#############################################
+# Copyright 2023-present ifm electronic, gmbh
+# SPDX-License-Identifier: Apache-2.0
+#############################################
+
+"""
+This module exports functions for converting the euler
+calibration angles used in the O3R platform into
+(heading, elevation, bank) angles that are easier
+to reason about.
+"""
+#%%
+import numpy as np
+import ifm3dpy
+
+
+def rot_mat(*rot_xyz):
+ """
+ Creates a rotation matrix from the given euler angles.
+
+ :param rot_xyz: 3 element vector containing rotX, rotY and rotZ in [rad]
+ :return: 3x3 rotation matrix R
+ """
+ R = np.eye(3)
+ for i, alpha in enumerate(rot_xyz):
+ lr = np.eye(3)
+ lr[(i + 1) % 3, (i + 1) % 3] = np.cos(alpha)
+ lr[(i + 2) % 3, (i + 2) % 3] = np.cos(alpha)
+ lr[(i + 1) % 3, (i + 2) % 3] = -np.sin(alpha)
+ lr[(i + 2) % 3, (i + 1) % 3] = np.sin(alpha)
+ R = R.dot(lr)
+ return R
+
+
+def rot_mat_reverse(R):
+ """
+ Calculates euler angles from a rotation matrix.
+ This is the inverse of the rot_mat() function.
+
+ :param R: 3x3 rotation matrix
+ :return: rotX, rotY, rotZ in [rad]
+ """
+ alpha = np.arctan2(R[1, 2], R[2, 2])
+ c2 = np.sqrt(R[0, 0] ** 2 + R[0, 1] ** 2)
+ beta = np.arctan2(-R[0, 2], c2)
+ s1 = np.sin(alpha)
+ c1 = np.cos(alpha)
+ gamma = np.arctan2(s1 * R[2, 0] - c1 * R[1, 0], c1 * R[1, 1] - s1 * R[2, 1])
+ rotX, rotY, rotZ = -alpha, -beta, -gamma
+ if rotX < -np.pi / 2 or rotX > np.pi / 2:
+ if rotX < 0:
+ rotX += np.pi
+ else:
+ rotX -= np.pi
+ rotY = np.pi - rotY
+ if rotY < -np.pi:
+ rotY += 2 * np.pi
+ if rotY > np.pi:
+ rotY -= 2 * np.pi
+ rotZ = rotZ + np.pi
+ if rotZ > np.pi:
+ rotZ -= 2 * np.pi
+ return rotX, rotY, rotZ
+
+
+# It's easy to reason about rotations relative to a "default head position".
+# This is camera facing +x, label facing +z in the ODS coordinate system,
+# which corresponds to typical robot coordinate system.
+DEFAULT_O3R_HEAD_ROTATION_FOR_ODS = rot_mat(0, np.pi / 2, -np.pi / 2)
+# Each intrinsic rotation that is applied requires
+# a conventional direction designated by "SIGNS".
+SIGNS = (1, 1, 1)
+
+
+def human_readable_to_O3R_angles(*heading_elevation_bank) -> tuple:
+ """Convert (H, E, B) angles to Euler angles in the O3R coordinate system.
+
+ :returns tuple: rot_xyz the three rotations in the O3R coordinate system
+ """
+ rot = DEFAULT_O3R_HEAD_ROTATION_FOR_ODS
+ for angle, axis, sign in zip(
+ heading_elevation_bank, np.array([[0, 1, 0], [1, 0, 0], [0, 0, 1]]), SIGNS
+ ):
+ rot = rot.dot(rot_mat(*(sign * axis * angle * np.pi / 180)))
+ rot_xyz = rot_mat_reverse(rot)
+ return rot_xyz
+
+
+def O3R_angles_to_human_readable(*rot_xyz) -> tuple:
+ """Convert O3R Euler angles to "human-readable" (H, E, B) angles.
+
+ :param *rot_xyz (float): o3r_head_rotations
+ :returns tuple: heading, elevation, and bank angles
+ relative to DEFAULT_O3R_HEAD_ROTATION_FOR_ODS
+ """
+ rot = rot_mat(*rot_xyz) # the rotated direction of camera view
+ fov_uv = np.array(
+ np.dot(rot, (0, 0, 1))
+ ) # the rotated direction of camera view on x-y plane
+ heading_vector = fov_uv[:2] # find heading and elevation
+ if not np.any(
+ heading_vector
+ ): # Avoid singularities where camera is pointing + or - z
+ heading = 0
+ elevation = SIGNS[1] * 90 * np.sign(fov_uv[2])
+ else:
+ heading = SIGNS[0] * (np.arctan2(*heading_vector) * 180 / np.pi - 90)
+ elevation = (
+ SIGNS[1] * np.arctan2(fov_uv[2], np.linalg.norm(fov_uv[:2])) * 180 / np.pi
+ )
+ # Find bank angle
+ heading_elevation = DEFAULT_O3R_HEAD_ROTATION_FOR_ODS
+ for angle, axis, sign in zip(
+ (heading, elevation), np.array([[0, 1, 0], [1, 0, 0]]), SIGNS[:2]
+ ):
+ heading_elevation = heading_elevation.dot(
+ rot_mat(*(sign * axis * angle * np.pi / 180))
+ )
+ x_ax = heading_elevation.dot((1, 0, 0))
+ y_ax = heading_elevation.dot((0, 1, 0))
+ x_ax_with_bank_angle = rot.dot((1, 0, 0))
+ bank = (
+ SIGNS[2]
+ * np.arctan2(
+ np.dot(y_ax, x_ax_with_bank_angle), np.dot(x_ax, x_ax_with_bank_angle)
+ )
+ * 180
+ / np.pi
+ )
+
+ return heading, elevation, bank
+
+
+#%%
+
+
+# Some boilerplate for getting and setting rotations of cameras
+# so that we can visualize the effect of changing the human-readable angles
+def set_rotation(o3r: ifm3dpy.O3R, port_ns: list, rot: tuple, verbose=False):
+ for port_n in port_ns:
+ extrinsic_cal_name = "extrinsicHeadToUser"
+ if port_n == 6:
+ extrinsic_cal_name = "extrinsicVPUToUser"
+ if verbose:
+ print(f"euler angles: {rot}")
+ ext_dict = o3r.get()["ports"][f"port{port_n}"]["processing"][extrinsic_cal_name]
+ ext_dict.update({k: v for k, v in zip(["rotX", "rotY", "rotZ"], rot)})
+ config = {
+ "ports": {f"port{port_n}": {"processing": {extrinsic_cal_name: ext_dict}}}
+ }
+ o3r.set(config)
+
+
+heading, elevation, bank = (0, 0, 0)
+
+print("Before transformation...")
+print("heading=", round(heading, 2))
+print("elevation=", round(elevation, 2))
+print("bank=", round(bank, 2))
+rot_xyz = human_readable_to_O3R_angles(heading, elevation, bank)
+print("o3r calibration angles:", rot_xyz)
+set_rotation(ifm3dpy.O3R(), [2], list(rot_xyz))
+heading, elevation, bank = O3R_angles_to_human_readable(*rot_xyz)
+print("\nAfter transformation...")
+print("heading=", round(heading, 2))
+print("elevation=", round(elevation, 2))
+print("bank=", round(bank, 2))
+# %%
+ifm3d_ros_driver package","Building and Installing the ifm3d-ros package","Diagnosis information and error codes","Building and installing for distributed systems","ifm3d_ros_msgs: Dump and Config","ROS logging for containers on embedded devices","ifm3d_ros on Ubuntu 20.04 and ROS Noetic","ifm3d-ros Troubleshooting Guide","HOW to visualize the point cloud with RVIZ","The ifm3d_ros_examples package","merging point clouds with merge_pc.launch","The ifm3d_ros_msgs package","ifm3d-ros","Changelog for package ifm3d-ros2","ifm3d-ros2 overview","Building and Installing the ifm3d-ros2 package","How to run ifm3d-ros2 from inside a Docker container","Launch the node","Multi head launch file configuration","Parameters","Diagnostic","Advertised Services","Topics","How to visualize data with RVIZ","ifm3d-ros2","<no title>","FAQ","FIRMWARE 0.16.23 RELEASE NOTES","FIRMWARE 1.0.14 RELEASE NOTES","Migration guide: FW update process from FW version 0.16.23 to FW version 1.0.x","Release notes Firmware 1.0.14","FIRMWARE 0.14.23 RELEASE NOTES","Release notes","How to update the firmware:","O3R firmware","Hardware unboxing","Starting the ifmVisionAssistant and connecting to the O3R-System","First steps after the first initial connection","ifmVisionAssistant on Linux","Getting started with the ifm Vision Assistant","Introduction to the ifmVisionAssistant","Getting started with the O3R","Pick your favorite software stack","How to switch ODS applications","Configuration","How to use these examples","How to monitor the diagnostic","How to use these examples","C++ examples","How to configure ODS","Full ODS example","How to stream ODS data","Heat dissipation guidelines","Testing ODS","ODS temperature tests","How to verify the extrinsic calibration","Automated camera head calibration tools","VPU extrinsic calibration","Extrinsic calibration for ODS","ODS Performance","ODS Performance evaluation","ODS ToF artifacts","ODS performance","Instantiation","Camera Mounting","Occupancy grid","Overhanging loads","How to monitor the diagnostic","How to use these examples","Python examples","How to configure ODS","Full example","How to stream data","ODS data recording strategies","Zones","Getting started with ODS","Diagnostic","ODS with the iVA","ODS (Obstacle Detection System)","README","Autostart a container on the VPU","Process pinning","Deploying a container to the VPU","Docker: Getting started","Enabling GPU usage on the VPU","Docker on O3R","How to handle verbose logging for Docker containers","Convert O3R rotation angles to human-readable angles","Extrinsic calibration routines: camera to robot coordinates","Checkerboard Static Camera - Calibration Routine","Convert data from HDF5 to PCD formats","Introduction to ifm camera coordinate systems and their transformations","2D-3D