iLidar API Example Projects

The iLidar API provides C++ and Python receive examples for the iTFS and iTFS-LITE product families.

Version: V2.0.0

Quick Start

Before running an example, connect the sensor and host to mutually reachable IPv4 networks. Configure the sensor's destination IP address and output mode with the iLidar configuration tool so that data is sent to the host.

Ubuntu

C++

sudo apt update
sudo apt install build-essential cmake libopencv-dev libpcl-dev
./build.sh --itfs --lite

# iTFS
./itfs/bin/itfs_helloworld_cmake

# iTFS-LITE
./lite/bin/lite_helloworld_cmake

Python

sudo apt update
sudo apt install build-essential python3-dev python3-venv
python3 -m venv .venv
source .venv/bin/activate
python -m pip install "setuptools>=64" wheel "pybind11>=2.10" "numpy>=1.20"
./build.sh --itfs_pywrapper --lite_pywrapper

# iTFS
python itfs_pywrapper/helloworld.py

# iTFS-LITE
python lite_pywrapper/lite_helloworld.py

Windows

C++

Install Visual Studio 2022 with the Desktop development with C++ workload, CMake, and Git. The following PowerShell example installs OpenCV and PCL with vcpkg, then builds both product families:

git clone https://github.com/microsoft/vcpkg.git C:\vcpkg
C:\vcpkg\bootstrap-vcpkg.bat
C:\vcpkg\vcpkg.exe install opencv4:x64-windows pcl:x64-windows

cmake -S itfs -B itfs/build `
  -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake `
  -DVCPKG_TARGET_TRIPLET=x64-windows `
  -DOpenCV_DIR=C:/vcpkg/installed/x64-windows/share/opencv4 `
  -DPCL_DIR=C:/vcpkg/installed/x64-windows/share/pcl
cmake --build itfs/build --config Release

cmake -S lite -B lite/build `
  -DCMAKE_TOOLCHAIN_FILE=C:/vcpkg/scripts/buildsystems/vcpkg.cmake `
  -DVCPKG_TARGET_TRIPLET=x64-windows `
  -DOpenCV_DIR=C:/vcpkg/installed/x64-windows/share/opencv4 `
  -DPCL_DIR=C:/vcpkg/installed/x64-windows/share/pcl
cmake --build lite/build --config Release

# iTFS
.\itfs\bin\Release\itfs_helloworld_cmake.exe

# iTFS-LITE
.\lite\bin\Release\lite_helloworld_cmake.exe

Python

Install Visual Studio 2022 with the C++ workload and Python 3, then run:

py -m venv .venv
.\.venv\Scripts\Activate.ps1
python -m pip install "setuptools>=64" wheel "pybind11>=2.10" "numpy>=1.20"

cd itfs_pywrapper
python setup.py build_ext --inplace
python helloworld.py

cd ..\lite_pywrapper
python setup.py build_ext --inplace
python lite_helloworld.py

Only one application should receive a sensor's data stream at a time. Close other viewers or examples that use the same sensor before starting a new one.

Project Overview

Directory Layout

Directory	Language	Target	Description
itfs/	C++	iTFS	iTFS::LiDAR examples
itfs_pywrapper/	Python	iTFS	Python examples and local ilidar package
lite/	C++	iTFS-LITE	iTFS::LITE examples
lite_pywrapper/	Python	iTFS-LITE	Python examples and local ilidar_lite package
src/	C++	SDK core	API implementation and pybind11 bindings

Examples

Example	Language / Library	Description
Helloworld	C++ / Python	Receives data, status, and device information
OpenCV	C++ / Python, OpenCV	Displays or saves 2D sensor images
PCL	C++, PCL	Builds a 3D point cloud from depth data
Open3D	Python, Open3D	Displays a 3D point cloud from Python

API Families

The two APIs share a callback-oriented receive flow, but their packet and image formats are different. Use the family matching the connected product.

C++ API	Python package	Live callback object	Reusable image copy
iTFS::LiDAR	ilidar	Device (device_t)	Img (img_t)
iTFS::LITE	ilidar_lite	LiteDevice (lite_device_t)	LiteImgCpy (lite_img_cpy_t)

Integration Guides

Use the guide matching the product and language for callback lifetime rules, packet-specific behavior, and integration examples:

• iTFS C++ guide
• iTFS Python guide
• iTFS-LITE C++ guide
• iTFS-LITE Python guide

The wrappers are intended primarily for receive-side integration. Use the dedicated product tools for sensor configuration, firmware, flash, and production maintenance operations.

Changelog

See CHANGELOG.md for release history.

License

The iLidar SDK and examples are licensed under the MIT License. Copyright 2022-Present HYBO Inc. See LICENSE.

Optional dependencies retain their own licenses. See THIRD_PARTY_NOTICES.md before redistributing binaries that include those dependencies.