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libo3d3xx Command Line Utilities

The following command-line utilities are provided with libo3d3xx:

camera module utilities:

  1. o3d3xx-config
  2. o3d3xx-dump
  3. o3d3xx-ls
  4. o3d3xx-reboot
  5. o3d3xx-reset
  6. o3d3xx-rm
  7. o3d3xx-version
  8. o3d3xx-ifm-import
  9. o3d3xx-ifm-export

framegrabber module utilities:

  1. o3d3xx-hz
  2. o3d3xx-schema

image module utilities:

  1. o3d3xx-viewer

All of the command-line utilities accept the --help and the --version flags. --help will list the arguments accepted by the program and --version will display the version of libo3d3xx that the program is linked to.

A brief description of each program now follows:

o3d3xx-viewer

This program streams real-time image data from the camera and displays it on the screen. To run the program:

$ o3d3xx-viewer

This will open up two windows. The first window will display the point cloud:

3dimg

Each point in the point cloud is colored by the associated pixel's amplitude image value. The viewer window itself is a modified version of PCL's viewer application, so, all the normal key commands will work, `q' will exit the program. Additionally, 'A' will display a coordinate axes indicator on the screen and 'a' will remove it.

The second window displays four images:

2dimgs

The top-left image is a rendering of the radial depth map. The top-right image is an interpretation of the confidence image. In this binary image rendering, "good" pixels are shown in green and "bad" pixels are shown in yellow. The bottom-left image shows the normalized amplitude image and the bottom-right is the raw amplitude image.

o3d3xx-config

This program is used to configure all of the camera settings including device, network, application, and imager configuration. In addition, this program can serve as a means to restore the camera from a backup JSON file that conforms to the file structure generated by o3d3xx-dump.

To perform a full restore from a file, assuming you have the backup in /tmp/camera.json you can run:

$ o3d3xx-config < /tmp/camera.json

OR

$ o3d3xx-config --file /tmp/camera.json

If you just want to mutate a single setting, for example changing the active application to the application located at index 1, you can:

$ echo '{"o3d3xx":{"Device":{"ActiveApplication":"1"}}}' | o3d3xx-config

The JSON syntax is available as an example in this camera.json.

o3d3xx-dump

This program will dump the current camera configuration to JSON. The JSON is written to stdout. To backup to a file, use your shell I/O redirection facilities:

$ o3d3xx-dump > camera.json

An example of the produced JSON is available in this camera.json.

o3d3xx-ls

This program will list the applications currently installed on the camera and provide an indication which application is currently active -- that is, the application that would apply when running the o3d3xx::FrameGrabber. An example of running this program and its output is show below:

$ o3d3xx-ls
* [1] id=964899043, name=Factory Default Test Application, description=

In this example, there is only one application on the camera and it is marked as active. The number in square brackets indicates the application index.

o3d3xx-reboot

This program performs a soft boot of the camera. If you specify the -r flag, this will request the sensor to reboot into recovery mode. This will allow you to do things like update the firmware (for example) by going to http://<sensor_ip>:8080/.

o3d3xx-reset

This program will return the camera to factory default settings.

o3d3xx-rm

This program is used to remove an application from the camera. It takes the application index as an argument. NOTE: to add applications you can use o3d3xx-config (see above).

o3d3xx-version

This program displays the version of the library.

o3d3xx-hz

This program can be used to measure the effective frame rate achieved by the FrameGrabber based upon the imager config of the active application. The program allows for configuring a number of frames to capture and a number of runs to perform before computing the FPS statistics. It also supports computing statistic from either free-running or s/w triggered image acquisition on the camera. See --help for details.

o3d3xx-ifm-import

This program can be used to import IFM Vision Assistant files (e.g., applications) into the camera.

o3d3xx-ifm-export

This program can be used to export data (e.g., applications) from the camera into a format that is compatible with IFM Vision Assistant.

o3d3xx-schema

This program is used to inspect the PCIC schema the framegrabber will send to the camera based on a specific mask. To see the default PCIC schema, you can run the program with no arguments:

$ o3d3xx-schema
mask=15, str=-
---

  {
    "layouter": "flexible",
    "format"  : {"dataencoding":"ascii"},
    "elements":
     [
       {"type":"string", "value":"star", "id":"start_string"},
       {"type":"blob", "id":"distance_image"},
       {"type":"blob", "id":"normalized_amplitude_image"},
       {"type":"blob", "id":"amplitude_image"},
       {"type":"blob", "id":"x_image"},
       {"type":"blob", "id":"y_image"},
       {"type":"blob", "id":"z_image"},
       {"type":"blob", "id":"confidence_image"},
       {"type":"blob", "id":"extrinsic_calibration"},
       {"type":"string", "value":"stop", "id":"end_string"}
     ]
  }

You can see the schema that would be generated from a specific mask. For example, if you specified a mask of 1:

$ o3d3xx-schema -m 1
mask=1, str=-
---

  {
    "layouter": "flexible",
    "format"  : {"dataencoding":"ascii"},
    "elements":
     [
       {"type":"string", "value":"star", "id":"start_string"},
       {"type":"blob", "id":"distance_image"},
       {"type":"blob", "id":"confidence_image"},
       {"type":"blob", "id":"extrinsic_calibration"},
       {"type":"string", "value":"stop", "id":"end_string"}
     ]
  }

In the example above, we see that beyond the invariants we will ask the camera to only stream the distance image.

You can also construct schemas via symbolic constants. The constants that are available to you can be viewed with:

$ o3d3xx-schema -d
Masking options:
    IMG_RDIS: 1
    IMG_AMP:  2
    IMG_RAMP: 4
    IMG_CART: 8
    IMG_UVEC: 16

So, to generate a schema (and its associated mask) you can:

$ o3d3xx-schema -s "IMG_RDIS|IMG_AMP"
mask=3, str=IMG_RDIS|IMG_AMP
---

  {
    "layouter": "flexible",
    "format"  : {"dataencoding":"ascii"},
    "elements":
     [
       {"type":"string", "value":"star", "id":"start_string"},
       {"type":"blob", "id":"distance_image"},
       {"type":"blob", "id":"normalized_amplitude_image"},
       {"type":"blob", "id":"confidence_image"},
       {"type":"blob", "id":"extrinsic_calibration"},
       {"type":"string", "value":"stop", "id":"end_string"}
     ]
  }

This shows that if this is the schema you wanted the camera to stream back, you can pass a mask of 3 to the o3d3xx::FrameGrabber ctor. Of course, in your code, you will use the defined constants (e.g., o3d3xx::IMG_RDIS) and or them together to build up the desired schema.