Registration Example","Collect camera calibration data","Toolbox","Changing parameters","Configuring/Activating an application","Device and diagnosis data","ifm Vision Assistant","Boot-up diagnostic","Diagnostics example output","Diagnostic retrieval","Diagnostic retrieval","O3R information for debugging","tcu","<no title>","<no title>","<no title>","<no title>","<no title>","Comms","Diagnose error code: reaction strategies","Diagnostics error code sources","O3R Diagnostics: overview","2D camera head configuration","Acquisition parameters","The confidence image","Description of the available images","Images description","Adaptive noise bilateral filter","Filtering Process","Processing parameters","Maximum Distance Noise","(Spatial) Median Filter","Minimum Amplitude","Minimum Reflectivity","Mixed Pixel Filter","3D processing parameters overview","Stray Light Filter","Symmetry Threshold","Temporal Filter","3D Camera Configuration","Modes","O3R System synchronization and triggering","System Verification","Stress Tests","IMU - Inertial Measurement Unit","Resource management","CAN interface","Ethernet interfaces","HMI: LEDs","VPU (Vision Processing Unit)","NTP(Network Time Protocol)","Using an usb drive with the VPU","Technology","Resources available for download","Welcome to the O3R\u2019s documentation!","Software Interfaces","<no title>","Utilities","VPU IMU general information","Extrinsic calibration routines: camera to robot coordinates","Extrinsic Calibration Routine for O3R Camera","Checkerboard Static Camera - Calibration Routine","Introduction to ifm camera coordinate systems and their transformations","2D-3D Registration Example","Collect camera calibration data"],titleterms:{"0":[0,15,29,30,31,32,33,35],"01":15,"04":8,"06":15,"1":[0,6,15,30,31,32,35,57,77,84,135,137],"14":[30,32,33],"16":[29,30,31],"2":[0,6,15,77,84,137],"20":8,"2019":15,"2020":15,"23":[29,30,31,33],"25":15,"26":15,"2d":[30,39,94,116,157],"3":[0,15,57,84,137],"31":15,"3d":[29,30,33,39,94,129,133,157],"4":[0,15],"5":0,"6":0,"abstract":[121,124,125,126,128,130,131,132],"case":[130,135,146],"default":[30,88,135],"new":[29,30,148,150],"public":84,"short":97,"static":[91,141,155],"switch":45,"true":63,A:[51,72,85],By:38,The:[2,11,13,51,72,118,130],With:[35,103],abov:[91,155],accept:113,acquisit:[39,117],action:113,activ:[39,98,102,144],adapt:[20,121,129],add:85,addit:[2,49,54,70,103,135],adjust:130,advertis:[2,23],after:[39,57,82,101],air:54,algodebug:75,algorithm:113,allow:57,amplitud:[119,126,129],an:[68,98,145],analysi:62,analyz:62,anew:113,angl:[57,89,128],antenna:140,api:17,app:114,applic:[29,30,45,57,98,146],architectur:135,articl:[29,30],artifact:[63,68],assist:[41,68,100,103],auto:82,autom:58,autostart:82,avail:[113,119,146,147],axi:10,barrier:54,base:[57,85,128],basic:[51,72,85],best:25,bilater:[121,125,129],block:[49,70],boot:[101,114],bracket:54,buffer:113,build:[1,3,5,11,17,18,49,70,85],c:[17,50],cabl:66,cad:[57,146],calcul:57,calibr:[29,57,58,59,60,65,77,90,91,93,95,152,153,154,155,156,158],call:[6,23],camera:[9,20,28,29,30,33,54,58,61,66,90,91,93,95,113,114,116,133,146,153,154,155,156,158],can:[9,68,140],capac:54,catkin:[3,5],chang:[10,31,97],changelog:[0,15],channel:[46,117],check:[57,88,113],checkerboard:[91,154,155],clean:66,client:18,cloud:[10,12,93,119,156],code:[3,4,17,113,114],colcon:17,collect:[95,158],combin:125,comm:[112,114],common:63,compar:68,comparison:57,compat:[1,16,28,29,30,33],compos:[82,86],concept:[29,30,57],conclus:130,condit:[54,146],conduct:54,confid:[118,119],config:[6,7,23],configur:[7,20,28,30,45,46,51,68,72,88,98,116,133,135,144],connect:[9,28,29,38,39,84,105,113],consid:[61,68],consider:[49,70],consist:82,consumpt:54,contain:[7,17,18,82,84,85,86,88],content:[7,9,85],convect:54,convert:[89,92],coordin:[10,66,90,93,153,156],creat:[3,84],cross:29,cycl:113,data:[25,28,39,53,62,74,75,82,92,93,95,99,156,158],debug:[103,105],defect:8,defin:[93,156],definit:[68,113],deg:57,depend:113,deploi:[18,84],deprec:[16,128],descript:[58,67,68,76,102,119,120,121,124,125,126,127,128,131,132,134],design:[45,54],detail:[21,99,117],detect:[80,130],devic:[7,30,99],di:114,diagnos:113,diagnosi:[4,29,30,99,105],diagnost:[22,28,48,69,78,99,101,102,103,104,114,115],differ:128,direct:10,directori:[3,17],disadvantag:125,displai:99,dissip:54,distanc:[57,114,119,124,128,129,130],distribut:[5,11,18],docker:[17,18,30,82,84,85,86,87,88,140],dockerfil:86,document:[2,147,148],dormant:102,doubl:[54,88],download:[35,42,147],draw:146,drive:145,driver:[5,88],dtm425:140,due:113,dump:[6,23],effect:[57,63,135],effort:25,embed:7,emv:137,enabl:86,energi:54,error:[4,113,114],esp:61,estim:[61,152],ethernet:[113,141],evalu:[62,144],event:75,exampl:[5,45,47,49,50,51,52,54,57,67,68,70,71,72,73,76,94,95,102,117,121,124,125,127,128,131,132,134,140,157,158],expect:57,exposur:[116,117],ext4:145,extent:76,extrins:[57,59,60,65,77,90,93,152,153,154,156],factor:61,factori:[30,113],fals:[62,63],faq:28,favorit:44,featur:[29,30,33,68,85],file:[7,11,20],filter:[121,122,125,128,129,130,132],find:38,fine:130,firmwar:[28,29,30,32,33,35,36,113],first:[39,130],fix:[29,30],flash:113,flight:63,floor:[57,61],fn:63,format:[75,92,145],forward:[29,30,33],fp:63,fpd:113,framer:[113,117,135],from:[3,5,17,18,31,84,92,93,156],full:[45,52,73],futur:[29,30,33],fw:[30,31],gain:116,gener:[30,33,59,84,93,152,156],get:[3,17,41,43,49,70,77,85],ghost:130,github:[3,17,105],glossari:[93,156],gpu:86,grid:67,guid:[9,30,31],guidelin:54,halo:130,handl:[88,113,130],hardwar:[28,37,49,70,140,146],hdf5:92,head:[9,20,33,39,58,66,93,106,113,114,116,146,156],heat:54,height:[46,61,67],highlight:54,hmi:142,host:84,how:[10,18,25,35,45,47,48,49,51,53,57,62,68,69,70,72,74,75,88,105,144],human:89,icc:[106,114],id:102,idl:135,ifm3d:[0,1,3,7,9,14,15,16,17,18,26,28,29,30,35,85,103],ifm3d_ro:8,ifm3d_ros_driv:2,ifm3d_ros_exampl:11,ifm3d_ros_msg:[6,13],ifm3dpi:103,ifm:[33,41,68,85,93,100,103,156],ifmvisionassist:[35,38,40,42,75],imag:[9,25,33,67,85,113,114,118,119,120],impact:68,implic:113,imu:[106,114,138,152],inaccuraci:57,independ:5,inerti:138,inform:[4,59,103,105,152],initi:[3,39],insid:[7,18],instal:[1,3,5,13,17,42,58,85],instanti:65,instruct:3,interfac:[2,35,105,140,141,149],intern:[1,113],interpret:10,intrins:[29,93,156],introduct:[42,93,152,156],invers:[93,156],involv:121,ip:141,isometr:155,issu:[8,16,29,30,33,113],its:135,iva:[77,79],jitter:135,jpeg:119,json:[51,72],kei:84,known:[2,8,15,16,29,30,33],latenc:[61,135],launch:[11,12,19,20],launchfil:11,led:[29,105,142],level:113,librari:[29,30],licens:[1,2,11,13,16],light:[68,130],limit:[2,15],link:113,linux:40,list:[9,91],load:[68,85],local:84,log:[7,40,88],look:[29,30,33],lookup:28,loss:113,lost:132,machin:45,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1,On:[9,15,17,30,58,70,84,152],One:[30,76,92,144],Or:135,Such:[45,57,61,113,128],That:37,The:[0,1,3,4,5,6,7,8,9,10,15,16,17,18,19,20,21,22,23,24,25,28,29,30,31,33,35,38,39,40,42,45,46,47,49,50,53,54,56,57,58,59,61,62,63,65,66,67,68,69,70,71,75,76,77,80,82,83,84,85,86,88,90,91,93,96,97,98,99,102,103,105,106,107,108,111,113,114,115,116,117,119,121,123,124,125,126,127,128,129,131,132,134,135,136,137,138,140,141,144,145,146,151,152,153,154,155,156],Then:18,There:[3,7,8,20,31,39,45,54,61,75,84,88,93,129,132,146,156],These:[8,13,17,18,21,49,54,57,61,63,66,68,70,73,75,77,93,97,102,113,117,129,130,131,134,135,136,137,141,145,146,156],To:[2,3,5,6,8,11,15,17,18,19,20,21,25,28,29,35,38,39,40,42,46,48,49,54,57,59,60,61,63,66,68,73,75,82,83,84,85,86,94,96,101,105,117,125,128,130,131,137,141,144,145,146,152,157],With:[84,104,126,130,135,141,144,146],_:[69,92],__init__:[69,72,74],__main__:[67,69,72,74,92,137],__name__:[67,69,72,73,74,92,137],_async_diag_callback:69,_blacklist_:0,_bootstrap:30,_buffer_length:74,_diagnost:69,_fg:69,_link:10,_log_datefmt:69,_log_format:69,_mounting_link:21,_o3r:69,_optical_link:[10,21],_resourc:[91,155],_set_app_st:45,_standalone_nodelet:9,_tf:10,aa:[6,23],aarch64:[85,86],ab:[29,30,135],abcd:155,abel:45,abil:130,abl:[28,61,85,91,130,135,155],about:[2,3,6,8,9,28,35,37,54,57