ifm3d-ros provides access to the camera/imager parameters via the Dump and
Config services exposed by the camera_nodelet. Additionally, command-line
scripts called dump and config are provided as wrapper interfaces to those
services. This gives a feel similar to using the underlying ifm3d
command-line tool from the ROS-independent driver except proxying the calls
through the ros network.
For example, to dump the state of the camera:
(exemplary output from an O3D303 is shown)
$ rosrun ifm3d dump
{
"ifm3d": {
"Apps": [
{
"Description": "",
"Id": "322089668",
"Imager": {
"AutoExposureMaxExposureTime": "10000",
"AutoExposureReferencePointX": "88",
"AutoExposureReferencePointY": "66",
"AutoExposureReferenceROI": "{\"ROIs\":[{\"id\":0,\"group\":0,\"type\":\"Rect\",\"width\":130,\"height\":100,\"angle\":0,\"center_x\":88,\"center_y\":66}]}",
"AutoExposureReferenceType": "0",
"Channel": "0",
"ClippingBottom": "131",
"ClippingCuboid": "{\"XMin\": -3.402823e+38, \"XMax\": 3.402823e+38, \"YMin\": -3.402823e+38, \"YMax\": 3.402823e+38, \"ZMin\": -3.402823e+38, \"ZMax\": 3.402823e+38}",
"ClippingLeft": "0",
"ClippingRight": "175",
"ClippingTop": "0",
"ContinuousAutoExposure": "false",
"ContinuousUserFrameCalibration": "false",
"EnableAmplitudeCorrection": "true",
"EnableFastFrequency": "false",
"EnableFilterAmplitudeImage": "true",
"EnableFilterDistanceImage": "true",
"EnableRectificationAmplitudeImage": "false",
"EnableRectificationDistanceImage": "false",
"ExposureTime": "5000",
"ExposureTimeList": "125;5000",
"ExposureTimeRatio": "40",
"FrameRate": "10",
"MaxAllowedLEDFrameRate": "23.2",
"MinimumAmplitude": "42",
"Resolution": "0",
"SpatialFilter": {},
"SpatialFilterType": "0",
"SymmetryThreshold": "0.4",
"TemporalFilter": {},
"TemporalFilterType": "0",
"ThreeFreqMax2FLineDistPercentage": "80",
"ThreeFreqMax3FLineDistPercentage": "80",
"TwoFreqMaxLineDistPercentage": "80",
"Type": "under5m_moderate",
"UseSimpleBinning": "false"
},
"Index": "1",
"LogicGraph": "{\"IOMap\": {\"OUT1\": \"RFT\",\"OUT2\": \"AQUFIN\"},\"blocks\": {\"B00001\": {\"pos\": {\"x\": 200,\"y\": 200},\"properties\": {},\"type\": \"PIN_EVENT_IMAGE_ACQUISITION_FINISHED\"},\"B00002\": {\"pos\": {\"x\": 200,\"y\": 75},\"properties\": {},\"type\": \"PIN_EVENT_READY_FOR_TRIGGER\"},\"B00003\": {\"pos\": {\"x\": 600,\"y\": 75},\"properties\": {\"pulse_duration\": 0},\"type\": \"DIGITAL_OUT1\"},\"B00005\": {\"pos\": {\"x\": 600,\"y\": 200},\"properties\": {\"pulse_duration\": 0},\"type\": \"DIGITAL_OUT2\"}},\"connectors\": {\"C00000\": {\"dst\": \"B00003\",\"dstEP\": 0,\"src\": \"B00002\",\"srcEP\": 0},\"C00001\": {\"dst\": \"B00005\",\"dstEP\": 0,\"src\": \"B00001\",\"srcEP\": 0}}}",
"Name": "Sample Application",
"PcicEipResultSchema": "{ \"layouter\": \"flexible\", \"format\": { \"dataencoding\": \"binary\", \"order\": \"big\" }, \"elements\" : [ { \"type\": \"string\", \"value\": \"star\", \"id\": \"start_string\" }, { \"type\": \"records\", \"id\": \"models\", \"elements\": [ { \"type\": \"int16\", \"id\": \"boxFound\" }, { \"type\": \"int16\", \"id\": \"width\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"height\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"length\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"xMidTop\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"yMidTop\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"zMidTop\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"yawAngle\" }, { \"type\": \"int16\", \"id\": \"qualityLength\" }, { \"type\": \"int16\", \"id\": \"qualityWidth\" }, { \"type\": \"int16\", \"id\": \"qualityHeight\" } ] }, { \"type\": \"string\", \"value\": \"stop\", \"id\": \"end_string\" } ] }",
"PcicPnioResultSchema": "{\"layouter\" : \"flexible\", \"format\": { \"dataencoding\": \"binary\", \"order\": \"big\" }, \"elements\" : [ { \"type\": \"string\", \"value\": \"star\", \"id\": \"start_string\" }, { \"type\": \"records\", \"id\": \"models\", \"elements\": [ { \"type\": \"int16\", \"id\": \"boxFound\" }, { \"type\": \"int16\", \"id\": \"width\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"height\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"length\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"xMidTop\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"yMidTop\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"zMidTop\", \"format\": { \"scale\": 1000 } }, { \"type\": \"int16\", \"id\": \"yawAngle\" }, { \"type\": \"int16\", \"id\": \"qualityLength\" }, { \"type\": \"int16\", \"id\": \"qualityWidth\" }, { \"type\": \"int16\", \"id\": \"qualityHeight\" } ] }, { \"type\": \"string\", \"value\": \"stop\", \"id\": \"end_string\" } ] }",
