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ifm3d-pcl-viewer

This project implements a standalone viewer application for ifm3d. It is built on top of the visualization framework provided by PCL and so the whole PCL visualization stack is a necessary requirement to use this application. ROS users may prefer to simply use the facilities of rviz via the ifm3d-ros package.

Build Dependencies

To build this software, you must have ifm3d installed. Specifically, the camera, framegrabber, and image modules at version 0.9.0 or better. This software also requires the PCL visualization stack and its dependencies. Version 1.7 or better of PCL should be sufficient.

Linux Build Instructions

The software can be built (using cmake) and installed (using dpkg) as follows:

$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
$ make
$ make package
$ make repackage
$ sudo dpkg -i ifm3d-pcl-viewer_0.1.0_amd64.deb

Running the Software

Assuming you followed the instructions from above for installation, you should now have ifm3d-pcl-viewer installed at /usr/bin/ifm3d-pcl-viewer. Running the executable on the command line, should result in a window similar to the following:

viewer

If your camera is not located at the default IP address of 192.168.0.69, you can leverage the IFM3D_IP environment variable when running the viewer to help visualize the point cloud. For example, if your camera is located at 192.168.1.69, you would run the exectuable as follows:

$ IFM3D_IP=192.168.1.69 ifm3d-pcl-viewer

LICENSE

Please see the file called LICENSE.