100644 --- a/O3R/Docker/README.md +++ b/O3R/Docker/README.md @@ -1,4 +1,4 @@ -# README - Docker on O3R +# Docker on O3R | Table of content| |-| diff --git a/O3R/GettingStarted/README.md b/O3R/GettingStarted/README.md index a7d3fec..7c4c206 100644 --- a/O3R/GettingStarted/README.md +++ b/O3R/GettingStarted/README.md @@ -1,7 +1,8 @@ -# README - Getting Started +# Getting Started | Table of content| |-| | [Unboxing](../GettingStarted/unboxing.md)| +| [Basic tutorials](https://ifm.github.io/ifm3d-docs/examples/o3r/index.html)| This section should help you with the first steps using the O3R. diff --git a/O3R/GettingStarted/getting_started.md b/O3R/GettingStarted/getting_started.md deleted file mode 100644 index d98dd0d..0000000 --- a/O3R/GettingStarted/getting_started.md +++ /dev/null @@ -1,3 +0,0 @@ -# Getting Started - -Coming soon... \ No newline at end of file diff --git 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a/O3R/GettingStarted/resources/viewer_console.jpg and /dev/null differ diff --git a/O3R/GettingStarted/resources/vpu_connections.png b/O3R/GettingStarted/resources/vpu_connections.png deleted file mode 100644 index b23a816..0000000 Binary files a/O3R/GettingStarted/resources/vpu_connections.png and /dev/null differ diff --git a/O3R/GettingStarted/resources/winpython_venv.jpg b/O3R/GettingStarted/resources/winpython_venv.jpg deleted file mode 100644 index cc7bd12..0000000 Binary files a/O3R/GettingStarted/resources/winpython_venv.jpg and /dev/null differ diff --git a/O3R/GettingStarted/unboxing.md b/O3R/GettingStarted/unboxing.md index c8fee51..7c0694b 100644 --- a/O3R/GettingStarted/unboxing.md +++ b/O3R/GettingStarted/unboxing.md @@ -1,24 +1,24 @@ -# Unboxing +# How to: Unboxing O3R -If you received the starter kit (default package), following document will help you unbox and start the O3R system. +## Hardware unboxing If nobody tampered with your O3R package, you should have following hardware: -- Camera head 1 +- Camera head (two of them if you ordered the developer kit) ![HEAD](./resources/head.jpg "O3R - HEAD") -- Camera head 2 -- VPU (Video Processing Unit) +- VPU (Video Processing Unit) ![VPU](./resources/vpu.jpg "O3R - VPU") - FPD cables to connect the head(s) to the VPU + You need a strong enough power source: 2.5A and 24V minimum. -1) First, connect the head(s) to the VPU; -![CONNECTION-OVERVIEW](./resources/connection_overview.png "Connections") -2) Connect power to the VPU - ATTENTION: PIN2 is power! PIN3 is ground -3) Connect the ethernet cable (not included in the package) -4) Wait until you see the ethernet LED flashing before pinging/connecting to the VPU. +1) First, connect the head(s) to the VPU; the only requirement is to connect pairs of same imager types together, for instance as shown below: +![CONNECTION-OVERVIEW](./resources/connection_overview.png "Connections") +2) Connect power to the VPU - ATTENTION: PIN2 is power! PIN3 is ground +3) Connect the ethernet cable (not included in the package) +4) Wait until you see the ethernet LED flashing before pinging/connecting to the VPU. -That's it about the hardware. Next step: software installation +That's it about the hardware. Next step: software installation. ## Network configuration The default IP address of the VPU is 192.168.0.69. A good first step is to make sure you can connect to the VPU: @@ -32,17 +32,16 @@ If you do not receive an answer from the camera, you can try to adjust your netw ## Software installation -_Note: We recommend for testing purposes to install the ifmO3r package in an clean python environment first. You can use_ `python -m venv "venv-name"` _to create a new