"PcicTcpResultSchema": "{ \"layouter\": \"flexible\", \"format\": { \"dataencoding\": \"ascii\" }, \"elements\": [ { \"type\": \"string\", \"value\": \"star\", \"id\": \"start_string\" }, { \"type\": \"blob\", \"id\": \"normalized_amplitude_image\" }, { \"type\": \"blob\", \"id\": \"distance_image\" }, { \"type\": \"blob\", \"id\": \"x_image\" }, { \"type\": \"blob\", \"id\": \"y_image\" }, { \"type\": \"blob\", \"id\": \"z_image\" }, { \"type\": \"blob\", \"id\": \"confidence_image\" }, { \"type\": \"blob\", \"id\": \"diagnostic_data\" }, { \"type\": \"string\", \"value\": \"stop\", \"id\": \"end_string\" } ] }",
"RtspOverlayStyle": "{\"ROI\": {\"default\": {\"visible\": true, \"filled\": false, \"use_symbol\": false, \"label_alignment\": \"top\", \"label_content\": \"\", \"label_background\": \"black\", \"label_fontsize\": 8, \"label_failonly\": false}, \"model_defaults\": {}, \"specific\": {} } }",
"TemplateInfo": "",
"TriggerMode": "1",
"Type": "Camera"
}
],
"Device": {
"ActiveApplication": "1",
"ArticleNumber": "O3D303",
"ArticleStatus": "AD",
"Description": "",
"DeviceType": "1:2",
"EIPConsumingSize": "8",
"EIPProducingSize": "450",
"EnableAcquisitionFinishedPCIC": "false",
"EthernetFieldBus": "1",
"EthernetFieldBusEndianness": "0",
"EvaluationFinishedMinHoldTime": "10",
"ExtrinsicCalibRotX": "0",
"ExtrinsicCalibRotY": "0",
"ExtrinsicCalibRotZ": "0",
"ExtrinsicCalibTransX": "0",
"ExtrinsicCalibTransY": "0",
"ExtrinsicCalibTransZ": "0",
"IODebouncing": "true",
"IOExternApplicationSwitch": "0",
"IOLogicType": "1",
"IPAddressConfig": "0",
"ImageTimestampReference": "1524246144",
"Name": "FooBarBaz",
"OperatingMode": "0",
"PNIODeviceName": "",
"PasswordActivated": "false",
"PcicProtocolVersion": "3",
"PcicTcpPort": "50010",
"PcicTcpSchemaAutoUpdate": "false",
"SaveRestoreStatsOnApplSwitch": "true",
"ServiceReportFailedBuffer": "15",
"ServiceReportPassedBuffer": "15",
"SessionTimeout": "30",
"TemperatureFront1": "3276.7",
"TemperatureFront2": "3276.7",
"TemperatureIMX6": "53.1839981079102",
"TemperatureIllu": "60.6",
"UpTime": "3.13861111111111"
},
"Net": {
"MACAddress": "00:02:01:40:7D:96",
"NetworkSpeed": "0",
"StaticIPv4Address": "192.168.0.69",
"StaticIPv4Gateway": "192.168.0.201",
"StaticIPv4SubNetMask": "255.255.255.0",
"UseDHCP": "false"
},
"Time": {
"CurrentTime": "1524246142",
"NTPServers": "",
"StartingSynchronization": "false",
"Stats": "",
"SynchronizationActivated": "false",
"Syncing": "false",
"WaitSyncTries": "2"
},
"_": {
"Date": "Tue May 15 13:38:32 2018",
"HWInfo": {
"Connector": "#!02_A300_C40_02452814_008023176",
"Diagnose": "#!02_D322_C32_03038544_008023267",
"Frontend": "#!02_F342_C34_17_00049_008023607",
"Illumination": "#!02_I300_001_03106810_008001175",
"MACAddress": "00:02:01:40:7D:96",
"Mainboard": "#!02_M381_003_03181504_008022954",
"MiraSerial": "0e30-59af-0ef7-0244"
},
"SWVersion": {
"Algorithm_Version": "2.1.5",
"Calibration_Device": "00:02:01:40:7d:96",
"Calibration_Version": "0.9.0",
"Diagnostic_Controller": "v1.0.33-92f88d349f-dirty",
"IFM_Recovery": "unversioned",
"IFM_Software": "1.23.1522",
"Linux": "Linux version 3.14.34-rt31-yocto-standard-00009-ge4ab4d94f288-dirty (jenkins@dettlx190) (gcc version 4.9.2 (GCC) ) #1 SMP PREEMPT RT Tue Mar 13 16:06:07 CET 2018",
"Main_Application": "1.0.33"
},
"ifm3d_version": 900
}
}
}
Chaining together Linux pipelines works just as it does in ifm3d. For
example, using a combination of dump and config to set a new name on the
camera would look like:
$ rosrun ifm3d dump | jq '.ifm3d.Device.Name="My 3D Camera"' | rosrun ifm3d config
$ rosrun ifm3d dump | jq .ifm3d.Device.Name
"My 3D Camera"
NOTE: If you do not have jq on your system, it can be installed with: $ sudo apt-get install jq
For the config command, one difference between our ROS implementation and the
ifm3d implementation is that we only accept input on stdin. So, if you had
a file with JSON you wish to configure your camera with, you would simply use the
file I/O redirection facilities of your shell (or something like cat) to feed
the data to stdin. For example, in bash:
$ rosrun ifm3d config < camera.json
Beyond the requirement of prefacing your command-line with rosrun to invoke
the ROS version of these tools, they operate the same. To learn more about the
functionality and concepts, you can read the docs
here.