ifm3d-ros2 provides access to the camera/imager parameters via the Dump and
Config services exposed by the camera_node. 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)
$ ros2 run ifm3d_ros2 dump
{
"ifm3d": {
"Apps": [
{
"Description": "Full-layer Depalletization",
"Id": "1999576749",
"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": "5",
"MaxAllowedLEDFrameRate": "11.9",
"MinimumAmplitude": "42",
"Resolution": "0",
"SpatialFilter": {},
"SpatialFilterType": "0",
"SymmetryThreshold": "0.4",
"TemporalFilter": {},
"TemporalFilterType": "0",
"ThreeFreqMax2FLineDistPercentage": "80",
"ThreeFreqMax3FLineDistPercentage": "80",
"TwoFreqMaxLineDistPercentage": "80",
"Type": "upto30m_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": "dpal",
"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": "Goldeneye_1.5.371-patched.swu",
"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": "1538395793",
"Name": "My Camera",
"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": "62.2599983215332",
"TemperatureIllu": "66.9",
"UpTime": "2.76944444444444"
},
"Net": {
"MACAddress": "00:02:01:40:97:AB",
"NetworkSpeed": "0",
"StaticIPv4Address": "192.168.0.69",
"StaticIPv4Gateway": "192.168.0.201",
"StaticIPv4SubNetMask": "255.255.255.0",
"UseDHCP": "false"
},
"Time": {
"CurrentTime": "1538395791",
"NTPServers": "",
"StartingSynchronization": "false",
"Stats": "",
"SynchronizationActivated": "false",
"Syncing": "false",
"WaitSyncTries": "2"
},
"_": {
"Date": "Wed Jun 26 15:00:03 2019",
"HWInfo": {
"Connector": "#!02_A300_C40_03408592_008023176",
"Diagnose": "#!02_D322_C34_03370362_008026824",
"Frontend": "#!02_F342_C34_18_00017_008023607",
"Illumination": "#!02_I300_001_03423860_008001175",
"MACAddress": "00:02:01:40:97:AB",
"Mainboard": "#!02_M381_C41_03144276_008023690",
"MiraSerial": "0030-608d-0170-064c"
},
"SWVersion": {
"Algorithm_Version": "2.1.9",
"Calibration_Device": "00:02:01:40:97:ab",
"Calibration_Version": "0.9.0",
"Diagnostic_Controller": "v1.0.77-d1383f8f56-dirty",
"IFM_Recovery": "unversioned",
"IFM_Software": "1.23.2848",
"Linux": "Linux version 3.14.34-rt31-yocto-standard-00010-g82eeb38179d5-dirty (jenkins@dettlx190) (gcc version 4.9.2 (GCC) ) #1 SMP PREEMPT RT Wed Sep 12 09:50:11 CEST 2018",
"Main_Application": "1.0.77"
},
"ifm3d_version": 1300
}
}
}
Chaining together Linux pipelines works just as it does in ifm3d. For
example, using a combination of dump and config to change the frame rate
from 5Hz to 10Hz of the single application on this particular camera would look
like:
$ ros2 run ifm3d_ros2 dump | jq '.ifm3d.Apps[0].Imager.FrameRate="10"' | ros2 run ifm3d_ros2 config
You can check that it worked with:
$ ros2 run ifm3d_ros2 dump | jq .ifm3d.Apps[0].Imager.FrameRate
"10"
NOTE: If you do not have jq on your system, it can be installed with: $ sudo apt 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:
$ ros2 run ifm3d_ros2 config < camera.json
Beyond the requirement of prefacing your command-line with ros2 run ... 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.