,61,66,74,85,88,89,93,97,99,114,117,118,119,129,134,135,144,152,156],abov:[1,18,35,39,46,49,54,57,61,62,63,68,70,74,75,76,77,80,84,86,105,121,124,125,129,130,144,146,152],absolut:[54,154],absorb:54,ac:[29,30],acceler:61,accept:[6,23,29,57,115,130],access:[6,15,23,29,30,33,75,84,85,118,126,138,140,145],accid:[57,63],accomplish:[3,17],accord:[30,130,137,154],accordingli:[63,91,119],account:[35,39,49,54,61,70,76,132,134,145],accumul:146,accur:[66,77,91,130,152,154,155],accuraci:[57,66,68,113,124,126,130,135,144],achiev:[5,20,61,65,66,67,84,117,125,130,135],acquir:[28,33,113,124,137],acquisit:[2,6,23,29,30,33,41,43,46,63,68,97,113,116,133,135,137,138],across:54,act:[2,6,20],action:[19,115],activ:[2,6,15,29,30,33,41,43,45,46,48,52,54,56,58,61,63,68,69,73,75,78,84,85,86,91,94,95,99,100,101,103,104,105,113,114,119,121,124,128,130,135,137,154,155,157,158],active_diag:52,activeillumin:58,activeserveraddress:144,activeservernam:144,actual:[57,63,68,99,106,114,119,130,146],actuat:61,ad:[0,15,25,29,30,49,68,70,74,84,135],adapt:[3,17,18,66,123,124,130,133],add:[6,10,15,18,20,25,27,30,52,58,69,70,74,84,87,105,130,140],add_argu:92,add_fram:74,add_nod:140,addit:[1,5,8,27,28,40,42,45,50,51,53,55,57,61,63,71,75,80,85,99,104,105,113,114,117,129,130,137,145,146,152],addition:[6,23,28,66,76,83,101,113,121,130,137,146],addr:[67,73],address:[0,2,18,21,33,38,51,53,58,67,69,72,84,85,86,95,103,117,141,144,152,154,158],adequ:[54,113,117],adjac:146,adjust:[18,33,49,61,70,91,128,129],adliv:155,admin:42,adrec:155,advanc:127,advantag:[61,117,129],advic:3,advis:[3,29,30,42,66,78,101],affect:[61,63,68,116,121,125,129,130,131,132,134],affili:135,affin:67,after:[28,30,35,38,45,49,58,61,62,65,68,74,75,84,85,86,87,91,97,99,104,105,106,113,114,118,121,125,130,132,137,141,144,145,152,154,155],afterward:[10,13],again:[0,7,30,58,84,85,113,130],against:[2,57,66,68,72,85,124,128,137],ago:85,agv:[45,57,58,61,62,66,68,75,80,91,117,137,144,153,155],aim:57,air:[55,63,66,137],airflow:54,airplan:57,algo:[30,75,110,114,155],algodebugconfig:[6,23],algorithm:[30,51,61,63,65,72,75,80,106,111,114,115,124,126,128,130,135],align:[61,86,113,152],all:[2,3,5,8,10,12,13,18,24,25,28,29,30,33,38,39,40,42,45,46,48,49,54,56,57,58,61,62,63,65,67,69,70,74,75,76,82,83,84,85,91,92,93,105,113,117,121,129,130,132,135,137,144,146,148,152,154,155,156],allow:[2,5,6,11,23,30,39,40,45,47,54,58,63,66,67,76,105,106,114,115,117,121,124,125,126,127,128,129,130,134,135,137,152,154],almost:[117,130],along:[8,9,44,62,76,81,91,92,119,130,152,154,155],alpha:[0,15,57,89,152],alpin:140,alreadi:[5,8,35,49,82,85,91,154,155],also:[6,19,28,33,35,38,39,40,42,46,54,61,63,66,67,76,82,83,84,85,91,93,98,99,117,119,121,124,127,129,130,131,132,144,146,152,154,155,156],alter:[20,57,129],altern:[3,9,33,57,58,103,113,137,144,155],although:[124,129],aluminum:[54,91,155],alwai:[38,46,51,54,65,72,76,97,124,130,135],am:[28,45],ambient:[30,54,63,75,124,126,129,131,137],ambigu:33,amd64:[18,85],ament:17,among:33,amount:[54,61,63,66,67,86,88,103,114,119,124,125,127,129,130,132,135,137],amp:92,amplitud:[2,3,18,19,24,30,33,75,91,92,93,118,120,121,123,124,125,127,130,132,133,154,155,156],amplitude_compress:30,amplitude_imag:75,amplituderesolut:92,ampnormalizationfactor:126,amr64:86,amr:[57,58,61,66,80,117,137],an:[1,2,3,5,6,8,11,15,16,17,22,23,28,29,30,31,33,35,39,40,45,46,49,51,52,53,54,57,58,61,62,63,65,66,67,70,72,73,74,75,76,80,82,84,85,91,92,93,99,100,101,102,103,105,106,110,111,113,114,117,118,119,121,122,124,125,127,128,129,130,134,137,141,144,146,152,154,155,156],analysi:64,analyz:[64,75,117,130],anew:115,anffiltersizediv2:[6,23,121,125,129],angl:[33,46,59,61,91,96,116,123,127,129,133,146,149,152,155,156],angular:152,ani:[1,9,16,28,29,30,40,45,46,49,51,52,53,57,63,66,68,69,70,73,75,77,80,81,85,89,102,105,106,114,117,119,124,129,130,135,145,146,155],anoth:[3,49,82,85,91,92,93,131,156],anticip:113,anymor:[31,35,54,99],anyon:75,anyth:[3,39,58,130,152],anytim:28,apach:[51,53,67,69,72,74,89,92,137],apart:46,apertur:[116,133],api:[0,4,6,8,15,16,23,29,30,35,40,45,49,51,53,75,86,103,105,113,119,135,144,147,148,149],apk:140,app0:[45,51,52,67,68,72,74,102,146],app1:[45,52,146],app:[30,45,48,52,67,68,73,74,113,115,146],app_act:45,app_handl:45,app_nam:[67,73,74],app_port:146,app_req:45,appar:[57,124],apparit:130,appdata:[35,40],appear:[30,61,62,63,75,77,91,113,128,129,130],append:[62,74,92,135],apphandl:45,applait:69,appli:[2,5,8,10,18,29,30,33,46,66,68,72,89,91,93,113,117,121,122,124,125,126,129,135,137,141,144,156],applic:[2,6,7,23,32,33,34,40,42,46,49,51,52,53,56,58,60,61,62,63,65,67,68,70,72,73,74,75,76,77,78,80,83,85,99,100,101,102,113,114,122,124,129,130,134,137,144,149,152],appreci:16,approach:[30,31,46,57,63,65,75,97,129,130,144],appropri:[52,54,82,106,114,119],approxim:128,apps_list:45,appx:146,apr:85,apt:[6,8,9,17,18,23,25,85,86],ar:[0,2,3,6,7,8,9,10,11,15,16,17,18,19,20,21,23,24,28,29,30,33,39,40,42,44,45,46,49,51,53,54,56,57,58,61,62,63,65,66,67,68,70,74,75,76,77,80,81,83,84,85,86,88,89,91,92,93,96,97,98,99,102,105,112,113,114,117,118,119,121,124,125,126,127,128,129,130,131,132,134,135,136,137,144,145,146,152,153,154,155,156],arang:62,arbitrari:[117,144],arbitrarili:23,architectur:[0,5,18,85,133,144],arctan2:89,area:[38,39,54,61,66,68,77,117,118,124,126,127,130,146],arg:[9,10,17,25,67,84,85,92,103],argpars:92,argument:[0,9,11,18,19,25,85,86,152],argumentpars:92,aris:66,arm64:[18,85],arm64_v8:18,arm64v8:[18,85,140],arm:[66,83,113],around:[1,10,16,54,61,80,85,117,118,121,125,128,130,131,132,134,152,154],arrai:[21,62,67,75,76,89,92,93,156],arriv:[93,156],articl:[8,21,32,33,34,35,38,42,116,133],artifact:[30,46,61,62,64,75,80,117,123,129,130,131,134],artifici:[49,70,137],asctim:[69,72,74,137],asil:80,ask:[84,85],asl:144,aspect:119,assembl:[57,137],assert:[57,135],assess:[67,91,124,131,137],assign:141,assist:[39,62,75,91,92,104,105,148,149,152],associ:[0,63,93,154,156],assum:[3,8,11,17,19,25,49,54,59,72,74,85,91,140,152,154,155],assume_sw_trigg:2,assumpt:63,assur:137,asymmetr:[93,156],async:[21,69,73],asyncdiagcallback:103,asyncdiagcallback_:48,asynchron:[21,48,49,52,69,70,103],asyncnotif:15,asynerror:15,atm:15,attach:[29,58,86,103],attack:61,attempt:[2,9,47,85,92,106,113,114,129],attent:37,attribut:65,auth:18,authent:84,author:84,authorized_kei:[6,23,84],auto:[35,48,51,52,53,87,103,116,145],autoexposur:33,autof:145,autom:[60,80],automat:[29,30,31,35,38,45,54,58,75,82,85,97,113,129,132,140,141],automount:29,autonom:80,autostart:[33,85,86,87,149],avail:[0,2,3,6,15,18,24,28,29,30,31,33,35,42,44,45,54,58,61,74,75,82,83,85,86,92,97,98,102,103,105,106,112,114,115,122,124,126,127,130,134,135,137,144,148,150,154,157],availablepcicoutput:[6,23],availableserv:144,averag:[93,121,129,156],avoid:[8,57,66,73,75,80,82,83,84,89,117,130,144,146],aw:54,awai:[54,63,66,117,124,130,134],awar:[1,3,7,16,25,28,30,45,56,88,93,105,130,145,156],ax:119,axhlin:62,axi:[0,15,57,67,76,89,91,92,119,152,155],b58d5d27371fac49e2d50649cb37effa390a3f854a473689a333c44e64a66f81:18,b:[18,30,31,57,75,84,89,91,140],back:[3,13,21,33,45,49,52,54,58,59,61,63,66,70,73,119,145,152],background:[28,58,63,118,128,129,130],backslash:[6,23],backward:[1,15,28,29,30,45,49,52,58,70,73,80,88,113,117],backward_app:52,bad:[91,118,154,155],badbit:[51,53],bak:8,band:130,bandwidth:25,bank:89,bar:35,bare:70,barrier:55,base:[1,2,6,16,17,23,30,33,39,40,54,56,61,62,63,66,68,76,80,82,86,87,113,117,119,123,124,135,136,137,141,144,152,154],baselin:[8,61],bash:[3,6,7,18,19,23,40,85,145],basi:[11,76,152],basic:[6,23,50,71,73,87],basicconfig:[69,72,73,74,137],bat:154,batteri:[30,45,137],bb51c405bbdb:85,bcpu:101,bda5:102,becaus:[7,10,51,53,63,66,75,88,91,117,118,121,124,125,126,127,129,130,131,132,155],becom:[2,30,54,58,61,105,121],been:[1,10,39,40,57,63,76,82,88,93,113,117,118,130,135,154,156],befor:[2,6,16,17,23,28,31,33,37,47,51,52,53,56,61,62,63,65,66,72,73,75,78,79,89,91,105,114,121,130,132,135,137,144,152,154,155],begin:[52,117,118,134],behavior:[30,75,99,113,137],behind:[57,154],being:[0,9,58,63,67,113,114,124,129,130,131],believ:10,belong:135,below:[3,5,6,7,8,9,10,11,13