https://github.com/pieye/nimbus-c
https://github.com/pieye/nimbus-c
Last synced: 8 months ago
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- Host: GitHub
- URL: https://github.com/pieye/nimbus-c
- Owner: pieye
- License: gpl-2.0
- Created: 2021-04-01T17:41:09.000Z (about 5 years ago)
- Default Branch: main
- Last Pushed: 2021-04-02T21:56:28.000Z (about 5 years ago)
- Last Synced: 2025-05-27T07:18:24.397Z (about 1 year ago)
- Language: C++
- Size: 16.6 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Nimbus-C
## Introduction
Here you can find our prepared [Raspberry Pi OS (buster)](https://cloud.pieye.org/index.php/s/nimbus3D) images.
Furthermore here is the official [documentation](https://nimbus-docs.readthedocs.io/en/latest/index.html).
## Adding a custom processing stage
### C-Interface
After having built and installed nimbus-userland (make install), all libraries are installed under /usr/local/lib, all headers are installed under /usr/local/include The header nimbusPreprocessInterface.h contains a low level c interface to libnimbus-preprocessing.so. This is useful when you want to integrate the nimbus 3d with external applications.
The following example (src/main.cpp) shows a basic implemenation to get the image data in C/C++;
It is important to understand, that this implementation directly integrates into the preprocessing toolchain. Therefore, it is triggered synchronous and any runtime inside the callback will reduce the overall framerate!
## Get the image data
The following Interface is being used to access the image and point cloud data.
The image data is contained in a 1D array. 352*286 pixels.
```c
uint16_t* ampl = nimbus_seq_get_amplitude(img); //Amplitude/Intensity of the pixels
uint8_t* conf = nimbus_seq_get_confidence(img); //Confidence Matrix showing the exposure state
uint16_t* radial = nimbus_seq_get_radial_dist(img); //Radial Distance of the Measurement
int16_t* x = nimbus_seq_get_x(img); //X Position of all pixels
int16_t* y = nimbus_seq_get_y(img); //Y Position of all pixels
int16_t* z = nimbus_seq_get_z(img); //Z Position of all pixels
ImgHeader_t* header = nimbus_seq_get_header(img);
```
## Exposure
It is also possible to change the exposure setting inside your c/c++ application
Use the following API for this.
```c
AutoExposureParams_t m_params;
m_params.amplitude = amplitude; //0.0 - ~1500.0 <-- desired amplitude for auto exposure
m_params.max_exposure = max_exposure; //0-32767 <-- exposure limit for auto, also functions as exposure value for manual exposure
m_params.hdr_factor = hdr_factor; //0.0 - 1.0 <-- dertermines the dynamic range
m_params.exposure_mode = exposure_mode; //MANUAL = 0, MANUAL_HDR = 1, AUTO = 2, AUTO_HDR = 3
bool set_exposure = nimbus_autoexposure_set_params(&m_params);
```
## Run the example
1.) Create a build folder
```
mkdir build
cd build
```
2.) Run Cmake
```
cmake ..
make all
```
3.) Run the compiled program
```
./nimbus-c
```