O3X120 ROS api parameters

[heruoyu1206]

how to set the Image setting type via ROS JSON file?

{
  "ifm3d": {
    "Apps": [
      {
        "Description": "",
        "Id": "476707713",
        "Imager": {
          "AbsDistStraylightThreshold": "0.05",
          "AutoExposureMaxExposureTime": "10000",
          "AutoExposureMaxNumberOfSaturatedPixels": "20",
          "AutoExposureReferencePointX": "88",
          "AutoExposureReferencePointY": "66",
          "AutoExposureReferenceROI": "{\"ROIs\":[{\"id\":0,\"group\":0,\"type\":\"Rect\",\"width\":224,\"height\":172,\"angle\":0,\"center_x\":112,\"center_y\":86}]}",
          "AutoExposureReferenceType": "0",
          "AutoExposureTimeLowerLimit": "0",
          "CompensateAmbientLightDrift": "false",
          "ContinuousAutoExposure": "false",
          "DistNoiseThreshold": "0",
          "EnableNoiseEstimation": "false",
          "EnableStraylightCorrection": "false",
          "ExposureTime": "1350",
          "ExposureTimeRatio": "40",
          "FrameRate": "5",
          "MaxAllowedFrameRate": "10",
          "MinimumAmplitude": "30",
          "RelAmpStraylightThreshold": "0.2",
          "SpatialFilter": {
            "MaskSize": "0"
          },
          "SpatialFilterType": "1",
          "SymmetryThreshold": "0.4",
          "TemporalFilter": {
            "": ""
          },
          "TemporalFilterType": "0",
          "Type": "upTo30m_moderate"
        },
        "Index": "1",
        "Name": "",
        "OutputAmplitudeImage": "true",
        "OutputConfidenceImage": "true",
        "OutputDistanceImage": "true",
        "OutputDistanceNoiseImage": "false",
        "OutputGrayscaleImage": "false",
        "OutputXYZImage": "true",
        "TriggerMode": "1",
        "Type": "Camera"
      }
    ],
    "Device": {
      "ArticleNumber": "O3X120",
      "ArticleStatus": "AB",
      "Description": "",
      "DeviceType": "1:512",
      "IPAddressConfig": "0",
      "ImageTimestampReference": "1674128009",
      "Name": "New sensor",
      "OperatingMode": "0",
      "PasswordActivated": "false",
      "SessionTimeout": "30",
      "TemperatureIllu": "42",
      "UpTime": "0.115"
    },
    "Net": {
      "MACAddress": "00:02:01:44:0D:B5",
      "NetworkSpeed": "0",
      "StaticIPv4Address": "192.168.3.201",
      "StaticIPv4Gateway": "192.168.3.1",
      "StaticIPv4SubNetMask": "255.255.255.0",
      "UseDHCP": "false"
    },
    "Time": {
      "CurrentTime": "1674128009",
      "NTPServers": "",
      "StartingSynchronization": "false",
      "Stats": "",
      "SynchronizationActivated": "false",
      "Syncing": "false",
      "WaitSyncTries": "2"
    },
    "_": {
      "Date": "Mon Jun 24 15:30:45 2024",
      "HWInfo": {
        "MACAddress": "00:02:01:44:0D:B5",
        "Mainboard": "#!02_M162_C10_06742560_008026861",
        "MiraSerial": "8230-94de-1756-0868"
      },
      "SWVersion": {
        "Algorithm_Version": "1.1.0",
        "Calibration_Device": "00:02:01:44:0d:b5",
        "Calibration_Version": "2.0.0",
        "ELDK": "GOLDENEYE_YOCTO/feature%2FO3X-redesign-2-21-a9b19d8e326b593f51883ebda050c2b5a63bfcf5",
        "IFM_Software": "2.0.10412",
        "Linux": "Linux version 3.14.34-rt31-yocto-standard-00014-g62761f4c1a53-dirty (jenkins@31280bcfef98) (gcc version 4.9.2 (GCC) ) #1 SMP PREEMPT RT Thu Jan 19 12:21:05 CET 2023",
        "Main_Application": "unknown"
      },
      "ifm3d_version": 9300
    }
  }
}

[heruoyu1206]

For example, if I would like to operate the camera in upTo02m_low mode, how should set it in the toJSONStr file?

[graugans]

I do not have an O3X at hand, have you tried:

{
    "ifm3d": {
        "Apps": [
            {
                "Imager": {
                    "Type": "upTo30m_moderate"
                }
            }
        ]
    }
}

[dekhanra]

Hello @graugans.

I tested to set the above schema via ifm3d api with O3X120 and the Type was set to the desired 'upTo02m_low' but with warnings.

$ echo {} | jq '.ifm3d.Apps[0].Imager.Type="upTo02m_low"' | ifm3d config
2024-06-25 10:04:16 WARN [../modules/device/src/libifm3d_device/legacy_device.cpp:485] Skipping SpatialFilter, null value -- should be string!
2024-06-25 10:04:16 WARN [../modules/device/src/libifm3d_device/legacy_device.cpp:485] Skipping TemporalFilter, null value -- should be string!
2024-06-25 10:04:16 WARN [../modules/device/src/libifm3d_device/legacy_device.cpp:485] Skipping TemporalFilterType, null value -- should be string!

[heruoyu1206]

problem solved，thank you!