phenomate-core 0.3.0

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phenomate-core

Overview

phenomate-core is a Python package for processing Phenomate sensor binaries into appropriate outputs. The Phenomate platform collects data from the following sensors

• JAI RGB camera
• IMU - INS401
• Lidar (2D)
• Hyperspectral Camera

And it packs the data (typically) into Protobuffer messages as the sensors collect it. This package unpacks and and possibly transforms the data from the protobuffer files, ready for further processing.

Installation

Clone the repository and install dependencies:

git clone https://github.com/yourusername/phenomate-core.git
cd phenomate-core
make install

Installing libjpeg-turbo - Oak-d

Please see the official page for installing libjpeg-turbo for your operating system.

Installing Sickscan - 2D Lidar

The conversion code for the 2D LIDAR has the required Python code as part of this repository. If the code needs updating then it can be built from the GitHub repository:

mkdir -p ./sick_scan_ws
cd ./sick_scan_ws

git clone -b master https://github.com/SICKAG/sick_scan_xd.git

mkdir -p ./build
pushd ./build
rm -rf ./*
export ROS_VERSION=0

# specify optimisation level: -DO=0 (compiler flags -g -O0), -DO=1 (for compiler flags -O1) or -DO=2
# Install to local directory uising CMAKE_INSTALL_PREFIX=
cmake -DCMAKE_INSTALL_PREFIX=~/local -DROS_VERSION=0 -DLDMRS=0 -DSCANSEGMENT_XD=0 -G "Unix Makefiles" ../sick_scan_xd
make -j4
make -j4 install  # install locally
popd

# The output Python code can be found in:
# ~/local/include/sick_scan_xd/sick_scan_xd.py
# and can be copied to phenomate-core/phenomate_core/preprocessing/lidar

Usage

Example usage for extracting and saving images:

from phenomate_core import JaiPreprocessor

preproc = JaiPreprocessor(path="path/to/data.bin")
preproc.extract()
preproc.save(path="output_dir")

Development

• Python 3.11+
• Uses ruff and mypy for linting and type checking
• Protobuf files should be compiled with protoc as needed

uv pip install protobuf
make compile-pb

Contributing

Contributions are welcome! Please open issues or pull requests for bug fixes, features, or improvements.