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Migration Guide from Version 2.0.2 to Version 2.3.4

As Mech-Eye API has been restructured in version 2.2.0, the ROS 1 interface for Mech-Eye Industrial 3D Camera has also been restructured accordingly. This document lists the topics and services that have changed from the previous release of the ROS 1 interface to the latest release. You can modify your program according to this document.

Compatibility

  • Previous release of the ROS 1 interface: compatible with Mech-Eye SDK 2.0.1 and 2.0.2
  • Latest release of the ROS 1 interface: compatible with Mech-Eye SDK 2.3.4

If you would like to use the latest ROS 1 interface for the camera, please install the latest version of Mech-Eye SDK or upgrade Mech-Eye SDK to the latest version.

If you are using Mech-Eye SDK 2.0.2 and below, please install the previous release of the ROS 1 interface (can be found from the Releases page on GitHub.)

Note: No compatible release of ROS 1 interface was made for Mech-Eye SDK 2.1.0 to 2.3.3. If you are using these versions of Mech-Eye SDK and would like to use the ROS 1 interface, please upgrade Mech-Eye SDK to the latest version.

Topics

Depth Map

  • Version 2.0.2: /mechmind/depth_image
  • Version 2.3.4: /mechmind/depth_map

Textured Point Cloud

  • Version 2.0.2: /mechmind/color_point_cloud
  • Version 2.3.4: /mechmind/textured_point_cloud

Services

Data Acquisition

Capture 2D Image

  • Version 2.0.2:

    rosservice call /capture_color_map

  • Version 2.3.4:

    rosservice call /capture_color_image

Capture Textured Point Cloud

  • Version 2.0.2:

    rosservice call /capture_color_point_cloud

  • Version 2.3.4:

    rosservice call /capture_textured_point_cloud

Adjust Camera Parameters

Get Scan2DExpectedGrayValue

  • Version 2.0.2:

    rosservice call /get_2d_expected_gray_value

  • Version 2.3.4:

    rosservice call /get_int_parameter "{name: Scan2DExpectedGrayValue}"

Set Scan2DExpectedGrayValue

  • Version 2.0.2:

    rosservice call /set_2d_expected_gray_value "{value: 20}"

  • Version 2.3.4:

    rosservice call /set_int_parameter "{name: Scan2DExpectedGrayValue, value:20}"

Get Scan2DExposureMode

  • Version 2.0.2:

    rosservice call /get_2d_exposure_mode

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: Scan2DExposureMode}"

Set Scan2DExposureMode

  • Version 2.0.2:

    rosservice call /set_2d_exposure_mode "{value: HDR}"

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: Scan2DExposureMode, value: HDR}"

Get Scan2DHDRExposureSequence

  • Version 2.0.2:

    rosservice call /get_2d_exposure_sequence

  • Version 2.3.4:

    rosservice call /get_float_array_parameter "{name: Scan2DHDRExposureSequence}"

Set Scan2DHDRExposureSequence

  • Version 2.0.2:

    rosservice call /set_2d_exposure_sequence "{sequence: [30.0,35.5,40.0]}"

  • Version 2.3.4:

    rosservice call /set_float_array_parameter "{name: Scan2DHDRExposureSequence, array: [30.0, 35.5, 40.0]}"

Get Scan2DExposureTime

  • Version 2.0.2:

    rosservice call /get_2d_exposure_time

  • Version 2.3.4:

    rosservice call /get_float_parameter "{name: Scan2DExposureTime}"

Set Scan2DExposureTime

  • Version 2.0.2:

    rosservice call /set_2d_exposure_time "{value: 35.5}"

  • Version 2.3.4:

    rosservice call /set_float_parameter "{name: Scan2DExposureTime, value: 35.5}"

Get Scan2DROI

  • Version 2.0.2:

    rosservice call /get_2d_roi

  • Version 2.3.4:

    rosservice call /get_roi_parameter "{name: Scan2DROI}"

Set Scan2DROI

  • Version 2.0.2:

    rosservice call /set_2d_roi "{x: 20, y: 20, width: 600, height: 800}"

  • Version 2.3.4:

    rosservice call /set_roi_parameter "{name: Scan2DROI, x: 20, y: 20, width: 600, height: 800}"

