Running a O3D/O3X behind a NAT router

[graugans]

If we want use the O3D or O3X behind a NAT router. The following ports need to be forwarded to the outside world.

TCP/IP: 80 (XMLRPC), 8080 (SWUpdate), 50010 (PCIC)

In case of the camera module we can overwrite the default port. But for the framegrabber we can't in case of the framegrabber the port number is red from the config or the default one is used.

 if (! this->cam_->IsO3X())
    {
      try
        {
          this->cam_ip_ = this->cam_->IP();
          this->cam_port_ =
            std::stoi(this->cam_->DeviceParameter("PcicTcpPort"));
        }
      catch (const ifm3d::error_t& ex)
        {
          LOG(ERROR) << "Could not get PCIC Port of the camera: " << ex.what();
          LOG(WARNING) << "Assuming default PCIC port: "
                       << ifm3d::DEFAULT_PCIC_PORT;
          this->cam_port_ = ifm3d::DEFAULT_PCIC_PORT;
        }
    }

I would prefer to have the ability to do an override of the default port when instantiating the framegrabber.