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Document the available buffer ids and image types Closes #174, #285, and #280 See merge request syntron/support/csr/ifm3d/ifm3d!177
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| # Buffer types | ||
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| `ifm3d` supports multiple device families (O3R, O3D3xx, O3X1xx). | ||
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| Each device natively provides different types of data, and the `ifm3d` library adds additional buffers for convenience. | ||
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| The tables below list all available buffer types and which device they apply to. | ||
| We also specify if the data is provided directly by the device, meaning it is streamed from the embedded device, or calculated by `ifm3d` API on the receiver device. | ||
| This is important information to be considered when trying to work around bandwidth limitations and delays. | ||
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| In this tables, the NA abbreviation stands for "Not Applicable." | ||
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| ## O3R Available buffers | ||
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| | `buffer_id` | Description | Native or calculated in ifm3d | | ||
| | ------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------- | | ||
| | `ALGO_DEBUG` | Proprietary data used for troubleshooting by ifm. For internal use only. | Native | | ||
| | `CONFIDENCE_IMAGE` | 2D image containing information about each pixel status. Only available for the 3D ports. | Native | | ||
| | `EXTRINSIC_CALIB` | Current values of the optical system to user coordinate transformation for the port currently targeted by the `FrameGrabber`. Only available for the 3D port.<br>Can also be retrieved with the `TOF_INFO` buffer. | Calculated | | ||
| | `INTRINSIC_CALIB` | The intrinsic parameters for the port or camera currently targeted by the`FrameGrabber`. Only available for the 3D port. <br>Can also be retrieved with the `TOF_INFO` buffer. | Native | | ||
| | `INVERSE_INTRINSIC_CALIBRATION` | The inverse intrinsic parameters for the port or camera currently targeted by the`FrameGrabber`. <br> Only available for the 3D port. <br>Can also be retrieved with the `TOF_INFO` | Native | | ||
| | `JPEG_IMAGE` | The 2D RGB image. | Native | | ||
| | `NORM_AMPLITUDE_IMAGE` | The normalized amplitude image. | Native | | ||
| | `O3R_ODS_INFO` | The zones output of ODS. Only available for devices with an ODS license. | Native | | ||
| | `O3R_ODS_OCCUPANCY_GRID` | The occupancy grid output of ODS. Only available for devices with an ODS license. | Native | | ||
| | `O3R_RESULT_ARRAY2D` | Contains the result for O3R applications like PDS and MCC. | Native | | ||
| | `O3R_RESULT_IMU` | The IMU data for the OVP on-board IMU at port 6. | Native | | ||
| | `O3R_RESULT_JSON` | Contains the result for O3R applications like PDS and MCC. | Native | | ||
| | `RADIAL_DISTANCE_IMAGE` | 2D image containing the radial distance value for each pixel. | Native | | ||
| | `RADIAL_DISTANCE_NOISE` | 2D image containing the distance noise value for each pixel. | Native | | ||
| | `REFLECTIVITY` | 2D image containing the estimated IR reflectivity (in percent). Only available for the 3D ports. | Native | | ||
| | `RGB_INFO` | Contains various information about the RGB camera and the latest RGB frame (see[`RGBInfoV1`](https://api.ifm3d.com/stable/_autosummary/ifm3dpy.deserialize.RGBInfoV1.html)) | Native | | ||
| | `TOF_INFO` | Contains various information about the TOF camera and the latest TOF frame (see[`TOFInfoV4`](https://api.ifm3d.com/stable/_autosummary/ifm3dpy.deserialize.TOFInfoV4.html)) | Native | | ||
| | `XYZ` | The point cloud in Cartesian coordinates. | Calculated | | ||
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| ## O3D Available buffers | ||
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| | `buffer_id` | Description | Native or calculated in ifm3d | | ||
| | ------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | ----------------------------- | | ||
| | `AMPLITUDE_IMAGE` | 2D image containing amplitude information for each pixel. | Native | | ||
| | `CARTESIAN_X_COMPONENT` | Cartesian coordinate along X axis. | Calculated | | ||
| | `CARTESIAN_Y_COMPONENT` | Cartesian coordinate along Y axis. | Calculated | | ||
| | `CARTESIAN_Z_COMPONENT` | Cartesian coordinate along Z axis. | Calculated | | ||
| | `CONFIDENCE_IMAGE` | 2D image containing information about each pixel status. | Native | | ||
| | `DIAGNOSTIC` | Provides some diagnostic information. See [details below](#diagnostic-buffer). | Native | | ||
| | `EXPOSURE_TIME` | Exposure times used for the last frame. | Calculated | | ||
| | `EXTRINSIC_CALIB` | Current values of the optical system to user coordinate transformation for the port currently targeted by the `FrameGrabber`. | Calculated | | ||
| | `INTRINSIC_CALIB` | The intrinsic parameters for the port or camera currently targeted by the`FrameGrabber`. | Native | | ||
| | `INVERSE_INTRINSIC_CALIBRATION` | The inverse intrinsic parameters for the port or camera currently targeted by the`FrameGrabber`. | Native | | ||
| | `JSON_DIAGNOSTIC` | Diagnostic information in JSON format. | Native | | ||
| | `JSON_MODEL` | For internal use only. | ?? | | ||
| | `NORM_AMPLITUDE_IMAGE` | The normalized amplitude image. | Native | | ||
| | `RADIAL_DISTANCE_IMAGE` | 2D image containing the radial distance value for each pixel. | Native | | ||
| | `UNIT_VECTOR_ALL` | Unit vectors that can be used to calculate the point cloud directly from the distance image. | Native | | ||
| | `XYZ` | The point cloud in Cartesian coordinates. | Calculated | | ||
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| :::{note} | ||
| The `CARTESIAN_ALL` buffer is deprecated, and the `XYZ` buffer should be used instead. | ||
| ::: | ||
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| ### `DIAGNOSTIC` buffer | ||