,17,18,21,23,35,37,44,45,46,49,54,57,59,60,62,66,67,75,76,80,85,88,91,93,105,114,117,118,121,122,125,126,127,128,130,134,135,137,140,146,152,154,155,156],benchmark:[61,62,64,66,80,135,137,146],benefici:[39,62,75,126],benefit:[6,61],besid:[35,42,75,105,140],best:[26,57,65,66,83,86,117,121,129,130,132],beta:[89,152],better:[61,75,77,91,93,94,99,105,117,121,122,129,155,156,157],between:[0,2,6,10,17,21,23,29,33,35,38,39,45,54,57,58,59,61,62,63,65,66,67,93,99,102,105,110,113,114,117,118,128,129,135,137,144,146,152,154,156],beyond:[6,7,33,88],bia:125,bias:57,big:[39,93,156],bigger:58,bilater:[123,124,126,133],bin:[18,58,85,86,91,94,95,140,154,155,157,158],binar:76,binari:[8,57,63,75,76],bind:[82,84,85],bisector:57,bit:[30,62,76,86],black:[75,121,126,129,132],blackbodi:54,blind:63,blink:[28,29],blkio:145,block:[2,3,50,52,57,71,80,86,88,113,130],blow:66,blower:66,blue:[121,125,132],blur:[63,129],bm:137,board:[87,91,130,149,154,155],boilerpl:89,boltzmann:54,bone:70,bool:[2,21,48,52,69,72,92],boost:15,boot:[30,31,45,51,53,56,73,77,102,104,113,115,135,137,144],bootid:102,bootstrap:15,bootup:[30,52,104,115],bootup_monitor:[73,101],bootupmonitor:73,border:121,borrow:[93,156],both:[2,5,6,11,20,25,31,38,39,48,49,51,53,54,61,70,75,85,91,117,124,125,129,130,140,141,144,152,155],bottleneck:113,bottom:[54,75,76,93,121,125,152,156],bouguet:57,bounc:130,bound:146,boundari:[54,57,63,68,76,137],box:[75,93,117,124,128,129,130,134,152,156],bracket:55,brake:[61,80,119],branch:[1,3,17,85,86],bright:[63,91,118,130,146,155],brighter:116,bring:[113,117,130,141],broad:129,broadcast:[9,38,40],broken:2,brown:114,brownout:[108,114],brows:[49,70,96],browser:35,brush:66,bsd:40,bu:[86,140],buff_id_list:20,buffer:[9,15,21,24,45,48,75,76,88,112,114,115],buffer_id:[15,21,30,52,74,144],buffer_id_list:[15,21],buffer_id_util:15,buffer_length:74,buffer_list:52,bufferlist:52,bug:[8,103],build:[2,8,13,15,16,26,50,51,53,57,58,71,80,81,86,87,140,149],build_contain:18,build_humbl:18,buildstag:86,built:[17,57,58,85,124,130,138,140],bundl:30,burn:137,burst:63,buster:85,bustyp:140,button:[25,35,39,58,75,105,152],c03:[6,23],c0:[18,84,86,103,145],c1:89,c1d72f3316c084ee0bb759c9aa9bdfdd64bcdcff33a3011efeadcf6f38815160:18,c2:89,c93fc89026d9:86,c:[0,4,6,8,18,23,33,35,40,43,44,49,54,67,70,75,80,81,83,84,85,91,103,137,140,146,147,148,154,155],c_0:67,c_str:[51,52,53],ca:86,cabl:[2,30,37,80,105,113,140,146],cach:[18,30,85,86],cad:[58,59,148,152],calc_pointcloud:92,calcul:[46,54,61,63,66,89,92,121,131,137],calib:58,calib_cam:91,calibr:[0,2,15,21,24,28,30,34,45,49,52,66,67,68,70,73,74,75,80,81,89,94,96,97,102,105,106,107,108,110,113,114,119,148,149,151,157],call:[0,1,2,5,11,12,13,16,40,45,51,52,53,57,58,69,75,77,82,85,93,113,119,126,128,152,154,156],callback:[15,49,69,74],cam_port:91,camera:[0,1,2,3,5,6,8,10,11,15,16,18,19,21,23,24,25,32,34,37,45,46,49,55,56,57,60,62,63,64,65,68,70,73,74,75,76,77,80,84,85,89,92,96,105,115,117,118,119,124,128,129,130,131,132,134,135,137,144,148,151],camera_3d:18,camera_default_paramet:[15,18,19],camera_info:[15,19,24],camera_link:10,camera_manag:15,camera_nam:18,camera_nod:23,camera_nodelet:[6,11],camera_standalon:15,camerabas:[0,154],camerainfo:[19,24],camport:155,can0:140,can:[0,1,2,3,5,6,7,11,13,15,17,18,19,20,21,23,25,28,29,30,33,35,38,39,40,45,46,49,54,56,57,58,59,61,62,63,65,66,67,70,72,73,74,75,76,78,80,82,83,84,85,86,88,89,91,93,94,95,96,97,98,103,105,113,117,119,121,122,123,124,125,126,127,128,129,130,131,132,134,135,137,141,143,144,145,146,152,154,155,156,157,158],can_exampl:140,cannot:[2,25,38,72,92,105,117,144],canopen:140,cantilev:80,capabl:[28,40,42,54,68,75,80,86,121,137,146],capac:55,captur:[0,2,58,63,66,91,117,135,154,155],cardboard:[91,130,154,155],carefulli:[85,91],carri:[11,33,68],cartesian:[67,91,93,119,155,156],cat:[6,23],categor:136,categori:[63,113],catkin_init_workspac:3,catkin_mak:[3,5,13],catkin_w:3,caught:[51,53],caus:[1,2,16,30,46,63,66,68,88,93,113,114,117,119,130,132,134,154,156],cd:[3,17,18,49,84,85,95,154],ceil:[46,65],cell:[30,52,58,67,74,76,137,154,155],center:[10,21,30,58,63,66,67,74,93,119,121,128,152,156],central:144,cerr:[48,51,52,53],certain:[2,6,23,42,46,75,97,113,114,119,126,130,132],certif:[28,86],cf:140,cgroup2:145,cgroup:145,chain:[6,10,15,23,66,67],challeng:130,chamber:137,chanc:[7,88,131],chang:[0,1,3,7,9,15,16,18,21,23,25,28,29,30,32,33,34,39,40,42,45,46,51,53,58,62,72,74,77,80,84,86,88,89,91,100,103,105,106,114,117,119,126,129,135,141,145,146,148,149,155],change_st:19,changelog:[28,29,30],changest:19,channel:[29,30,33,63,80,119,133,140],channelselect:[117,135],channelvalu:[46,117,135],chapter:[61,63,82,115],characterist:[127,134],chassi:[54,80],check:[0,4,18,28,35,40,45,48,52,56,62,73,75,78,85,86,87,91,97,101,105,114,115,128,135,146,152,155,156],check_for_existing_app:45,checkerboard:[30,57,58,90,96,151,153],checkerboard_static_camera_calibr:[91,155],checkjsonformat:[51,53],checklist:56,checkout:17,chemic:66,chip:[21,85,118],choic:[9,65,66,91,93,125,144,156],choos:[3,8,38,57,117,130,146],chose:3,chosen:[66,126,130],chown:145,chroni:144,chrono:[48,52,103],chunk:[15,29,30,45,67,76],cin:52,circl:130,circuit:137,circul:130,circumst:38,clamp:54,clarifi:[21,75],clariti:74,classic:[93,156],classif:63,classifi:[63,80],clean:[7,15,63,80,85,86,88,146],cleanli:[40,113],clear:[33,58,75,130],cli:[35,103,105,113,117,137,141,144,154],click:[35,58,75,77,78,105],client:[5,6,19,26,144],clip:57,clock:[0,2,6,23,85,86,137,144],clockwis:75,clog:[48,51,52,53],clone:[3,17,18,49,70,85,86,91,94,95,96,154,155,157,158],close:[29,30,45,48,52,56,58,61,62,63,68,75,92,130,134,152],closer:[58,117],closest:62,cloth:66,cloud:[0,2,15,18,19,21,24,25,29,30,39,62,77,91,92,94,117,120,121,124,125,126,128,129,130,131,132,134,157],cloud_data:92,cloud_link:21,cm:[49,57,58,63,65,68,70,74,121,125,130,132],cmake:[0,3,8,17,18,49,85],cmakelist:[0,3,49],cmap:[62,75],cmd:[86,140],co:[57,86,89],code:[2,22,29,30,33,35,45,49,52,56,57,58,62,67,70,78,85,86,96,102,115,117,119,134,149],coeffici:54,coincid:57,colcon:18,colcon_w:[17,18,19],cold:54,collect:[58,74,85,96,99,117,132,149],collect_calibr:[95,158],collect_calibration_data:158,collis:80,color:[33,62,93,94,121,125,132,135,156,157],color_bgr2rgb:75,colorbar:62,colour:135,column:[62,67,75,93,156],com:[3,16,17,18,21,28,29,30,33,35,42,49,54,58,61,63,70,81,85,86,91,94,95,96,137,144,146,148,154,155,157,158],com_20220301:147,com_20220606:147,combin:[6,23,29,54,57,76,114,116,117,119,121,123,130,134],come:[3,31,33,66,82,84,85,117,118,119,130,131,134,139,142],comfort:6,comm:113,command:[2,3,5,6,8,11,15,17,18,20,23,29,35,40,52,65,84,85,86,103,135,140,145,146,152],commend:91,comment:[0,29,30,33,105,135],commerci:137,commit:86,common:[54,64,75,117,130],commun:[9,15,42,61,112,113,114,141,146],compact:62,compar:[0,2,11,54,57,61,76,119,121,128,132,137],comparison:125,compat:[0,8,15,17,26,32,34,39,40,49,66,70,80,88,113,148],compens:[93,107,113,114,156],compil:[5,13,16,17],complement:61,complet:[3,10,18,19,28,29,39,45,46,49,54,56,61,63,66,70,73,91,102,103,105,113,117,126,128,130,137,155],complex:[30,49,57,70,85,141],compliant:40,complic:84,compon:[29,30,54,57,66,112,113,114,130,137],compos:[15,33,85,87],compress:[0,2,15,25,66],compressedimag:[2,19],compromis:61,comput:[1,15,58,59,86,105,117,119,121,124,125,126,127,131,132,134,137,141,152],computation:129,concept:[6,32,34,60,117,121,130,136,137],conceptu:125,concern:[108,114],concret:130,concurr:86,condit:[46,55,56,57,61,110,113,114,136,137],conduct:[55,113],cone:130,conf:[28,29,30,33,39,45,46,51,52,68,72,73,91,97,135,155],conf_badambsym:118,conf_dynamic_amplitud:118,conf_edgepixel:118,conf_expindex:118,conf_invalid:118,conf_invalid_rang:118,conf_isol:118,conf_lowamp:118,conf_mixedpixel:118,conf_reflect:118,conf_satur:118,conf_suspect_pixel:118,conf_unplaus:118,confid:[2,18,19,24,30,33,61,93,117,120,133,156],confidence_imag:21,config:[0,2,8,9,10,15,18,19,20,26,35,51,52,53,65,67,72,73,74,82,84,85,89,97,113,141,145,146],config_app_path:[51,52,53],config_buff:[51,53],config_extrinsic_path:[51,52,53],config_fil:[51,53,72],config_path:[51,53,72],config_request