ifm3d O3DP03 camera data getting problem

[Ken-Jia]

Describe the bug auto future = fg_->WaitForFrame(); Unable to obtain frame after running function To Reproduce std::string camera_ip = "169.254.50.239"; int camera_port = 80; // 假设相机的端口号是80

auto cam = ifm3d::Device::MakeShared(camera_ip, camera_port); 
auto fg = std::make_shared<ifm3d::FrameGrabber>(cam, 50010);

fg->Start({ ifm3d::buffer_id::AMPLITUDE_IMAGE, ifm3d::buffer_id::RADIAL_DISTANCE_IMAGE, ifm3d::buffer_id::XYZ });

pcl::visualization::CloudViewer viewer("Real-time Point Cloud Viewer");

while (!viewer.wasStopped()) {
    auto frame = fg->WaitForFrame().get();
    ifm3d::Buffer xyz = frame->GetBuffer(ifm3d::buffer_id::XYZ);

    // ifm3d库从相机缓冲器获取的XYZ数据!!!!!
    ifm3d::Buffer_<ifm3d::Point3D_16S>  xyz_data = xyz;

    // Create a Point Cloud object
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    // Populate the Point Cloud with XYZ data
    for (const auto& point : xyz_data)
    {
        pcl::PointXYZ pcl_point;
        pcl_point.x = point.val[1];
        pcl_point.y = point.val[2];
        pcl_point.z = point.val[0];
        cloud->push_back(pcl_point);
    }

    pcl::io::savePCDFileASCII("point_cloud.pcd", *cloud);

    viewer.showCloud(cloud);
}

Expected behavior A clear and concise description of what you expected to happen.

Output/Screenshots If applicable, add console output and/or screenshots to help explain your problem.

Minimal Working Example If applicable/possible, please provide a minimal working example which demonstrates the problem and can be run standalone.

#include <iostream>
int main()
{
  std::cout << "Hello World!" << std::endl;
  return 0;
}

Configuration/Environment (please complete the following information):

• OS: [e.g. Ubuntu 18.04, Windows 10]
• ifm3d version: [e.g. 0.14.0]
• using ROS: [yes/no]

Camera Configuration Please include the output of ifm3d dump

Additional context Add any other context about the problem here.

[lola-masson]

Could you please share the version of ifm3d you are using, and the current configuration of the device (the result of ifm3d dump). Thanks

[Ken-Jia]

ifm3d 1.4.3 device O3DP03 using visionassistanter could acces the camera ;also using below code has no error warning auto cam = ifm3d::Device::MakeShared(camera_ip, camera_port); auto fg = std::make_shared(cam, 50010); fg->Start({ ifm3d::buffer_id::AMPLITUDE_IMAGE, ifm3d::buffer_id::RADIAL_DISTANCE_IMAGE, ifm3d::buffer_id::XYZ });

[lola-masson]

Do you get an error message when you run the code you provided in the first message? Or just nothing happens?

Could you please share the JSON configuration of your device (the result of cam->Get()).

[Ken-Jia]

I did not notice the cam；but the fg->isRunning () is True

[Ken-Jia]

I try cam->Get() But cam does not have this function ;I try cam ->WhoAmI() output O3D

[lola-masson]

I'm sorry that's my bad, for the O3D it is cam->ToJSON().

[Ken-Jia]

I have anther question ； how to using c++ code to change the camera trigger mode

[lola-masson]

To change the trigger mode you would use the FromJSON() or the FromJSONStr(), then provide the json path to the trigger mode in the configuration. Something like this:

auto cam = ifm3d::Device::MakeShared(camera_ip);
cam->FromJSONStr(R"({"ifm3d":{"Apps":[{"TriggerMode": "1" }]}})")

[github-actions[bot]]

This issue is stale because it has been open for 30 days with no activity.

[github-actions[bot]]

This issue was closed because it has been inactive for 14 days since being marked as stale.