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JSON Basics

The JSON config files allow you to have a fine control over the Calyo SENSUS SDK and the functionally of your sensor.

{
    "type" : "calyosensus",
    "pipelines" : [ <Array of Pipleline Objects> ]
}

Pipeline Object​

Each pipeline object consists of an ID, reader, writer and processor objects. By arranging one or many of these objects with varying data inputs, outputs and processing a wide variety of complex processing is achievable.

{
	"id" : "example_pipeline_object",
	"reader" : { 
		"type" : "<Reader_Type>" 
	},
	"writer" : { 
		"type" : "<Writer_Type>"
	},
	"processor" : { 
		"type" : "<Processor_Type>"
	}
}

Readers​

By choosing a reader objects type you can vary the input datasource for a pipeline object for processing. Each type is then accompanied by a series of additional parameter.

DeviceReader​

"reader" : { 
	"type" : "DeviceReader",
	"serial_number" : "CP66156A50004",
    "num_cycles" : 10,
    "max_distance" : 5.0
},

FrameBufferReader​

"reader" : {
	"type" : "FrameBufferReader",
	"source" : "<id_of_previous_pipeline_object>"
},

XMLReader​

"reader" : {
		"type" : "XMLReader",
		"input_path" : "/robot_ws/dataset1/"
	},

RosDatasetSubscriber​

Work in progress

"reader" : {
	"type" : "RosDatasetSubscriber",
	"topic_name" : "example"
},

Writers​

The writer field functions in the same way a the reader field, however configure what should happen to the data post processing. This for example could buffered for a subsiquent pipeline object, written to file or sent over ROS2.

XMLWriter​

"writer" : {
	"type" : "XMLWriter",
	"output_path" : "/robot_ws/dataset_testing/"
},

RosDatasetPublisher​

"writer" : {
	"type" : "RosDatasetPublisher",
	"topic_name" : "signals",
    "frame_id" : "my_frame"
},

FrameBufferWriter​

"writer" : {
	"type" : "FrameBufferWriter"
},

Processors​

The processor felid dictates the manipulation of the data from raw acoustic signals to a usable images or point cloud data.

Imaging Pipeline​

"processor" : {
	"type" : { 
        "stage" : "log_conversion",
        "configuration_options" : {
            "algorithm" : "precision",
            "dimensions" : 2
    },
    "runtime_parameters" : {
        "x_min" : -1.5,
        "x_max" : 1.5,
        "r_min" : 0.5,
        "r_max" : 10,
        "r_step" : 0.1,
        "pixel_size" : 0.05,
        "angle_limit_enable" : true,
        "angle_limit_degrees" : 86.0,
        "filter_half_bandwidth" : 0.8,
        "filter_use_hanning" : true,
        "normalisation_mode" : "fixed_value",
        "normalisation_value" : 0.02
    }
}