:23,config_respons:23,config_str:[51,53],configf:145,configur:[1,2,5,6,8,9,11,15,18,19,21,23,25,29,32,33,34,40,42,47,49,50,52,53,56,61,65,67,69,70,71,73,74,76,77,80,84,85,87,91,93,97,100,101,105,106,110,113,114,127,130,137,138,140,141,146,148,149,155,156],confinitstag:101,confirm:17,conflict:58,conform:[93,156],confus:[63,68],congratul:[3,19],conjunct:[63,68,129],connect:[2,6,11,20,23,30,31,33,34,35,37,41,43,45,46,49,54,56,58,65,67,70,72,75,77,85,87,91,97,99,106,114,115,135,137,140,144,146,148,154,155],connector:[66,93,113,146,156],consecut:[57,61,76,135,137],consequ:[15,61,83],conserv:130,consid:[21,54,57,62,64,66,67,75,80,85,97,121,144,146],consider:[50,61,71],consist:[0,1,45,87,124],consol:48,consolebuff:[48,52],constant:[54,86,117],constantli:28,constrain:[7,88],construct:[106,114],constructor:45,consumpt:55,contact:[28,99,146],contain:[3,6,8,15,22,24,26,29,30,33,42,67,74,76,81,87,89,92,99,107,114,118,121,126,140,144,148,149,152],content:[69,103,106,113,114,119,130],context:[18,49,63,85,86,144],continu:[15,16,35,39,51,52,53,62,65,72,73,74,84,88,113,117,152],contrast:[33,62],contribut:119,control:[1,3,19,66,80,113,114,117,121,125,128,135],convect:[55,113],convei:113,conveni:[93,152,156],convent:[1,89,93,156],convers:[96,149],convert:[0,51,53],convex:[68,76],convolut:121,cool:[45,54,113,137],cooper:86,coordin:[2,11,21,33,46,57,59,60,61,62,67,68,77,80,89,91,96,119,121,128,151,152,154,155],copi:[7,18,45,84,85,86,140],copyright:[51,53,67,69,72,74,85,89,92,137],core:[0,1,2,3,5,8,9,18,83,86,113],coreutil:[8,18,85],corner:[57,58,76,78,91,93,99,105,121,125,129,155,156],correct:[8,17,30,57,105,113,119,130,146,152],correctli:[20,30,56,61,63,152],correl:[54,131],correspond:[9,20,21,49,51,53,57,59,61,67,68,70,89,91,92,93,94,103,117,119,125,126,127,129,146,152,156,157],corrupt:[29,114],cost:31,could:[3,38,45,51,53,66,72,75,84,85,129,130,132,144],count:[52,102,113,117,126],counter:62,coupl:[49,57,70,117],cout:[35,103],cover:[61,81,125],covert:0,cpp:[49,51,52,53,81],cpu:[54,83,85,87,92,113,137,145,149],cpuacct:145,cpuset:145,crash:103,creat:[17,18,20,30,35,45,56,58,62,82,85,86,87,89,91,92,94,95,103,130,140,154,155,157,158],create_window:73,creation:[45,130],credit:85,criteria:33,criterion:33,critic:[57,73,113,129,144,154],cross:[34,117],crosstalk:[29,30,63,117,118],crutial:[49,70],cstdint:52,cstdlib:[48,51,53],ctrl:[38,70],cuboid:68,cuckoo_time_transl:144,cuda:86,cuda_1:86,cudagetdevicecount:86,cudart:86,cudasetdevic:86,current:[3,11,16,17,24,33,35,39,45,46,48,52,54,58,65,69,72,74,76,84,85,93,102,108,114,117,124,135,138,141,144,156],currenttim:[6,23,85,144],custom:[30,46,51,53,68,69,75,76,83,84,87,117,146],cut:31,cv2:75,cvtcolor:75,cx:57,cy:57,cycl:[30,61,105,115],cyclic_4m_2m_4m_2m:[29,30,33,134],cyclonedd:15,d:[48,52,57,69,72,74,75,84,91,92,137,155],d_rot:57,d_rot_flat:57,daemon:[85,86,145],daili:66,damag:[66,113],dark:[117,121,126],darker:127,dash:[16,62],dat:30,data:[0,1,2,3,5,6,7,9,11,12,15,19,20,21,23,24,29,30,33,38,41,42,43,45,46,49,50,52,54,56,57,58,61,63,64,65,66,67,68,69,70,71,72,73,76,80,87,88,91,96,97,98,100,103,105,106,107,109,110,113,114,117,118,122,129,132,135,137,138,140,144,145,146,148,149,151,152,154,155],databas:85,dataclass:92,dataset:[52,57,75,92,137],datasheet:[54,148],date:[30,85,94,97,99],datefmt:[69,72,74,137],datetim:[69,137,144],dbuild_module_opencv:85,dbuild_module_pciccli:85,dbuild_module_pybind11:85,dbuild_test:17,dc:82,dcatkin_whitelist_packag:13,dcmake_install_prefix:85,dd:[15,16],de:[49,70],deactiv:[46,102,113,121,125,128,130],dead:[61,146],deadlock:[7,30,88],deal:[84,125],deb:[18,85],debian:[8,17,35,40],debian_frontend:85,debri:66,debs_1:18,debug:[30,42,45,58,72,74,75,85,99,104,113,115,137,145,146,149],debugf:145,deceler:61,decid:[3,17,83,114],decis:[10,129],declar:[0,2,6,23,51,53,103],decreas:[63,131],dedic:[31,103,146],deduc:62,deduct:124,def:[45,57,62,67,69,72,74,89,92,137,140],default_ip:[51,52,53],default_o3r_head_rotation_for_od:89,default_pcic_port:9,default_valu:45,defect:[30,113],defin:[0,7,9,15,18,21,29,30,33,46,51,52,53,60,63,65,67,68,69,76,85,96,117,121,126,128,129,130,135,144,151,152],definit:[2,4,6,18,23,46,57,93,115,156],degrad:30,degre:[57,93,156],delai:[29,33,61,110,113,114,135],delet:[30,33,45,75],delete_app:45,delete_existing_app:45,delta:129,demand:57,demo:73,demonstr:[57,77,93,94,124,130,137,156,157],demonstrt:[49,70],denot:[21,119,121,130],denver:[83,113],dep:[5,13],depart:42,depend:[0,1,5,8,9,13,15,30,40,45,47,54,56,57,58,61,62,66,67,80,85,93,98,114,115,117,124,127,130,135,137,146,154,155,156],depict:152,deploi:[26,33,85,140],deploy:[1,11,17,26,49,70,87,113,140,149],deprec:[2,15,123],depth:[63,86,92,93,94,156,157],dequ:74,deriv:58,describ:[8,54,57,63,76,102,105],describe_paramet:19,describeparamet:19,descript:[2,6,11,21,23,24,25,28,29,30,33,38,46,51,53,69,72,80,91,92,97,104,105,106,107,108,109,110,111,112,113,114,116,117,122,123,129,133,135,137,148,155],deseri:[70,74,105,113],design:[18,30,55,57,61,63,68,80,89,91,116,117,129,130,134,135,146,155],desir:[2,5,6,23,45,62,72,73,91,135,155],desktop:[3,8,35,40],destin:[82,85],detail:[7,15,22,26,28,29,30,35,49,57,61,62,63,67,70,88,93,100,105,119,122,130,152,156],detect:[29,30,33,42,46,49,58,61,62,63,66,68,75,76,85,86,93,108,110,111,112,113,114,117,118,121,129,132,144,146,154,155,156],deterior:[68,146],determin:[2,15,54,57,58,61,93,94,110,114,137,152,156,157],dev:[8,18,33,35,85,145],devel:3,develop:[8,33,37,58,75,90,105,113,153],deviat:[119,124,129,152],devic:[0,2,4,5,6,15,23,24,29,32,34,35,45,48,51,52,53,54,63,65,67,69,72,73,74,75,78,80,83,84,85,86,88,100,101,102,103,105,106,113,114,115,118,135,137,140,141,144,145,146,148,149,155],devicequeri:86,devicetreebinaryblob:[6,23],devicetreebinarybloboverlai:[6,23],devoegs:84,devpt:145,devtmpf:145,dhcp:[29,141],di:[92,113,115],diag:[73,103],diag_mod:[15,21],diagnos:[15,29,115,149],diagnosi:[28,32,34,75,78,100,103,113,114,115,137,144,149],diagnost:[6,15,19,21,23,24,26,30,49,50,52,56,70,71,73,79,80,100,105,113,137,148,149],diagnostic_msg:[19,24],diagnosticarrai:[19,24],diagon:[59,93,152,156],diagram:[93,140,156],dialogu:38,dict:[69,92],dictat:117,dictionari:72,did:[8,56,58,74,106,113,114],didn:[3,58,77],die:101,diff:135,differ:[0,6,7,10,11,16,18,23,28,29,30,33,45,46,51,53,54,57,60,61,62,63,65,66,68,75,76,84,85,88,91,93,98,103,113,114,117,119,121,123,124,125,126,127,134,135,136,137,144,146,152,154,156],differenti:[102,121,131,146],difficult:117,diffus:61,digest:85,digit:[9,29,46],dimens:[57,80,86,91,129,154,155],dimension:[57,67,75,93,156],din:137,diparam:[6,23,126,130],dir:85,direct:[30,39,45,54,57,58,59,61,62,63,67,75,76,80,89,93,119,128,130,145,152,156],directli:[9,11,22,39,51,53,54,59,61,66,85,91,93,103,145,146,152,155,156],directori:[20,35,40,82,84,85,86,92],directory_filenam:92,dirnam:92,dirt:66,dirti:66,disabl:[86,121,122,124,128,129,130,141],disadvantag:[123,132],disappear:130,disassembl:[49,70],discard:[30,63,124,126,127,130,132],disclaim:130,disconnect:[30,105,113,140],discourag:68,discov:[29,30],discoveri:[29,30],discuss:74,disk:[84,88],displai:[0,10,18,25,39,48,49,52,58,62,70,73,77,85,91,98,100,141,152,155],disregard:54,disrupt:11,dissip:[55,80],distanc:[2,3,10,18,19,24,29,30,33,58,61,62,63,65,66,75,76,92,93,115,117,118,120,121,122,123,125,126,127,131,132,133,134,153,154,155,156],distance_imag:75,distance_map:62,distancenois:63,distanceresolut:[92,119],distinct:[93,117,156],distinguish:[54,129],distort:[24,63,93,156],distribut:[1,2,3,16,17,26,28,35,54,57,68,83,135,137],distro:15,disturb:[33,91,113,155],dn:141,doc:[6,15,63,105,135],docker0:23,docker:[7,11,15,26,29,32,33,34,49,70,113,148,149],dockerfil:[15,17,18,85,87,140],dockerignor:18,document:[3,7,15,16,17,18,19,21,22,29,30,35,39,40,49,62,63,66,67,70,75,81,84,85,86,88,91,94,95,96,97,103,105,118,119,122,130,135,146,154],doe:[3,6,11,23,28,30,39,42,46,57,62,63,68,77,80,81,85,93,97,106,113,114,125,127,129,130,154,156],doesn:[18,75,80],dof:57,domain:[18,38,57,86,121,124,125],don:[3,8,9,13,28,51,53,57,68,86,128,155],done:[3,8,30,51,53,57,83,84,86,137,141,154],dormant:[48,99,104,113,114],dosdevic:40,dot:[57,89],doubl