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using-depth-sensor-interface.md

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reference
The depth sensor API
depth-sensor
fathom
depth sensor

Overview

The depth sensor is controlled by the onboard fathom binary. The fathom binary running on the Magellan board has an HTTP API, which you can use to turn on and off different types of data and manipulate the depth sensor hardware in various ways. All interactions are HTTP GET requests.

Monkey (HTTP Server) configuration Requests against this HTTP API are routed through Monkey, an HTTP server which is also running on the Magellan board, and into different functions in the fathom binary itself. In order for any HTTP requests to be routed through Monkey, they have to match patterns specified in a file on the Magellan board's file system, here:

/etc/monkey/sites/default

The match-able routes through Monkey are specified at the bottom of this file - this is what you'll find there:

[HANDLERS]
    # FastCGI
    # =======
    Match /command/.* fastcgi
    Match /calibration/.* fastcgi
    Match /stream/.* fastcgi
    Match /imager/.* fastcgi
    Match /status/.* fastcgi
    Match /system/.* fastcgi
    Match /status.* fastcgi
    Match /filter/.* fastcgi

This lets you interact with different endpoints like this (assuming the IP of your depth sensor is fe80::2%eth0):

curl http://fe80::2%eth0/status

API Documentation

All of the following endpoints are available as top-level paths on port 80.

Imager

/imager/start

Start the imager.

/imager/stop

Stop the imager.

/imager/duty/<set_number>/<value>

Change duty cycle with http:///imager/duty/<set_number>/

Where set_number is one of the non-greyscale frame sets and value is a valid duty cycle.

/imager/exposure/<set_number>/<value>

Change exposure with http:///imager/exposure/<set_number>/

Where set_number is one of the frame sets and value is a valid exposure in microseconds.

/imager/framerate/<desired framerate>

The desired framerate must be a float or int value.

/imager/mode/<desired mode>

Change imager mode with http:///imager/mode/

Allowed options: twofreq, threefreq

Stream

The depth sensor publishes data packets out from its ethernet port - these API calls turn on and off various types of data in the stream.

/stream/enableRaw

Enable raw data stream.

/stream/disableRaw

Disable raw data stream.

/stream/enableDistance

Enable distance data stream.

/stream/disableDistance

Disable distance data stream.

/stream/enableIntensity

Enable intensity data stream.

/stream/disableIntensity

Disable intensity data stream.

/stream/enableFlags

Enable flags data in stream.

/stream/disableFlags

Disable flags data in stream.

/stream/enableAmplitude

Enable amplitude data in stream.

/stream/disableAmplitude

Disable amplitude data in stream.

/stream/enableNoise

Enable noise data in stream.

/stream/disableNoise

Disable noise data in stream.

/stream/enablePointCloud

Enable point cloud in stream.

/stream/disablePointCloud

Disable point cloud in stream.

System

/system/reboot

Reboot the Magellan board.

/system/shutdown

Shut down the Magellan board.

Command

/command/send_to_me

Instruct the depth sensor to send data packets to the address from which you are making the HTTP GET request.

/command/pixel/amplitude_threshold

/command/pixel/asymmetry_threshold

Filter

/filter/pop

/filter/push/median

/filter/push/neighbor

/filter/push/asymmetryThresh

/filter/push/amplitudeThresh

/status

Return some basic information about the state of the sensor's calibration, hardware, and processing - like this:

{
    module: {
        frame_count: 0,
        uptime: 0:01:11.862,
        version: master-10000-abcdefg-dirty-qwerty
    },
    comms:  {
        running: true,
        destination: fe80::1,
        port: 10000,
        queue_size: 0
        time_since_last_sent: 78
    },
    calibration:  {
        state: GOOD,
        frequencies: { 80320000: { 90, 135, 180 }, 60240000: { 90, 135, 180 }, 29500000: { 90, 135, 45 }, 3500000: { 45, 90, 135 } },
        min_amplitude: 16.5,
        max_asymmetry: 50,
        bin_mask: 0
        convolution: 0},
    processing: {
        pre:  {
            frames: 728,
            bad frames: 0,
            corrupt frames: 0,
        },
        pixel:  { },
        post:  {
            empty frames: 0,
            streams:  {
                send_raw: false,
                send_distance: false,
                send_intensity: false,
                send_amplitude: false,
                send_cloud: true
            },
            filters:  {
                Median Filter,
                Neighbor Filter,
            }
        },
    },
    imager:  {
        serial: 0006-3818-0407-0819,
        state: RUNNING,
        safety circuit: RUNNING,
        mode: {
            tag: two_frequency,
            framerate: 10,
            set_count: 3,
            0: { frequency:      off, duty_cycle:    0%, exposure: 2000, n_frames: 1 },
            1: { frequency: 80320000, duty_cycle: 37.5%, exposure: 2000, n_frames: 4 },
            2: { frequency: 60240000, duty_cycle: 37.5%, exposure: 2000, n_frames: 4 }
        }
    },
    timing: {
 
          pre_processing_ema:   18,
        pixel_processing_ema:   78,
         post_processing_ema:   45,
        post_serializing_ema:    0,
          packet_sending_ema:    0
    }
 
}