Get Scan2DSharpenFactor

  • Version 2.0.2:

    rosservice call /get_2d_sharpen_factor

  • Version 2.3.4:

    rosservice call /get_float_parameter "{name: Scan2DSharpenFactor}"

Set Scan2DSharpenFactor

  • Version 2.0.2:

    rosservice call /set_2d_sharpen_factor "{value: 0.5}"

  • Version 2.3.4:

    rosservice call /set_float_parameter "{name: Scan2DSharpenFactor, value: 0.5}"

Get Scan2DToneMappingEnable

  • Version 2.0.2:

    rosservice call /get_2d_tone_mapping

  • Version 2.3.4:

    rosservice call /get_bool_parameter "{name: Scan2DToneMappingEnable}"

Set Scan2DToneMappingEnable

  • Version 2.0.2:

    rosservice call /set_2d_tone_mapping "{value: True}"

  • Version 2.3.4:

    rosservice call /set_bool_parameter "{name: Scan2DToneMappingEnable, value: True}"

Get Scan3DExposureSequence

  • Version 2.0.2:

    rosservice call /get_3d_exposure

  • Version 2.3.4:

    rosservice call /get_float_array_parameter "{name: Scan3DExposureSequence}"

Set Scan3DExposureSequence

  • Version 2.0.2:

    rosservice call /set_3d_exposure "{sequence: [30.0,35.5,40.0]}"

  • Version 2.3.4:

    rosservice call /set_float_array_parameter "{name: Scan3DExposureSequence, array: [30.0, 35.5, 40.0]}"

Get Scan3DGain

  • Version 2.0.2:

    rosservice call /get_3d_gain

  • Version 2.3.4:

    rosservice call /get_float_parameter "{name: Scan3DGain}"

Set Scan3DGain

  • Version 2.0.2:

    rosservice call /set_3d_gain "{value: 2.5}"

  • Version 2.3.4:

    rosservice call /set_float_parameter "{name: Scan3DGain, value: 2.5}"

Get Scan3DROI

  • Version 2.0.2:

    rosservice call /get_3d_roi

  • Version 2.3.4:

    rosservice call /get_roi_parameter "{name: Scan3DROI}"

Set Scan3DROI

  • Version 2.0.2:

    rosservice call /set_3d_roi "{x: 20, y: 20, width: 600, height: 800}"

  • Version 2.3.4:

    rosservice call /set_roi_parameter "{name: Scan3DROI, x: 20, y: 20, width: 600, height: 800}"

Get PointCloudOutlierRemoval

  • Version 2.0.2:

    rosservice call /get_cloud_outlier_filter_mode

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: PointCloudOutlierRemoval}"

Set PointCloudOutlierRemoval

  • Version 2.0.2:

    rosservice call /set_cloud_outlier_filter_mode '!!str Off'

    Note: The Off option must be surrounded by single quotation marks and have !!str in front.

  • Version 2.3.4:

    rosservice call /set_enum_parameter "{name: PointCloudOutlierRemoval, value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

Get PointCloudSurfaceSmoothing

  • Version 2.0.2:

    rosservice call /get_cloud_smooth_mode

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: PointCloudSurfaceSmoothing}"

Set PointCloudSurfaceSmoothing

  • Version 2.0.2:

    rosservice call /set_cloud_smooth_mode '!!str Off'

    Note: The Off option must be surrounded by single quotation marks and have !!str in front.

  • Version 2.3.4:

    rosservice call /set_enum_parameter "{name: PointCloudSurfaceSmoothing, value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

Get DepthRange

  • Version 2.0.2:

    rosservice call /get_depth_range

  • Version 2.3.4:

    rosservice call /get_range_parameter "{name: DepthRange}"

Set DepthRange

  • Version 2.0.2:

    rosservice call /set_depth_range "{lower: 300, upper: 1000}"

  • Version 2.3.4:

    rosservice call /set_range_parameter "{name: DepthRange, lower: 300, upper: 1000}"

Get FringeContrastThreshold

  • Version 2.0.2:

    rosservice call /get_fringe_contrast_threshold

  • Version 2.3.4:

    rosservice call /get_int_parameter "{name: FringeContrastThreshold}"