:[21,28,35,55,56,84,87,105,113],doubt:75,down:[2,15,28,30,54,108,113,114,146],downclock:54,downgrad:[29,30,31],download:[18,21,28,29,30,33,36,40,41,43,58,85,105,113,140],downtim:63,downward:[59,152],dpkg:[18,85],dpybind11_test:85,dpython_execut:85,drag:[35,66],dramat:[68,130],draw:[21,59,148,152],draw_geometri:92,drift:30,drive:[29,30,40,45,61,62,75,80,105,130],driven:[54,152,153],driver:[2,6,7,8,13,23,86,87,106,113,114],drop:[0,31,35,57,114,126],drwxr:145,dt_string:137,dtb:[6,23],dtbo:[6,23],dtm425_exampl:140,dtor:9,dtype:[75,76,92],due:[30,31,46,58,68,84,85,91,92,99,106,108,114,115,117,124,130,131,141,146,155],dummi:[0,10,12,45,106,113,114],dump:[0,2,9,10,15,19,26,35,51,53,73,84,85,105,137,141],dump_request:23,dump_respons:23,durat:[48,61,113],dure:[28,30,31,35,54,56,58,61,62,63,67,75,84,85,91,99,105,113,114,115,121,125,132,137,146,154,155],dust:[30,63,66,75,113,146],dusti:[63,66,146],dustingood:15,dut:92,dx:57,dy:57,dynam:[33,117,118,131],dynamicsymmetrythreshold:[129,131],e11589:140,e3r101:146,e3r1xx:66,e:[0,2,6,7,16,19,20,23,28,30,35,39,42,45,46,51,53,54,57,61,62,63,65,66,67,68,75,80,82,83,84,85,88,89,92,93,97,99,114,117,119,124,125,127,129,131,135,137,144,146,152,155,156],e_3:57,e_flatten:57,e_rot:57,ea:[6,23,84],each:[6,10,11,15,18,21,23,28,33,35,45,46,49,52,54,58,60,61,62,68,76,83,89,91,92,93,105,113,114,117,118,119,121,122,126,128,132,135,137,144,156],earlier:[61,130],eas:11,easi:[9,11,89],easier:[6,30,57,66,85,89,99],easiest:[56,84,105,154],easili:[3,9,61],ecc:86,ecdsa:84,echo:[18,85],ecosystem:80,ed:140,edg:[15,67,85,91,118,121,125,128,129,153,154,155],edgepixel:30,edit:[2,20,65,69,76,91,103,155],ee24eff3c797:85,eeprom:[106,113,114],ef03b5c59bdd:102,effect:[0,2,3,29,30,39,61,64,66,68,89,117,119,121,125,130,132,133,137],effici:[66,88,105,129],effort:[1,26,57],eg:[33,94,157],ego:[30,61,65,80,113,114,152],egomot:66,eight:152,either:[5,11,16,75,82,86,91,106,113,114,128,135,137,155],electr:137,electron:[35,40,51,53,67,69,72,74,89,92,137],element:[76,89,134],elev:[40,61,89],elimin:[40,129],eloqu:[15,16],els:[3,51,53,62,69,89,91,92,140],email:[0,58,84],embed:[1,2,4,5,16,22,30,33,80,88,102,105,113,135,145],emc:[66,137],emiss:[54,137],emit:[54,63,66,130],empir:54,empti:[2,48,57,62,74,84],emul:[40,85],emv:[28,113,114,136],en:[28,35,137,144,146],en_u:18,enabl:[1,16,28,30,33,51,53,58,66,68,80,82,87,121,122,129,144,149],enabledynamicsymmetri:[6,23],enablestraylight:[6,23,130],enabletemporalfilt:[6,23,129],encapsul:11,encod:[2,6,23,33,93,119,156],encount:[75,105,114,130,141],encourag:[121,126,130,134],end:[52,58,66,69,72,73,74,75,117,132,134,146,152],endl:[35,48,51,52,53,103],energi:[52,55,129,137],engin:[66,86,146],enhanc:54,enough:[28,30,37,54,61,62,75,86,113,125,127,130,131,144,146],enought:52,enp0s31f6:23,ensur:[1,16,17,31,49,52,57,58,61,66,70,73,113,126,130,131,135,137],enter:[52,84,91,113,130,152,154],entiti:101,entri:113,enumer:[62,89,92],env:[18,85,140,154],envelop:[108,114,135],environ:[7,18,40,51,52,53,57,63,66,67,75,85,91,94,95,117,130,137,146,154,155,157,158],enx98fc84eebfc8:23,equal:[45,54,61,91,154,155],equat:57,equilibrium:54,equip:130,equival:[6,16,57,62,63,97,128,144],eras:[30,154],err:[51,53,69,72,73],error:[0,2,9,11,15,22,28,29,30,45,47,48,49,51,52,53,56,57,63,66,69,70,72,73,75,76,78,88,91,92,99,101,102,103,105,108,110,111,115,119,135,137,149,154,155],error_boot_sequence_head_algo_incompat:[106,114],error_boot_sequence_head_combin:[106,114],error_boot_sequence_head_icc_flash:[106,114],error_boot_sequence_head_icc_fw_check:[106,114],error_boot_sequence_head_icc_fw_incompat:[106,114],error_boot_sequence_head_icc_fw_upd:[106,114],error_boot_sequence_head_identif:[106,114],error_boot_sequence_head_invalid_driv:[106,114],error_boot_sequence_head_invalid_serial_numb:[106,114],error_boot_sequence_imu_invalid_calibr:[106,114],error_boot_sequence_imu_invalid_hw:[106,114],error_boot_sequence_invalid_configur:[106,114],error_boot_sequence_port_calibr:[106,114],error_boot_sequence_port_calibration_overrid:[106,114],error_boot_sequence_port_configuration_timeout:[106,114],error_boot_sequence_port_dummy_calibr:[106,114],error_boot_sequence_port_eeprom_overrid:[106,114],error_boot_sequence_port_invalid_configur:[106,114],error_boot_sequence_tcu_invalid_fw:[106,114],error_boot_sequence_vpu_eeprom:[106,114],error_di_motion_comp_ega_data_timestamp_mismatch:[30,107,114],error_di_motion_comp_no_ego_data:[107,114],error_di_unexpected_calib_cont:[107,114],error_head_brownout:[108,114],error_head_envelope_max_dur:[108,114],error_head_envelope_pause_viol:[108,114],error_head_envelope_pulse_error:[108,114],error_head_eyesafety_shutdown:[108,114],error_head_imager_reset:[108,114],error_head_invalid_calibr:[108,114],error_head_overtemperature_icc:[108,114],error_head_overvoltag:[108,114],error_head_undervoltag:[108,114],error_head_vcsel_overcurr:[108,114],error_head_vcsel_overtemperatur:[108,114],error_imu_data_implaus:109,error_odsapp_algo_intern:[110,114],error_odsapp_default_zone_us:[110,114],error_odsapp_extr_di_calib_implaus:[110,114],error_odsapp_extr_vpu_calib_implaus:[102,110,114],error_odsapp_image_imu_delay_implaus:[110,114],error_odsapp_intr_imu_calib_implaus:[110,114],error_odsapp_parameter_plausibility_check_fail:[110,114],error_odsapp_standstill_checks_not_execut:[110,114],error_odsapp_test_mode_warn:[110,114],error_odsapp_unstable_framer:[110,114],error_odsapp_velocity_unavail:[30,110,114],error_odsapp_vo_extr_di_calib_implaus:[110,114],error_odsapp_vo_image_framer:[110,114],error_port_algo_intern:[111,114],error_port_fpdlink:[111,113,114],error_port_frame_timeout:[111,114],error_vpu_comm_tcu:[112,114],error_vpu_comm_tempsensor:[112,114],error_vpu_no_free_imagebuff:[112,114],error_vpu_ntp_not_synchron:[112,114],error_vpu_overtemperatur:[112,114],error_vpu_overvoltage_1_8v:[112,114],error_vpu_overvoltage_24v:[112,114],error_vpu_overvoltage_5v:[112,114],error_vpu_trigger_overrun:[112,114],error_vpu_undervoltage_1_8v:[112,114],error_vpu_undervoltage_24v:[112,114],error_vpu_undervoltage_5v:[112,114],error_vpu_watchdog_timeout:[112,114],errormessag:[6,23],errornumb:[6,23],esacp:6,escal:[113,114],escap:23,esd:[28,66,113],esp:64,especi:[0,46,61,62,66,75,124,134],essenc:[93,156],essenti:[8,18,28,66,85,99],est:101,establish:[2,30,38,45,75,84,103,105,144],estim:[29,30,33,39,57,64,65,66,80,90,113,119,121,124,127,128,131,132,151,153,155],etc:[0,3,15,18,21,33,38,42,75,76,81,83,84,85,97,98,103,113,114,117,141,144,145],eth0:[29,33,117,141],eth1:[29,33,141],eth:29,ethernet:[30,33,37,61,115,143],ethz:144,eucco:[51,53],euler:89,evalu:[30,39,57,61,64,76,80,113,129,135],evc948:146,even:[1,20,28,30,57,63,68,113,117,121,127,130,131,132,144,154],event:[30,52,57,63,73,113,144],eventu:130,ever:[1,83],everi:[10,24,28,39,46,52,67,76,84,85,97,98,135,144],everyth:[3,75,127,152],ex:[35,38,40,42,51,53,57],exact:[91,93,102,128,130,154,155,156],exactli:[8,9,20,72,91,153,154,155],exampl:[1,3,6,10,11,13,15,18,20,23,25,29,30,39,48,53,55,60,61,62,63,65,69,74,75,80,81,83,84,85,88,91,92,93,96,101,104,105,113,115,123,130,133,137,151,154,155,156],example2:85,exce:[54,61],exceed:[2,113,118],except:[6,23,28,35,45,51,53,58,69,72,73,74,75,92,113],excess:130,excessivecorrectionthreshamp:[6,23,130],excessivecorrectionthreshdist:[6,23,130],exchang:137,exclud:[30,46,68,119],exclus:[30,45,68,117],execut:[35,38,40,42,49,85,86,140],exemplari:[2,6,23,62],exercis:[3,17],exhaust:88,exist:[5,8,29,30,45,51,53,54,57,62,68,72,74,80,85,130],exit:[52,86,103,113],exp:135,expand:25,expect:[3,21,35,49,51,53,54,56,61,67,70,72,74,75,76,77,82,91,107,113,114,124,126,127,130,141,152,155],experi:[9,40,86,97,124,130],experienc:103,experiment:54,experimental_autoexposure2d:[6,23],experimental_high_2m:6,expindex:118,explain:[75,87,118,130,144],explan:103,explicitli:137,explong:[33,117],explor:49,expos:[0,6,11,15,23,117],exposur:[29,33,97,118,119,133],exposurelong:[6,23,117,135],exposureshort:[6,23,117,135],exposuretim:116,expshort:[33,117],ext4:29,ext_calib:65,ext_dict:89,ext_optic_to_us:[95,158],extend:[30,49,61,63,70,91,93,154,155,156],extens:85,extern:[54,57,80,113