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o3d3xx-python

A Python 2/3 library for ifm efector O3D3xx 3D cameras

Features

  • easy XMLRPC interface with integrated session handling
  • PCIC V3 client for result data transfer

Prerequisites

Usage with Python 2 requires the 'future' package

Installation

Install the package with

$ python setup.py install

Examples

For a quick start, go to the examples folder and run

$ python create_application.py 192.168.0.69

with your device's IP address to create an example application and

$ python image_viewer.py 192.168.0.69

to view the image data coming from the camera (requires matplotlib)

Usage

RPC client

The library provides all XMLRPC objects as mentioned in the camera's XMLRPC manual. The entry point is the RPC main object which can be created with e.g.

camera = o3d3xx.Device("192.168.0.69")

RPC calls can be performed e.g. like this

version_info = camera.getSWVersion()

These are the different RPC objects and the possibilites how they can be acquired:

  • Session object
    • session = camera.requestSession()
      This is different from the regular RPC call which only returns the session ID. The session ID can be retrieved from camera.sessionID
    • session = camera.session (only valid after a requestSession() call)
  • EditMode object
    • edit = session.startEdit() which is equivalent to
    • edit = session.setOperatingMode(1) (again, this is different from the pure RPC call)
    • edit = session.edit (only valid after a startEdit() call)
  • DeviceConfig object
    • device = edit.device
  • NetworkConfig object
    • network = edit.network
  • ApplicationConfig object
    • application = edit.editApplication(1) (different from the pure RPC)
    • application = edit.application (only valid after a editApplication() call)
  • ImagerConfig object
    • imagerConfig = application.imagerConfig
  • Spatial filter configuration object
    • spatialFilter = application.spatialFilter
  • Temporal filter configuration object
    • temporalFilter = application.temporalFilter

PCIC client

The library currently provides three basic clients:

  • A simple PCIC V3 client
    • Create it with pcic = o3d3xx.PCICV3Client("192.168.0.69", 50010) providing the device's address and PCIC port.
    • Send PCIC commands with e.g. answer = pcic.sendCommand("G?"). All asnychronous PCIC messages are discarded while waiting for the answer to the command.
    • Read back the next PCIC for a particular ticket number. This can be used to read asynchronously sent results (ticket number "0000"):
      answer = pcic.readAnswer("0000")
    • Read back any answer coming from the device:
      ticket, answer = pcic.readNextAnswer()
  • A PCIC client supporting arbitrary formatting
    • Define an instance of o3d3xx.PCICFormat to describe which data you want to retrieve
    • Most common use case: retrieval of binary data. For example, if you want to receive amplitude and radial distance images, use the format o3d3xx.PCICFormat.blobs("amplitude_image", "distance_image").
    • Create the client with pcic = o3d3xx.FormatClient("192.168.0.69", format) with format being the PCICFormat instance described above.
    • When result = pcic.readNextFrame() returns for the given example, result is a dictionary containing image arrays for the keys amplitude_image and distance_image.
  • A PCIC client for asynchronous image retrieval
    • Deprecated, please use the o3d3xx.FormatClient instead, it uses much less network bandwidth if you are not interested in all available image types.
    • Create it with pcic = o3d3xx.ImageClient("192.168.0.69", 50010).
    • It configures a PCIC connection to receive all image types.
    • Read back the next result (a dictionary containing all the images) with result = pcic.readNextFrame()

Links

O3D3xx related libraries for other programming languages:

Contributing

o3d3xx-python is available at Github