Set FringeContrastThreshold

  • Version 2.0.2:

    rosservice call /set_fringe_contrast_threshold "{value: 3}"

  • Version 2.3.4:

    rosservice call /set_int_parameter "{name: FringeContrastThreshold, value: 3}"

Get FringeMinThreshold

  • Version 2.0.2:

    rosservice call /get_fringe_min_threshold

  • Version 2.3.4:

    rosservice call /get_int_parameter "{name: FringeMinThreshold}"

Set FringeMinThreshold

  • Version 2.0.2:

    rosservice call /set_fringe_min_threshold "{value: 3}"

  • Version 2.3.4:

    rosservice call /set_int_parameter "{name: FringeMinThreshold, value: 3}"

Get LaserPowerLevel

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    rosservice call /get_laser_settings

  • Version 2.3.4:

    rosservice call /get_int_parameter "{name: LaserPowerLevel}"

Set LaserPowerLevel

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    rosservice call /set_int_parameter "{name: LaserPowerLevel, value: 60}"

Get LaserFringeCodingMode

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    rosservice call /get_laser_settings

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: LaserFringeCodingMode}"

Set LaserFringeCodingMode

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    rosservice call /set_enum_parameter "{name: LaserFringeCodingMode, value: Fast}"

Get LaserFrameRange

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    rosservice call /get_laser_settings

  • Version 2.3.4:

    rosservice call /get_range_parameter "{name: LaserFrameRange}"

Set LaserFrameRange

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    rosservice call /set_range_parameter "{name: LaserFrameRange, lower: 20, upper: 80}"

Get LaserFramePartitionCount

  • Version 2.0.2: This service obtains the values of all the parameters in the "Laser" category.

    rosservice call /get_laser_settings

  • Version 2.3.4:

    rosservice call /get_int_parameter "{name: LaserFramePartitionCount}"

Set LaserFramePartitionCount

  • Version 2.0.2: This service sets the values of all the parameters in the "Laser" category.

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"

  • Version 2.3.4:

    rosservice call /set_int_parameter "{name: LaserFramePartitionCount, value: 2}"

Get AntiFlickerMode

  • Version 2.0.2:

    rosservice call /get_projector_anti_flicker_mode

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: AntiFlickerMode}"

Set AntiFlickerMode

  • Version 2.0.2:

    rosservice call /set_projector_anti_flicker_mode '!!str Off'

    Note: The Off option must be surrounded by single quotation marks and have !!str in front.

  • Version 2.3.4:

    rosservice call /set_enum_parameter "{name: AntiFlickerMode, value: 'Off'}"

    Note: The Off option must be surrounded by single quotation marks.

Get ProjectorFringeCodingMode

  • Version 2.0.2:

    • Models other than UHP:

      rosservice call /get_projector_fringe_coding_mode

    • UHP:

      rosservice call /get_uhp_fringe_coding_mode

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: ProjectorFringeCodingMode}"

Set ProjectorFringeCodingMode

  • Version 2.0.2:

    • Models other than UHP:

      rosservice call /set_projector_fringe_coding_mode "{value: Accurate}"

    • UHP:

      rosservice call /set_uhp_fringe_coding_mode "{value: Accurate}"

  • Version 2.3.4:

    rosservice call /set_enum_parameter "{name: ProjectorFringeCodingMode, value: Accurate}"

Get ProjectorPowerLevel

  • Version 2.0.2:

    rosservice call /get_projector_power_level

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: ProjectorPowerLevel}"

Set ProjectorPowerLevel

  • Version 2.0.2:

    rosservice call /set_projector_power_level "{value: High}"

  • Version 2.3.4:

    rosservice call /set_enum_parameter "{name: ProjectorPowerLevel, value: High}"

Get UhpCaptureMode

  • Version 2.0.2:

    rosservice call /get_uhp_capture_mode

  • Version 2.3.4:

    rosservice call /get_enum_parameter "{name: UhpCaptureMode}"

Set UhpCaptureMode

  • Version 2.0.2:

    rosservice call /set_uhp_capture_mode "{capture_mode: Merge}"

  • Version 2.3.4:

    rosservice call /set_enum_parameter "{name: UhpCaptureMode, value: Merge}"