,135,137,141],extheadtous:[93,156],extr:58,extra:130,extract:[35,40,146],extrem:[57,66,121,137],extrins:[0,2,10,15,18,19,21,24,28,29,30,45,49,52,58,68,73,74,80,96,97,102,106,110,113,114,148,149,151],extrinsic3d:[57,92],extrinsic_cal_nam:89,extrinsic_calib:[21,30],extrinsic_calibr:[91,155],extrinsic_head_to_us:114,extrinsic_one_head:[51,53,74],extrinsic_two_head:[52,73],extrinsiccalibr:58,extrinsicheadtous:[6,21,23,58,65,89],extrinsicoptictous:21,extrinsicoptictouserrot:92,extrinsicoptictousertran:92,extrinsicvputous:[30,89,152],ey:[29,30,57,61,89,108,114],ez:57,f54a5890d75618c5bd21535dfa71e1cd9b1a8515902fb8e1912e6f586e0685a3:85,f:[45,62,67,69,72,73,74,75,88,89,91,92,103,135,137],face:[49,58,65,70,74,89,93,117,156],facil:[6,23,51,53,57,74,144],facilit:[1,58],fact:[31,84,113,117],factor:[46,54,62,64,66,117,119,126,129,137,146],factori:[31,32,34,115],fail:[45,48,51,52,53,57,72,74,86,113,135,144],failbit:[51,53],failur:[51,53,91,155],fairli:54,fakra:[66,93,113,146,156],fall:129,fallback:[29,144],fals:[2,6,23,30,46,48,64,68,69,73,75,76,84,89,92,101,130,141,144,154,155],familiar:49,fan:[54,101,137],faq:148,far:[3,117,130],farkra:114,fast:[113,146],faster:129,fat32:[29,145],fault:114,favorit:[43,148],fb:84,fd:145,feasibl:136,featur:[6,11,16,23,32,34,39,87,93,113,156],feb:[144,145],feed:[6,23],feedback:[16,75,130],feel:[6,23,58],fetch:85,few:[8,82,93,131,152,156],fewer:124,fg:[48,103,144],field:[2,23,30,57,58,61,62,63,66,68,80,91,102,126,130,146,148,154,155],figur:[59,62,66,75,76,91,135,152,153,155],file:[0,1,2,6,9,10,13,15,16,18,19,23,25,29,30,35,40,45,48,49,51,52,53,58,62,65,70,72,74,75,82,84,85,86,88,92,95,106,113,114,140,145,146,158],file_nam:[48,75],file_name_:48,filebuff:[48,52],filenam:[69,72,74,92,137,140],filer:30,filesystem:31,fill:49,filter:[30,33,63,69,75,77,99,103,117,118,119,123,124,126,127,131,133],filter_mask:69,filter_mask_:48,find:[1,7,9,17,35,41,43,57,58,62,85,89,91,96,105,117,122,135,145,146,148,150,155],findutil:[8,85],fine:[63,76,91,121,122,152,155],finger:113,fingerprint:[66,84],finish:[17,18,51,53,91,92,154,155],firmwar:[31,39,45,51,53,61,66,68,72,94,105,106,114,115,117,138,140,146,147,148,150],firmware_imag:35,first:[3,8,9,10,17,25,28,29,30,33,37,41,42,43,57,58,62,73,74,75,76,84,85,105,113,125,127,135,137,145,152],firsthand:130,fish:[29,30,57],fishey:57,fist:85,fit:[91,122,130],fix:[0,9,10,15,16,32,34,57,78,113],flag:[35,40,76,130],flash:[28,29,33,37,106,114,115],flash_firmwar:35,flashfirmwar:35,flat:[68,152,154],flatten:[57,92],flexibl:134,flight:[11,57,64,68,80,114,124,131,134],flip:67,float32:92,floor:[30,46,58,62,64,65,66,68,74,76,80,91,113,130,132,146,154],flop:154,flow:54,flowchart:[75,146],flush:113,fly:[40,128,129],fn:64,fnorm:57,focal:61,focu:[97,130],focus:84,focuss:[15,146],folder:[3,40,49,51,53,70,81,84,91,96,154,155],follow:[2,3,5,6,7,8,16,17,18,20,23,29,30,33,35,37,39,40,44,45,46,49,51,54,56,57,58,61,62,66,68,70,72,75,77,80,82,84,85,86,88,90,93,103,105,117,118,121,124,126,130,132,136,137,141,146,152,153,155,156],fool:130,forc:[54,66,113],foreground:[63,128,129],forget:[3,9,13,86],form:[49,70,75,76,93,121,156],formal:63,format:[0,2,6,15,16,25,51,53,58,69,72,74,88,91,105,135,137,155],former:38,formula:54,forward:[32,34,45,49,52,57,59,61,65,67,70,73,74,75,80,88,91,117,130,146,152],forward_app:52,found:[21,49,54,58,62,70,85,92,130],four:[66,131,134,135,152],fourth:[54,155],fov:[6,23,61,63,68,113,117,130],fov_uv:89,foxi:16,fp:[54,64,117,135],fpd:[37,111,114,115],fradial:57,fragment:72,frame:[2,10,11,12,21,30,48,54,57,58,59,61,62,66,67,74,76,77,91,92,93,106,111,113,114,117,124,129,131,132,135,137,144,152,154,156],frame_id_bas:[2,10],frame_latency_thresh:2,frame_nam:21,frame_s:91,framecount:92,framegrabb:[0,2,9,28,30,45,48,52,69,74,103,144],framer:[6,23,29,30,33,54,110,114,115,116,133,137,146],framerate_std_dt:135,framerate_target:135,frames:154,framework:33,free:[2,6,31,33,49,62,66,70,76,113,130,135],freedom:[57,93,156],freez:85,freezer:145,frequenc:[46,52,63,113,117,134,135],frequent:66,fresh:[3,8,58],fri:144,friction:61,fro:141,from:[0,1,2,4,6,8,11,15,16,19,20,21,22,23,24,28,29,30,35,39,40,42,45,46,49,51,52,53,54,57,58,59,61,62,63,65,66,67,68,69,70,72,73,74,75,76,77,85,86,87,89,91,97,103,105,113,114,117,118,119,121,124,126,127,128,129,130,131,134,135,137,140,144,146,152,153,154,155],fromstdstr:[51,53],front:[49,59,61,62,66,70,73,91,93,105,117,128,130,134,152,155,156],fs:145,fstream:[48,51,52,53],fulfil:97,full:[3,8,49,50,51,53,54,61,65,70,71,72,80,103,113,124,129,137,152],fullfil:[28,146],fulli:[45,51,53,56,61,70,91,134,137,144,154,155],funtion:[49,70],fur:82,further:[2,3,8,28,29,30,33,39,57,58,61,63,76,82,84,85,99,110,114,125,140,155],futur:[32,34,39,128,135,138],fw:[15,16,27,29,32,33,34,52,63,66,76,88,113,148,150],fx:57,fy:57,g:[0,6,7,16,23,28,30,35,39,42,46,57,61,62,65,75,80,82,83,84,85,86,88,92,93,97,99,114,117,119,129,135,137,144,145,146,156],galact:[15,16,18],gamma:89,gap:54,gatewai:141,gather:[1,5,24,54,132],gb:[30,33,75],gc35f5eb9d1d9:[6,23],gcc:85,gen:18,gener:[1,3,17,21,28,32,34,39,40,46,49,54,60,61,70,75,82,85,87,88,91,94,97,114,126,130,137,144,151,153,157],gentli:66,geometr:[57,59,62,68,91,93,117,127,152,155,156],geometri:92,german:42,get:[6,8,11,15,16,18,28,30,35,44,51,52,53,62,66,67,68,69,72,73,74,75,79,80,82,86,87,89,91,92,99,103,105,113,124,130,137,144,146,148,149,154,155],get_available_st:19,get_available_transit:19,get_buff:74,get_cam_port:45,get_data:45,get_diagnost:[30,103],get_diagnostic_filt:[69,73,103],get_distance_map_data:62,get_occupancy_grid:[67,73,74],get_paramet:19,get_parameter_typ:19,get_rotated_dist:57,get_schema:72,get_single_app_inst:45,get_stat:19,get_transition_graph:19,get_zon:[73,74],getavailablest:19,getavailabletransit:19,getcwd:92,getdiagnost:103,getdiagnosticfilt:[48,52,103],getenv:[51,52,53],getlogg:[67,69,72,73,74,92,137],getoccgrid:52,getparamet:19,getparametertyp:19,getschema:[51,53],getstat:19,getzon:52,gh:58,ghcr:85,ghz:86,gid:145,gigabit:61,git:[3,8,17,18,49,70,85,86,91,94,95,96,154,155,157,158],github:[18,28,49,70,85,86,91,94,95,96,115,137,144,154,155,157,158],gitlab:103,give:[6,23,57,61,62,63,67,75,91,102,103,119,121,125,130,155],given:[3,89,91,93,124,129,154,155,156],gladli:130,glass:130,glean:2,global:[15,76,86,103,119],glog0v:18,glog:[8,16,85],glossari:[96,151],glossi:154,gmbh:[51,53,67,69,72,74,89,92,137],gmt:144,gninja:85,go:[3,75,81,85,130],goal:[75,130],god_bad:0,goe:144,gone:130,good:[33,45,49,54,56,57,61,66,70,75,91,124,137,146,154,155],googl:144,got:[69,103],gpu:[54,85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for package ifm3d-ros","ifm3d-ros","The ifm3d_ros_driver package","Building and Installing the ifm3d-ros package","Diagnosis information and error codes","Building and installing for distributed systems","ifm3d_ros_msgs: Dump and Config","ROS logging for containers on embedded devices","ifm3d_ros on Ubuntu 20.04 and ROS Noetic","ifm3d-ros Troubleshooting Guide","HOW to visualize the point cloud with RVIZ","The ifm3d_ros_examples package","merging point clouds with merge_pc.launch","The ifm3d_ros_msgs package","ifm3d-ros","Changelog for package ifm3d-ros2","ifm3d-ros2 overview","Building and Installing the ifm3d-ros2 package","How to run ifm3d-ros2 from inside a Docker container","Launch the node","Multi head launch file configuration","Parameters","Diagnostic","Advertised Services","Topics","How to visualize data with RVIZ","ifm3d-ros2","<no title>","FAQ","FIRMWARE 0.16.23 RELEASE NOTES","FIRMWARE 1.0.14 RELEASE NOTES","Migration guide: FW update process from FW version 0.16.23 to FW version 1.0.x","Release notes Firmware 1.0.14","FIRMWARE 0.14.23 RELEASE NOTES","Release notes","How to update the firmware:","O3R firmware","Hardware unboxing","Starting the ifmVisionAssistant and connecting to the O3R-System","First steps after the first initial connection","ifmVisionAssistant on Linux","Getting started with the ifm Vision Assistant","Introduction to the ifmVisionAssistant","Getting started with the O3R","Pick your favorite software stack","How to switch ODS applications","Configuration","How to use