diff --git a/.github/workflows/ROS-commit.yml b/.github/workflows/ROS-commit.yml index 862db4ff..f9fa82a8 100644 --- a/.github/workflows/ROS-commit.yml +++ b/.github/workflows/ROS-commit.yml @@ -8,7 +8,7 @@ on: - cron: '0 22 * * *' env: - NEWEST_ZIVID_VERSION: '2.8.1+dd4dffea-1' + NEWEST_ZIVID_VERSION: '2.9.0+4dbba385-1' jobs: code-analysis: @@ -75,7 +75,7 @@ jobs: strategy: fail-fast: true matrix: - zivid-version: ['2.5.0+19fa6891-1', '2.6.0+fa0036c5-1', '2.6.1+6cec8609-3', '2.7.0+e31dcbe2-1', '2.8.0+891708ba-1'] + zivid-version: ['2.5.0+19fa6891-1', '2.6.0+fa0036c5-1', '2.6.1+6cec8609-3', '2.7.0+e31dcbe2-1', '2.8.0+891708ba-1', '2.8.1+dd4dffea-1'] ros-distro: ['ros:noetic-ros-base-focal', 'ros:melodic-ros-base-bionic'] steps: - name: Check out code diff --git a/CHANGELOG.md b/CHANGELOG.md index db9fe803..e23f8989 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,12 @@ This project adheres to [Semantic Versioning](https://semver.org). +## 2.4.0 + +* Added support for PointXYZ and Range settings that are required for Zivid SDK 2.9.0 and newer +* Added launch parameter to disable firmware upgrade automatically +* Add support for loading capture settings via YML file + ## 2.3.0 * Add support for normals. Normals are exposed via topic "normals/xyz". diff --git a/README.md b/README.md index dd44eec4..cff13109 100644 --- a/README.md +++ b/README.md @@ -43,7 +43,7 @@ sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon git ### Zivid SDK -To use the ROS driver you need to download and install the "Zivid Core" package. Zivid SDK version 2.5.0 to 2.8.1 +To use the ROS driver you need to download and install the "Zivid Core" package. Zivid SDK version 2.5.0 to 2.9.0 is supported. See [releases](https://github.com/zivid/zivid-ros/releases) for older ROS driver releases that supports older SDK versions. @@ -393,8 +393,8 @@ cloud. For more information about HDR capture, visit our The capture settings available in the `zivid_camera` node matches the settings in the Zivid API. To become more familiar with the different settings and what they do, see the API reference for the -[Settings](http://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings.html) -and [Settings2D](http://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D.html) +[Settings](http://www.zivid.com/hubfs/softwarefiles/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings.html) +and [Settings2D](http://www.zivid.com/hubfs/softwarefiles/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D.html) classes, or use Zivid Studio. The settings can be viewed and configured using [dynamic_reconfigure](https://wiki.ros.org/dynamic_reconfigure). @@ -459,10 +459,10 @@ In order to capture a point cloud at least one acquisition needs to be enabled. | Name | Type | Zivid API Setting | Note | |------------------------------------------|--------|--------------------------------|--------| | `settings/acquisition_/enabled` | bool | -| `settings/acquisition_/aperture` | double | [Settings::Acquisition::Aperture](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Aperture.html) -| `settings/acquisition_/brightness` | double | [Settings::Acquisition::Brightness](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Brightness.html) -| `settings/acquisition_/exposure_time` | int | [Settings::Acquisition::ExposureTime](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1ExposureTime.html) | Microseconds -| `settings/acquisition_/gain` | double | [Settings::Acquisition::Gain](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Gain.html) +| `settings/acquisition_/aperture` | double | [Settings::Acquisition::Aperture](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Aperture.html) +| `settings/acquisition_/brightness` | double | [Settings::Acquisition::Brightness](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Brightness.html) +| `settings/acquisition_/exposure_time` | int | [Settings::Acquisition::ExposureTime](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1ExposureTime.html) | Microseconds +| `settings/acquisition_/gain` | double | [Settings::Acquisition::Gain](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Gain.html) #### Processing settings @@ -471,24 +471,42 @@ Settings related to processing, like color balance and filter settings. | Name | Type | Zivid API Setting | |----------------------------------------------------------|--------|----------------------------------------| -| `settings/processing_color_balance_blue` | double | [Settings::Processing::Color::Balance::Blue](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Balance_1_1Blue.html) -| `settings/processing_color_balance_green` | double | [Settings::Processing::Color::Balance::Green](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Balance_1_1Green.html) -| `settings/processing_color_balance_red` | double | [Settings::Processing::Color::Balance::Red](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Balance_1_1Red.html) -| `settings/processing_color_gamma` | double | [Settings::Processing::Color::Gamma](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Gamma.html) -| `settings/processing_filters_noise_removal_enabled` | bool | [Settings::Processing::Filters::Noise::Removal::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Noise_1_1Removal_1_1Enabled.html) -| `settings/processing_filters_noise_removal_threshold` | double | [Settings::Processing::Filters::Noise::Removal::Threshold](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Noise_1_1Removal_1_1Threshold.html) -| `settings/processing_filters_outlier_removal_enabled` | bool | [Settings::Processing::Filters::Outlier::Removal::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Outlier_1_1Removal_1_1Enabled.html) -| `settings/processing_filters_outlier_removal_threshold` | double | [Settings::Processing::Filters::Outlier::Removal::Threshold](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Outlier_1_1Removal_1_1Threshold.html) -| `settings/processing_filters_reflection_removal_enabled` | bool | [Settings::Processing::Filters::Reflection::Removal::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Reflection_1_1Removal_1_1Enabled.html) -| `settings/processing_filters_smoothing_gaussian_enabled` | bool | [Settings::Processing::Filters::Smoothing::Gaussian::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Smoothing_1_1Gaussian_1_1Enabled.html) -| `settings/processing_filters_smoothing_gaussian_sigma` | double | [Settings::Processing::Filters::Smoothing::Gaussian::Sigma](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Smoothing_1_1Gaussian_1_1Sigma.html) +| `settings/processing_color_balance_blue` | double | [Settings::Processing::Color::Balance::Blue](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Balance_1_1Blue.html) +| `settings/processing_color_balance_green` | double | [Settings::Processing::Color::Balance::Green](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Balance_1_1Green.html) +| `settings/processing_color_balance_red` | double | [Settings::Processing::Color::Balance::Red](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Balance_1_1Red.html) +| `settings/processing_color_gamma` | double | [Settings::Processing::Color::Gamma](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Gamma.html) +| `settings/processing_filters_cluster_removal_enabled` | bool | [Settings::Processing::Filters::Cluster::Removal::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Cluster_1_1Removal_1_1Enabled.html) +| `settings/processing_filters_cluster_removal_max_neighbor_distance` | double | [Settings::Processing::Filters::Cluster::Removal::MaxNeighborDistance](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Cluster_1_1Removal_1_1MaxNeighborDistance.html) +| `settings/processing_filters_cluster_removal_min_area` | double | [Settings::Processing::Filters::Cluster::Removal::MinArea](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Cluster_1_1Removal_1_1MinArea.html) +| `settings/processing_filters_noise_removal_enabled` | bool | [Settings::Processing::Filters::Noise::Removal::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Noise_1_1Removal_1_1Enabled.html) +| `settings/processing_filters_noise_removal_threshold` | double | [Settings::Processing::Filters::Noise::Removal::Threshold](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Noise_1_1Removal_1_1Threshold.html) +| `settings/processing_filters_outlier_removal_enabled` | bool | [Settings::Processing::Filters::Outlier::Removal::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Outlier_1_1Removal_1_1Enabled.html) +| `settings/processing_filters_outlier_removal_threshold` | double | [Settings::Processing::Filters::Outlier::Removal::Threshold](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Outlier_1_1Removal_1_1Threshold.html) +| `settings/processing_filters_reflection_removal_enabled` | bool | [Settings::Processing::Filters::Reflection::Removal::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Reflection_1_1Removal_1_1Enabled.html) +| `settings/processing_filters_smoothing_gaussian_enabled` | bool | [Settings::Processing::Filters::Smoothing::Gaussian::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Smoothing_1_1Gaussian_1_1Enabled.html) +| `settings/processing_filters_smoothing_gaussian_sigma` | double | [Settings::Processing::Filters::Smoothing::Gaussian::Sigma](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Smoothing_1_1Gaussian_1_1Sigma.html) #### Other settings | Name | Type | Zivid API Setting | |------------------------------------------------------------------------------------|--------|--------------------------------| -| `settings/diagnostics_enabled` | bool | [Settings::Diagnostics::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Diagnostics_1_1Enabled.html) +| `settings/diagnostics_enabled` | bool | [Settings::Diagnostics::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Diagnostics_1_1Enabled.html) +| `settings/region_of_interest_box_enabled` | bool | [Settings::RegionOfInterest::Box::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1Enabled.html) +| `settings/region_of_interest_box_extents_min` | double | [Settings::RegionOfInterest::Box::Extents](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1Extents.html) +| `settings/region_of_interest_box_extents_max` | double | [Settings::RegionOfInterest::Box::Extents](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1Extents.html) +| `settings/region_of_interest_box_point_a_x` | double | [Settings::RegionOfInterest::Box::PointA](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointA.html) +| `settings/region_of_interest_box_point_a_y` | double | [Settings::RegionOfInterest::Box::PointA](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointA.html) +| `settings/region_of_interest_box_point_a_z` | double | [Settings::RegionOfInterest::Box::PointA](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointA.html) +| `settings/region_of_interest_box_point_b_x` | double | [Settings::RegionOfInterest::Box::PointB](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointB.html) +| `settings/region_of_interest_box_point_b_y` | double | [Settings::RegionOfInterest::Box::PointB](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointB.html) +| `settings/region_of_interest_box_point_b_z` | double | [Settings::RegionOfInterest::Box::PointB](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointB.html) +| `settings/region_of_interest_box_point_o_x` | double | [Settings::RegionOfInterest::Box::PointO](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointO.html) +| `settings/region_of_interest_box_point_o_y` | double | [Settings::RegionOfInterest::Box::PointO](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointO.html) +| `settings/region_of_interest_box_point_o_z` | double | [Settings::RegionOfInterest::Box::PointO](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Box_1_1PointO.html) +| `settings/region_of_interest_depth_enabled` | bool | [Settings::RegionOfInterest::Depth::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Depth_1_1Enabled.html) +| `settings/region_of_interest_depth_range_min` | double | [Settings::RegionOfInterest::Depth::Range](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Depth_1_1Range.html) +| `settings/region_of_interest_depth_range_max` | double | [Settings::RegionOfInterest::Depth::Range](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1RegionOfInterest_1_1Depth_1_1Range.html) #### Experimental settings @@ -497,13 +515,16 @@ Note that these settings may be changed, renamed or removed in future SDK releas | Name | Type | Zivid API Setting | |------------------------------------------------------------------------------------|--------|--------------------------------| -| `settings/experimental_engine` | enum | [Settings::Experimental::Engine](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Experimental_1_1Engine.html) -| `settings/processing_color_experimental_mode` | enum | [Settings::Processing::Color::Experimental::Mode](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Experimental_1_1Mode.html) -| `settings/processing_filters_experimental_contrast_distortion_correction_enabled` | bool | [Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Correction_1_1Enabled.html) -| `settings/processing_filters_experimental_contrast_distortion_correction_strength` | double | [Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Strength](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Correction_1_1Strength.html) -| `settings/processing_filters_experimental_contrast_distortion_removal_enabled` | bool | [Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Removal_1_1Enabled.html) -| `settings/processing_filters_experimental_contrast_distortion_removal_threshold` | double | [Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Threshold](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Removal_1_1Threshold.html) -| `settings/processing_filters_reflection_removal_experimental_mode` | enum | [Settings::Processing::Filters::Reflection::Removal::Experimental::Mode](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Reflection_1_1Removal_1_1Experimental_1_1Mode.html) +| `settings/experimental_engine` | enum | [Settings::Experimental::Engine](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Experimental_1_1Engine.html) +| `settings/processing_color_experimental_mode` | enum | [Settings::Processing::Color::Experimental::Mode](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Experimental_1_1Mode.html) +| `settings/processing_filters_experimental_contrast_distortion_correction_enabled` | bool | [Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Correction_1_1Enabled.html) +| `settings/processing_filters_experimental_contrast_distortion_correction_strength` | double | [Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Strength](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Correction_1_1Strength.html) +| `settings/processing_filters_experimental_contrast_distortion_removal_enabled` | bool | [Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Removal_1_1Enabled.html) +| `settings/processing_filters_experimental_contrast_distortion_removal_threshold` | double | [Settings::Processing::Filters::Experimental::ContrastDistortion::Removal::Threshold](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Removal_1_1Threshold.html) +| `settings/processing_filters_experimental_hole_filling_enabled` | bool | [Settings::Processing::Filters::Experimental::HoleFilling::Enabled](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1HoleFilling_1_1Enabled.html) +| `settings/processing_filters_experimental_hole_filling_hole_size` | double | [Settings::Processing::Filters::Experimental::HoleFilling::HoleSize](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1HoleFilling_1_1HoleSize.html) +| `settings/processing_filters_experimental_hole_filling_strictness` | int | [Settings::Processing::Filters::Experimental::HoleFilling::Strictness](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1HoleFilling_1_1Strictness.html) +| `settings/processing_filters_reflection_removal_experimental_mode` | enum | [Settings::Processing::Filters::Reflection::Removal::Experimental::Mode](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Reflection_1_1Removal_1_1Experimental_1_1Mode.html) ### 2D settings @@ -516,10 +537,10 @@ calling the [capture_2d](#capture_2d) service, otherwise the service will return | Name | Type | Zivid API Setting | Note | |-------------------------------------------|--------|--------------------------------|--------| | `settings_2d/acquisition_0/enabled` | bool | -| `settings_2d/acquisition_0/aperture` | double | [Settings2D::Acquisition::Aperture](https://www.zivid.com/software/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1Aperture.html) -| `settings_2d/acquisition_0/brightness` | double | [Settings2D::Acquisition::Brightness](https://www.zivid.com/software/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1Brightness.html) -| `settings_2d/acquisition_0/exposure_time` | int | [Settings2D::Acquisition::ExposureTime](https://www.zivid.com/software/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1ExposureTime.html) | Microseconds -| `settings_2d/acquisition_0/gain` | double | [Settings2D::Acquisition::Gain](https://www.zivid.com/software/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1Gain.html) +| `settings_2d/acquisition_0/aperture` | double | [Settings2D::Acquisition::Aperture](https://www.zivid.com/software/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1Aperture.html) +| `settings_2d/acquisition_0/brightness` | double | [Settings2D::Acquisition::Brightness](https://www.zivid.com/software/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1Brightness.html) +| `settings_2d/acquisition_0/exposure_time` | int | [Settings2D::Acquisition::ExposureTime](https://www.zivid.com/software/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1ExposureTime.html) | Microseconds +| `settings_2d/acquisition_0/gain` | double | [Settings2D::Acquisition::Gain](https://www.zivid.com/software/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1Gain.html) #### Processing settings @@ -527,10 +548,10 @@ calling the [capture_2d](#capture_2d) service, otherwise the service will return | Name | Type | Zivid API Setting | |----------------------------------------------|--------|----------------------------------------| -| `settings_2d/processing_color_balance_blue` | double | [Settings2D::Processing::Color::Balance::Blue](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Balance_1_1Blue.html) -| `settings_2d/processing_color_balance_green` | double | [Settings2D::Processing::Color::Balance::Green](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Balance_1_1Green.html) -| `settings_2d/processing_color_balance_red` | double | [Settings2D::Processing::Color::Balance::Red](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Balance_1_1Red.html) -| `settings_2d/processing_color_gamma` | double | [Settings2D::Processing::Color::Gamma](https://www.zivid.com/hubfs/softwarefiles/releases/2.8.1+dd4dffea-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Gamma.html) +| `settings_2d/processing_color_balance_blue` | double | [Settings2D::Processing::Color::Balance::Blue](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Balance_1_1Blue.html) +| `settings_2d/processing_color_balance_green` | double | [Settings2D::Processing::Color::Balance::Green](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Balance_1_1Green.html) +| `settings_2d/processing_color_balance_red` | double | [Settings2D::Processing::Color::Balance::Red](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Balance_1_1Red.html) +| `settings_2d/processing_color_gamma` | double | [Settings2D::Processing::Color::Gamma](https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Gamma.html) ## Samples diff --git a/continuous-integration/setup/setup_build_and_test.sh b/continuous-integration/setup/setup_build_and_test.sh index 1288001f..14838308 100755 --- a/continuous-integration/setup/setup_build_and_test.sh +++ b/continuous-integration/setup/setup_build_and_test.sh @@ -107,7 +107,7 @@ fi echo "Install Zivid and Telicam debian packages" -ZIVID_RELEASE_DIR="https://www.zivid.com/hubfs/softwarefiles/releases/$CI_TEST_ZIVID_VERSION" +ZIVID_RELEASE_DIR="https://downloads.zivid.com/sdk/releases/$CI_TEST_ZIVID_VERSION" ZIVID_TELICAM_SDK_DEB="zivid-telicam-driver_3.0.1.1-3_amd64.deb" if [[ "$UBUNTU_VERSION" == "18.04" ]]; then diff --git a/zivid_camera/package.xml b/zivid_camera/package.xml index 52fbe21b..427965f5 100644 --- a/zivid_camera/package.xml +++ b/zivid_camera/package.xml @@ -1,7 +1,7 @@ zivid_camera - 2.3.0 + 2.4.0 Driver for using the Zivid 3D cameras in ROS. Zivid BSD3 diff --git a/zivid_camera/src/settings_generator.cpp b/zivid_camera/src/settings_generator.cpp index 92c200c5..330dcd5b 100644 --- a/zivid_camera/src/settings_generator.cpp +++ b/zivid_camera/src/settings_generator.cpp @@ -501,7 +501,7 @@ class ZividSettingsToConfigGenerator for (const auto comp : std::array{ "x", "y", "z" }) { ss_ << " " + cfg_id + "_" + comp + " = " - << "static_cast(" + value_str + "." + comp + ");\n"; + << "static_cast(" + value_str + "." + comp + ");\n"; } } else if constexpr (std::is_same_v>) diff --git a/zivid_camera/test/test_zivid_camera.cpp b/zivid_camera/test/test_zivid_camera.cpp index 2836500a..f4d65970 100644 --- a/zivid_camera/test/test_zivid_camera.cpp +++ b/zivid_camera/test/test_zivid_camera.cpp @@ -511,7 +511,7 @@ TEST_F(CaptureOutputTest, testCapturePointsXYZWithROI) } return count; }(); - ASSERT_EQ(numExpectedNaNZ, 2154265); + ASSERT_EQ(numExpectedNaNZ, 2154265U); for (size_t i = 0; i < expected.size(); ++i) { diff --git a/zivid_samples/package.xml b/zivid_samples/package.xml index 031e0216..41d6b497 100644 --- a/zivid_samples/package.xml +++ b/zivid_samples/package.xml @@ -1,7 +1,7 @@ zivid_samples - 2.3.0 + 2.4.0 Contains C++ and Python samples demonstrating use of the zivid_camera package. Zivid