virtual environment. - -The ifm3d(ifm3dpy) is the go to library for ifm's 3D cameras. It provides the possibility to easily change parameters, get images and even more. The next steps will cover the general usage of ifm3dpy, and how to unlock the O3R capabilities. Because the ifm3dpy installation is easy and straight forward (no compiling needed), we focus on this installation. You can find tutorials for both ifm3dpy and ifm3d (C++) within the ifm3d library topic on [ifm3d](https://ifm.github.io/ifm3d-docs/index.html) +The ifm3d (ifm3dpy, for python) is the go to library for ifm's 3D cameras. It provides the possibility to easily change parameters, get images and even more. The next steps will cover the general usage of ifm3dpy, and how to unlock the O3R capabilities. +### For python +> Note: We recommend for testing purposes to install the ifm3dpy package in an clean python environment first. You can use `python -m venv "venv-name"` to create a new virtual environment. You can use the official PyPI package to install the ifm3dpy within your virtual environment: ```python pip install ifm3dpy ``` - -## Check installation +#### Check installation Let's verify quickly that the installation worked! This command should display the list of packages installed in your environment: @@ -56,6 +55,8 @@ Open up a python shell with: python.exe OR ./python.exe +OR +python ``` Then try importing the package: @@ -74,7 +75,7 @@ o3r = O3RCamera() config = o3r.get() #get the configuration saved on the VPU ``` -Using the package `json` provides an easier tool for displaying JSON-Strings. The configuration from the VPU is always a JSON-String. +Using the package `json` provides an easier tool for displaying JSON-Strings. The configuration from the VPU is always a JSON-String (output below shortened for display purposes). ```python import json @@ -176,205 +177,31 @@ print(json.dumps(config, indent=4)) }, "state": "RUN" }, - "port1": { - "acquisition": { - "framerate": 10.0, - "version": { - "major": 0, - "minor": 0, - "patch": 0 - } - }, - "data": { - "algoDebugConfig": {}, - "availablePCICOutput": [], - "pcicTCPPort": 50011 - }, - "info": { - "device": "2301", - "deviceTreeBinaryBlobOverlay": "001-ov9782.dtbo", - "features": { - "fov": { - "horizontal": 127, - "vertical": 80 - }, - "resolution": { - "height": 800, - "width": 1280 - }, - "type": "2D" - }, - "name": "", - "partNumber": "M03976", - "productionState": "AA", - "sensor": "OV9782", - "sensorID": "OV9782_127x80_noIllu_Csample", - "serialNumber": "000000000282", - "vendor": "0001" - }, - "mode": "experimental_autoexposure2D", - "processing": { - "extrinsicHeadToUser": { - "rotX": 0.0, - "rotY": 0.0, - "rotZ": 0.0, - "transX": 0.0, - "transY": 0.0, - "transZ": 0.0 - }, - "version": { - "major": 0, - "minor": 0, - "patch": 0 - } - }, - "state": "RUN" - }, - "port2": { - "acquisition": { - "exposureLong": 5000, - "exposureShort": 400, - "framerate": 10.0, - "offset": 0.0, - "version": { - "major": 0, - "minor": 0, - "patch": 0 - } - }, - "data": { - "algoDebugConfig": {}, - "availablePCICOutput": [], - "pcicTCPPort": 50012 - }, - "info": { - "device": "3201", - "deviceTreeBinaryBlobOverlay": "001-irs2381c.dtbo", - "features": { - "fov": { - "horizontal": 60, - "vertical": 45 - }, - "resolution": { - "height": 480, - "width": 640 - }, - "type": "3D" - }, - "name": "", - "partNumber": "M03976", - "productionState": "AA", - "sensor": "IRS2877C", - "sensorID": "IRS2877C_60x45_4x2W_60x45_B1", - "serialNumber": "000000000281", - "vendor": "0001" - }, - "mode": "standard_range4m", - "processing": { - "diParam": { - "anfFilterSizeDiv2": 