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| This buffer provides diagnostic information such as temperature, frame duration and framerate. | ||
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| To unpack the information in the `DIAGNOSTIC` buffer, use the following structure: | ||
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| | Content | Type | Size | | ||
| | ------------------------------------------------------------------------------------------------------------------- | ----------------------- | ------- | | ||
| | Illumination temperature | 32-bit signed int | 4 bytes | | ||
| | Frontend Temperature 1 | 32-bit signed int | 4 bytes | | ||
| | Frontend Temperature 2 | 32-bit signed int | 4 bytes | | ||
| | i.mx6 Temperature | 32-bit signed int | 4 bytes | | ||
| | Frame duration: time between the last trigger and the readiness for a new trigger. Only relevant in triggered mode. | 32-bit unsigned integer | 4 bytes | | ||
| | Framerate. Only relevant in continuous mode (also called free running mode). | 32-bit unsigned integer | 4 bytes | | ||
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| :::{note} | ||
| All the temperatures are displayed in 0.1 °C. | ||
| Invalid temperatures have the value 0x7FFF (32767). | ||
| Some temperatures are only measured for specific part numbers, which might be why they are invalid. | ||
| ::: | ||
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| In Python, the `DIAGNOSTIC` data can be unpacked with: | ||
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| ```python | ||
| # Necessary imports | ||
| import struct | ||
| import time | ||
| from ifm3dpy.device import O3D | ||
| from ifm3dpy.framegrabber import FrameGrabber, buffer_id | ||
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| # Create the objects | ||
| o3d = O3D() #EDIT here when using a non-default IP address | ||
| fg = FrameGrabber(o3d) | ||
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| #Collect a frame | ||
| fg.start([buffer_id.DIAGNOSTIC,]) | ||
| time.sleep(5) # Grace period after initialization of the data stream | ||
| [ok, frame] = fg.wait_for_frame().wait_for(500) | ||
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| # Get the data from the collected frame | ||
| data = frame.get_buffer(buffer_id.DIAGNOSTIC) | ||
| # Unpack the data | ||
| unpacked_data = struct.unpack('<4i2I', data) | ||
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| fg.stop() | ||
| ``` | ||
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| ## O3X Available buffers | ||
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| | `buffer_id` | Description | Native or calculated in ifm3d | | ||
| | ----------------------- | ------------------------------------------------------------- | ----------------------------- | | ||
| | `CARTESIAN_X_COMPONENT` | Cartesian coordinate along X axis. | Calculated | | ||
| | `CARTESIAN_Y_COMPONENT` | Cartesian coordinate along Y axis. | Calculated | | ||
| | `CARTESIAN_Z_COMPONENT` | Cartesian coordinate along Z axis. | Calculated | | ||
| | `CONFIDENCE_IMAGE` | 2D image containing information about each pixel status. | Native | | ||
| | `NORM_AMPLITUDE_IMAGE` | The normalized amplitude image. | Native | | ||
| | `RADIAL_DISTANCE_IMAGE` | 2D image containing the radial distance value for each pixel. | Native | | ||
| | `RADIAL_DISTANCE_NOISE` | 2D image containing the distance noise value for each pixel. | Native | | ||
| | `XYZ` | The point cloud in Cartesian coordinates. | Calculated | | ||
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| :::{note} | ||
| Even though the `GRAYSCALE_IMAGE` buffer is shown to be available in the O3X JSON configuration, no acquisition mode currently provides this buffer, so we have not included it in the list. | ||
| ::: | ||
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| ## Data formats | ||
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| `ifm3d` supports multiple devices. These devices support multiple buffers and data types which can have different data formats on different devices. | ||
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| We recommend to retrieve the format of a specific `buffer_id` programmatically. | ||
| One can use the code below (adapt to the specific `buffer_id`): | ||
| :::::{tabs} | ||
| ::::{group-tab} C++ | ||
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| ```cpp | ||
| ifm3d::Buffer xyz = frame->GetBuffer(ifm3d::buffer_id::XYZ); | ||
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| // Query the data format and channel. | ||
| std::cout << xyz.nchannels() << std::endl; | ||
| std::cout << static_cast<int>(xyz.dataFormat()) << std::endl; | ||
| ``` | ||
| :::: | ||
| ::::{group-tab} Python | ||
| ```python | ||
| print(type(frame.get_buffer(buffer_id.XYZ))) | ||
| print(np.shape(frame.get_buffer(buffer_id.XYZ))) | ||
| print(frame.get_buffer(buffer_id.RADIAL_DISTANCE_NOISE).dtype) | ||
| ``` | ||
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| :::: | ||
| ::::: | ||
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| In C++, one has to refer to the pixel format correspondence defined below: | ||
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| ``` | ||
| FORMAT_8U = 0, | ||
| FORMAT_8S = 1, | ||
| FORMAT_16U = 2, | ||
| FORMAT_16S = 3, | ||
| FORMAT_32U = 4, | ||
| FORMAT_32S = 5, | ||
| FORMAT_32F = 6, | ||
| FORMAT_64U = 7, | ||
| FORMAT_64F = 8, | ||
| FORMAT_16U2 = 9, | ||
| FORMAT_32F3 = 10 | ||
| ``` | ||
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| For instance, the format returned for `ifm3d::buffer_id::XYZ` is `2`, which corresponds to `FORMAT_32F` (32 bit float). |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,8 @@ | ||
| # Images and buffers manipulation | ||
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| :::{toctree} | ||
| :titlesonly: | ||
| Buffer types <buffer_ids> | ||
| Accessing pixel values <stlimage> | ||
| ::: | ||
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