ROS extension API description

dmcam_ros posted topics

1. /smarttof/image_dist

   Command used	rosrun image_view image_view image:=/smarttof/image_dist
   Function description	Get depth data from topics posted by image_dist

2. /smarttof/image_gray

   Command used	rosrun image_view image_view image:=/smarttof/image_gray
   Function description	Get depth data from topics posted by image_gray

3. /smarttof/camera_info

   Command used	rosrun image_view image_view image:=/smarttof/camera_info
   Function description	Print camera information from topics posted by camera_info

4. /smarttof/pointcloud

   Command used	rosrun image_view image_view image:=/smarttof/pointcloud
   Function description	Display point cloud data from topics published via pointcloud from rviz

Services posted dmcam_ros

1. /smarttof/change_power

   Command used	rosservice call /smarttof/change_power “power_value:<value>”
   Function description	Modify the value of PARAM_ILLUM_POWER dynamically
   function parameter	value defaults to 0

2. /smarttof/change_intg

   Command used	rosservice call /smarttof/change_intg “intg_value:<value>”
   Function description	Dynamically modify the value of PARAM_INTG_TIME, PARAM_INTG_TIME is the exposure time.
   Function parameter	The value of the exposure time ranges from 0 to 1500

3. /smarttof/change_mod_freq

   Command used	rosservice call /smarttof/ change_mod_freq “mod_freq_value:<value>”
   Function description	Dynamically modify the value of PARAM_MOD_FREQ, PARAM_MOD_FREQ is the modulation frequency.
   Function parameter	The value is currently fixed at 12MHz

4. /smarttof/change_frame_rate

   Command used	rosservice call /smarttof/ change_frame_rate “frame_rate_value:<value>”
   Function description	Dynamically modify the value of PARAM_FRAME_RATE, PARAM_INTG_TIME is the exposure time.
   Function parameter	PARAM_FRAME_RATE is the frame rate ranges from 1 to 30

5. /smarttof/change_sync_delay

   Command used	rosservice call /smarttof/ change_sync_delay “sync_delay_value:<value>”
   Function description	Dynamically modify the value of PARAM_SYNC_DELAY, PARAM_SYNC_DELAY is the synchronization delay time.
   Function parameter	PARAM_FRAME_RATE is the frame rate ranges from 1 to 30

6. /smarttof/change_filter

   Command used	rosservice call /smarttof/change_filter “filter_id: ‘<id>’filter_value:<value>”
   Function description	Turn on the filtering function of the specified id value in filter_id
   Function parameter	The id value in filter_id can be set to:
   	DMCAM_FILTER_ID_LEN_CALIB //Lens calibration
   	DMCAM_FILTER_ID_PIXEL_CALIB //Pixel calibration
   	DMCAM_FILTER_ID_RESERVED //Not currently supported
   	DMCAM_FILTER_ID_AMP //amplitude filter
   	DMCAM_FILTER_ID_AUTO_INTG //exposure time
   	DMCAM_FILTER_ID_SYNC_DELAY //Not currently supported
   	DMCAM_FILTER_ID_TEMP_MONITOR //Not currently supported
   	DMCAM_FILTER_ID_HDR //HDR mode
   	DMCAM_FILTER_ID_OFFSET //distance offset
   	DMCAM_FILTER_ID_SPORT_MODE //sport mode
   	DMCAM_FILTER_ID_SYS_CALIB //Not currently supported
   	DMCAM_FILTER_ID_AMBIENT_LIGHT_CALIB //Not currently supported
   	Currently only the value of filter_value needs to be set in, DMCAM_FILTER_ID_AMP, the range is 0-100
   	The value of other filter_value can be 0 by default

7. /smarttof/disable_filter

   Command used	rosservice call /smarttof/disable_filter “filter_id: ‘<id>’”
   Function description	Turn off the filtering function of the specified id value in filter_id
   Function parameter	The id value in filter_id can be set to:
   	DMCAM_FILTER_ID_LEN_CALIB //Lens calibration
   	DMCAM_FILTER_ID_PIXEL_CALIB //Pixel calibration
   	DMCAM_FILTER_ID_RESERVED //Not currently supported
   	DMCAM_FILTER_ID_AMP //amplitude filter
   	DMCAM_FILTER_ID_AUTO_INTG //exposure time
   	DMCAM_FILTER_ID_SYNC_DELAY //Not currently supported
   	DMCAM_FILTER_ID_TEMP_MONITOR //Not currently supported
   	DMCAM_FILTER_ID_HDR //HDR mode
   	DMCAM_FILTER_ID_OFFSET //distance offset
   	DMCAM_FILTER_ID_SPORT_MODE //sport mode
   	DMCAM_FILTER_ID_SYS_CALIB //Not currently supported
   	DMCAM_FILTER_ID_AMBIENT_LIGHT_CALIB //Not currently supported