foxglove

Foxglove Connection

This example demonstrates how to use a Luxonis device for streaming to Foxglove Studio. Example uses Foxglove's websocket to stream frames or point clouds.

Demo

Usage

Running this example requires a Luxonis device connected to your computer. Refer to the documentation to setup your device if you haven't done it already.

You can run the example fully on device (STANDALONE mode) or using your computer as host (PERIPHERAL mode).

Here is a list of all available parameters:

-d DEVICE, --device DEVICE
                      Optional name, DeviceID or IP of the camera to connect
                      to. (default: None)
-fps FPS_LIMIT, --fps-limit FPS_LIMIT
                      FPS limit. (default: None)
-l, --left            Enable left camera stream. (default: False)
-r, --right           Enable right camera stream. (default: False)
-pc, --pointcloud     Enable pointcloud stream. (default: False)
-nc, --no-color       Disable color camera stream. (default: False)

To see the streams, open Foxglove Studio, choose Open connection and Foxglove WebSocket.

Peripheral Mode

Installation

You need to first prepare a Python 3.10 environment with the following packages installed:

• DepthAI,
• DepthAI Nodes.

You can simply install them by running:

pip install -r requirements.txt

Running in peripheral mode requires a host computer and there will be communication between device and host which could affect the overall speed of the app. Below are some examples of how to run the example.

Examples

python3 main.py

This will run the example with the color camera stream only.

python3 main.py --pointcloud

This will run the example with the color camera stream and point cloud stream.

Standalone Mode (RVC4 only)

Running the example in the standalone mode, app runs entirely on the device. To run the example in this mode, first install the oakctl tool using the installation instructions here.

The app can then be run with:

oakctl connect <DEVICE_IP>
oakctl app run .

This will run the example with default argument values. If you want to change these values you need to edit the oakapp.toml file (refer here for more information about this configuration file).