these examples","How to monitor the diagnostic","How to use these examples","C++ examples","How to configure ODS","Full ODS example","How to stream ODS data","Heat dissipation guidelines","Testing ODS","ODS temperature tests","How to verify the extrinsic calibration","Automated camera head calibration tools","VPU extrinsic calibration","Extrinsic calibration for ODS","ODS Performance","ODS Performance evaluation","ODS ToF artifacts","ODS performance","Instantiation","Camera Mounting","Occupancy grid","Overhanging loads","How to monitor the diagnostic","How to use these examples","Python examples","How to configure ODS","Full example","How to stream data","ODS data recording strategies","Zones","Getting started with ODS","Diagnostic","ODS with the iVA","ODS (Obstacle Detection System)","README","Autostart a container on the VPU","Process pinning","Deploying a container to the VPU","Docker: Getting started","Enabling GPU usage on the VPU","Docker on O3R","How to handle verbose logging for Docker containers","Convert O3R rotation angles to human-readable angles","Extrinsic calibration routines: camera to robot coordinates","Checkerboard Static Camera - Calibration Routine","Convert data from HDF5 to PCD formats","Introduction to ifm camera coordinate systems and their transformations","2D-3D Registration Example","Collect camera calibration data","Toolbox","Changing parameters","Configuring/Activating an application","Device and diagnosis data","ifm Vision Assistant","Boot-up diagnostic","Diagnostics example output","Diagnostic retrieval","Diagnostic retrieval","O3R information for debugging","tcu","<no title>","<no title>","<no title>","<no title>","<no title>","Comms","Diagnose error code: reaction strategies","Diagnostics error code sources","O3R Diagnostics: overview","2D camera head configuration","Acquisition parameters","The confidence image","Description of the available images","Images description","Adaptive noise bilateral filter","Filtering Process","Processing parameters","Maximum Distance Noise","(Spatial) Median Filter","Minimum Amplitude","Minimum Reflectivity","Mixed Pixel Filter","3D processing parameters overview","Stray Light Filter","Symmetry Threshold","Temporal Filter","3D Camera Configuration","Modes","O3R System synchronization and triggering","System Verification","Stress Tests","IMU - Inertial Measurement Unit","Resource management","CAN interface","Ethernet interfaces","HMI: LEDs","VPU (Vision Processing Unit)","NTP(Network Time Protocol)","Using an usb drive with the VPU","Technology","Resources available for download","Welcome to the O3R\u2019s documentation!","Software Interfaces","<no title>","Utilities","VPU IMU general information","Extrinsic calibration routines: camera to robot coordinates","Extrinsic Calibration Routine for O3R Camera","Checkerboard Static Camera - Calibration Routine","Introduction to ifm camera coordinate systems and their transformations","2D-3D Registration Example","Collect camera calibration data"],titleterms:{"0":[0,15,29,30,31,32,33,35],"01":15,"04":8,"06":15,"1":[0,6,15,30,31,32,35,57,77,84,135,137],"14":[30,32,33],"16":[29,30,31],"2":[0,6,15,77,84,137],"20":8,"2019":15,"2020":15,"23":[29,30,31,33],"25":15,"26":15,"2d":[30,39,94,116,157],"3":[0,15,57,84,137],"31":15,"3d":[29,30,33,39,94,129,133,157],"4":[0,15],"5":0,"6":0,"abstract":[121,124,125,126,128,130,131,132],"case":[130,135,146],"default":[30,88,135],"new":[29,30,148,150],"public":84,"short":97,"static":[91,141,155],"switch":45,"true":63,A:[51,72,85],By:38,The:[2,11,13,51,72,118,130],With:[35,103],abov:[91,155],accept:113,acquisit:[39,117],action:113,activ:[39,98,102,144],adapt:[20,121,129],add:85,addit:[2,49,54,70,103,135],adjust:130,advertis:[2,23],after:[39,57,82,101],air:54,algodebug:75,algorithm:113,allow:57,amplitud:[119,126,129],an:[68,98,145],analysi:62,analyz:62,anew:113,angl:[57,89,128],antenna:140,api:17,app:114,applic:[29,30,45,57,98,146],architectur:135,articl:[29,30],artifact:[63,68],assist:[41,68,100,103],auto:82,autom:58,autostart:82,avail:[113,119,146,147],axi:10,barrier:54,base:[57,85,128],basic:[51,72,85],best:25,bilater:[121,125,129],block:[49,70],boot:[101,114],bracket:54,buffer:113,build:[1,3,5,11,17,18,49,70,85],c:[17,50],cabl:66,cad:[57,146],calcul:57,calibr:[29,57,58,59,60,65,77,90,91,93,95,152,153,154,155,156,158],call:[6,23],camera:[9,20,28,29,30,33,54,58,61,66,90,91,93,95,113,114,116,133,146,153,154,155,156,158],can:[9,68,140],capac:54,catkin:[3,5],chang:[10,31,97],changelog:[0,15],channel:[46,117],check:[57,88,113],checkerboard:[91,154,155],clean:66,client:18,cloud:[10,12,93,119,156],code:[3,4,17,113,114],colcon:17,collect:[95,158],combin:125,comm:[112,114],common:63,compar:68,comparison:57,compat:[1,16,28,29,30,33],compos:[82,86],concept:[29,30,57],conclus:130,condit:[54,146],conduct:54,confid:[118,119],config:[6,7,23],configur:[7,20,28,30,45,46,51,68,72,88,98,116,133,135,144],connect:[9,28,29,38,39,84,105,113],consid:[61,68],consider:[49,70],consist:82,consumpt:54,contain:[7,17,18,82,84,85,86,88],content:[7,9,85],convect:54,convert:[89,92],coordin:[10,66,90,93,153,156],creat:[3,84],cross:29,cycl:113,data:[25,28,39,53,62,74,75,82,92,93,95,99,156,158],debug:[103,105],defect:8,defin:[93,156],definit:[68,113],deg:57,depend:113,deploi:[18,84],deprec:[16,128],descript:[58,67,68,76,102,119,120,121,124,125,126,127,128,131,132,134],design:[45,54],detail:[21,99,117],detect:[80,130],devic:[7,30,99],di:114,diagnos:113,diagnosi:[4,29,30,99,105],diagnost:[22,28,48,69,78,99,101,102,103,104,114,115],differ:128,direct:10,directori:[3,17],disadvantag:125,displai:99,dissip:54,distanc:[57,114,119,124,128,129,130],distribut:[5,11,18],docker:[17,18,30,82,84,85,86,87,88,140],dockerfil:86,document:[2,147,148],dormant:102,doubl:[54,88],download:[35,42,147],draw:146,drive:145,driver:[5,88],dtm425:140,due:113,dump:[6,23],effect:[57,63,135],effort:25,embed:7,emv:137,enabl:86,energi:54,error:[4,113,114],esp:61,estim:[61,152],ethernet:[113,141],evalu:[62,144],event:75,exampl:[5,45,47,49,50,51,52,54,57,67,68,70,71,72,73,76,94,95,102,117,121,124,125,127,128,131,132,134,140,157,158],expect:57,exposur:[116,117],ext4:145,extent:76,extrins:[57,59,60,65,77,90,93,152,153,154,156],factor:61,factori:[30,113],fals:[62,63],faq:28,favorit:44,featur:[29,30,33,68,85],file:[7,11,20],filter:[121,122,125,128,129,130,132],find:38,fine:130,firmwar:[28,29,30,32,33,35,36,113],first:[39,130],fix:[29,30],flash:113,flight:63,floor:[57,61],fn:63,format:[75,92,145],forward:[29,30,33],fp:63,fpd:113,framer:[113,117,135],from:[3,5,17,18,31,84,92,93,156],full:[45,52,73],futur:[29,30,33],fw:[30,31],gain:116,gener:[30,33,59,84,93,152,156],get:[3,17,41,43,49,70,77,85],ghost:130,github:[3,17,105],glossari:[93,156],gpu:86,grid:67,guid:[9,30,31],guidelin:54,halo:130,handl:[88,113,130],hardwar:[28,37,49,70,140,146],hdf5:92,head:[9,20,33,39,58,66,93,106,113,114,116,146,156],heat:54,height:[46,61,67],highlight:54,hmi:142,host:84,how:[10,18,25,35,45,47,48,49,51,53,57,62,68,69,70,72,74,75,88,105,144],human:89,icc:[106,114],id:102,idl:135,ifm3d:[0,1,3,7,9,14,15,16,17,18,26,28,29,30,35,85,103],ifm3d_ro:8,ifm3d_ros_driv:2,ifm3d_ros_exampl:11,ifm3d_ros_msg:[6,13],ifm3dpi:103,ifm:[33,41,68,85,93,100,103,156],ifmvisionassist:[35,38,40,42,75],imag:[9,25,33,67,85,113,114,118,119,120],impact:68,implic:113,imu:[106,114,138,152],inaccuraci:57,independ:5,inerti:138,inform:[4,59,103,105,152],initi:[3,39],insid:[7,18],instal:[1,3,5,13,17,42,58,85],instanti:65,instruct:3,interfac:[2,35,105,140,141,149],intern:[1,113],interpret:10,intrins:[29,93,156],introduct:[42,93,152,156],invers:[93,156],involv:121,ip:141,isometr:155,issu:[8,16,29,30,33,113],its:135,iva:[77,79],jitter:135,jpeg:119,json:[51,72],kei:84,known:[2,8,15,16,29,30,33],latenc:[61,135],launch:[11,12,19,20],launchfil:11,led:[29,105,142],level:113,librari:[29,30],licens:[1,2,11,13,16],light:[68,130],limit:[2,15],link:113,linux:40,list:[9,91],load:[68,85],local:84,log:[7,40,88],look:[29,30,33],lookup:28,loss:113,lost:132,machin:45,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