2, - "enableDynamicSymmetry": true, - "enableStraylight": true, - "enableTemporalFilter": true, - "excessiveCorrectionThreshAmp": 0.3, - "excessiveCorrectionThreshDist": 0.08, - "maxDistNoise": 0.02, - "maxSymmetry": 0.4, - "medianSizeDiv2": 0, - "minAmplitude": 20.0, - "minReflectivity": 0.0, - "mixedPixelFilterMode": 1, - "mixedPixelThresholdRad": 0.15 - }, - "extrinsicHeadToUser": { - "rotX": 0.0, - "rotY": 0.0, - "rotZ": 0.0, - "transX": 0.0, - "transY": 0.0, - "transZ": 0.0 - }, - "version": { - "major": 0, - "minor": 0, - "patch": 0 - } - }, - "state": "RUN" - }, - "port3": { - "acquisition": { - "exposureLong": 5000, - "exposureShort": 400, - "framerate": 10.0, - "offset": 0.0, - "version": { - "major": 0, - "minor": 0, - "patch": 0 - } - }, - "data": { - "algoDebugConfig": {}, - "availablePCICOutput": [], - "pcicTCPPort": 50013 - }, - "info": { - "device": "3201", - "deviceTreeBinaryBlobOverlay": "001-irs2381c.dtbo", - "features": { - "fov": { - "horizontal": 60, - "vertical": 45 - }, - "resolution": { - "height": 480, - "width": 640 - }, - "type": "3D" - }, - "name": "", - "partNumber": "M03976", - "productionState": "AA", - "sensor": "IRS2877C", - "sensorID": "IRS2877C_60x45_4x2W_60x45_B1", - "serialNumber": "000000000282", - "vendor": "0001" - }, - "mode": "standard_range4m", - "processing": { - "diParam": { - "anfFilterSizeDiv2": 2, - "enableDynamicSymmetry": true, - "enableStraylight": true, - "enableTemporalFilter": true, - "excessiveCorrectionThreshAmp": 0.3, - "excessiveCorrectionThreshDist": 0.08, - "maxDistNoise": 0.02, - "maxSymmetry": 0.4, - "medianSizeDiv2": 0, - "minAmplitude": 20.0, - "minReflectivity": 0.0, - "mixedPixelFilterMode": 1, - "mixedPixelThresholdRad": 0.15 - }, - "extrinsicHeadToUser": { - "rotX": 3.14, - "rotY": 1.8, - "rotZ": 0.0, - "transX": 0.2, - "transY": 0.0, - "transZ": 0.0 - }, - "version": { - "major": 0, - "minor": 0, - "patch": 0 - } - }, - "state": "RUN" - } - } + ... } ``` +### For cpp + +You will need to build from source. Clone the [ifm3d repository](https://github.com/ifm/ifm3d/tree/o3r/main-next) from github (make sure to use the o3r/main-next branch) and proceed as follows: + +```console +$ mkdir build +$ cd build +$ cmake -DCMAKE_INSTALL_PREFIX=/usr .. +$ cmake --build . +$ sudo make install +``` + +To build the python bindings, use: +```console +$ cmake -DBUILD_MODULE_PYBIND11=ON .. +``` + +To build the examples, use: +```console +$ cmake -DBUILD_MODULE_PYBIND11=ON -DBUILD_EXAMPLES=ON .. +``` + +### For ROS: *coming soon* + diff --git a/O3R/Parameters/AcquisitionSettings/README.md b/O3R/Parameters/AcquisitionSettings/README.md index 08220df..2a61413 100644 --- a/O3R/Parameters/AcquisitionSettings/README.md +++ b/O3R/Parameters/AcquisitionSettings/README.md @@ -1,4 +1,4 @@ -# README - Acquisition settings +# Acquisition settings | Table of content| |-| diff --git a/O3R/Parameters/Filters/README.md b/O3R/Parameters/Filters/README.md index bb57bd4..5007842 100644 --- a/O3R/Parameters/Filters/README.md +++ b/O3R/Parameters/Filters/README.md @@ -1,4 +1,4 @@ -# README - Filters +# Filters | Table of content| |-| diff --git a/O3R/Parameters/README.md b/O3R/Parameters/README.md index ed6ed29..7822fbd 100644 --- a/O3R/Parameters/README.md +++ b/O3R/Parameters/README.md @@ -1,4 +1,4 @@ -# README - Parameters +# Parameters | Table of content| |-| diff --git a/O3R/ProductsDescription/README.md b/O3R/ProductsDescription/README.md index a8a81b8..5d84629 100644 --- a/O3R/ProductsDescription/README.md +++ b/O3R/ProductsDescription/README.md @@ -1,4 +1,4 @@ -# README - Products Description +# Products Description | Table of content| |--|