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Release Zivid ROS driver version 2.2
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@apartridge
apartridge committed Jan 7, 2021
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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This project adheres to [Semantic Versioning](https://semver.org).

## 2.2.0

* Add support for version 2.2.0 of the Zivid SDK.

## 2.0.0

* Support for version 2.0.0 of the Zivid SDK. For a full list of changes in the SDK, see the
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63 changes: 33 additions & 30 deletions README.md
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### Zivid SDK

To use the ROS driver you need to download and install the "Zivid Core" package. Zivid SDK version 2.0
and 2.1 is supported. See [releases](https://github.com/zivid/zivid-ros/releases) for older ROS driver
releases that supports older SDK versions.
To use the ROS driver you need to download and install the "Zivid Core" package. Zivid SDK version 2.0, 2.1 and
2.2 is supported. See [releases](https://github.com/zivid/zivid-ros/releases) for older ROS driver releases that
supports older SDK versions.

Follow [this guide](https://zivid.atlassian.net/wiki/spaces/ZividKB/pages/59080712/Zivid+Software+Installation)
to install "Zivid Core" for your version of Ubuntu. The "Zivid Studio" and "Zivid Tools" packages can be useful
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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/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings.html)
and [Settings2D](http://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings2D.html)
[Settings](http://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings.html)
and [Settings2D](http://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/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).
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| Name | Type | Zivid API Setting | Note |
|------------------------------------------|--------|--------------------------------|--------|
| `settings/acquisition_<n>/enabled` | bool |
| `settings/acquisition_<n>/aperture` | double | [Settings::Acquisition::Aperture](https://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Aperture.html)
| `settings/acquisition_<n>/brightness` | double | [Settings::Acquisition::Brightness](https://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Brightness.html)
| `settings/acquisition_<n>/exposure_time` | int | [Settings::Acquisition::ExposureTime](https://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1ExposureTime.html) | Microseconds
| `settings/acquisition_<n>/gain` | double | [Settings::Acquisition::Gain](https://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Gain.html)
| `settings/acquisition_<n>/aperture` | double | [Settings::Acquisition::Aperture](https://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Aperture.html)
| `settings/acquisition_<n>/brightness` | double | [Settings::Acquisition::Brightness](https://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Brightness.html)
| `settings/acquisition_<n>/exposure_time` | int | [Settings::Acquisition::ExposureTime](https://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1ExposureTime.html) | Microseconds
| `settings/acquisition_<n>/gain` | double | [Settings::Acquisition::Gain](https://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings_1_1Acquisition_1_1Gain.html)

#### Processing settings

`settings/` contains 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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Color_1_1Balance_1_1Red.html)
| `settings/processing_filters_noise_removal_enabled` | bool | [Settings::Processing::Filters::Noise::Removal::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Smoothing_1_1Gaussian_1_1Sigma.html)

#### Experimental settings

Note that these settings may be changed, renamed or removed in future SDK releases.

| Name | Type | Zivid API Setting |
|------------------------------------------------------------------------------------|--------|--------------------------------|
| `settings/processing_filters_experimental_contrast_distortion_correction_enabled` | bool | [Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Removal_1_1Threshold.html)
| `settings/experimental_engine` | enum | [Settings::Experimental::Engine](https://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings_1_1Experimental_1_1Engine.html)
| `settings/processing_filters_experimental_contrast_distortion_correction_enabled` | bool | [Settings::Processing::Filters::Experimental::ContrastDistortion::Correction::Enabled](https://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings_1_1Processing_1_1Filters_1_1Experimental_1_1ContrastDistortion_1_1Removal_1_1Threshold.html)


### 2D settings
Expand All @@ -449,20 +451,21 @@ 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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings2D_1_1Acquisition_1_1Gain.html)

#### Processing settings

`settings_2d/` contains settings related to processing of the captured image.

| Name | Type | Zivid API Setting |
|----------------------------------------------|--------|----------------------------------------|
| `settings_2d/processing_color_balance_blue` | double | [Settings2D::Processing::Color::Balance::Blue](https://www.zivid.com/hubfs/softwarefiles/releases/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/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/2.1.0+d2007e12-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Balance_1_1Red.html)
| `settings_2d/processing_color_balance_blue` | double | [Settings2D::Processing::Color::Balance::Blue](https://www.zivid.com/hubfs/softwarefiles/releases/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/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/2.2.0+f0867d62-1/doc/cpp/classZivid_1_1Settings2D_1_1Processing_1_1Color_1_1Gamma.html)

## Samples

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2 changes: 1 addition & 1 deletion zivid_camera/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>zivid_camera</name>
<version>2.0.0</version>
<version>2.2.0</version>
<description>Driver for using the Zivid 3D cameras in ROS.</description>
<maintainer email="[email protected]">Zivid</maintainer>
<license>BSD3</license>
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2 changes: 1 addition & 1 deletion zivid_samples/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>zivid_samples</name>
<version>2.0.0</version>
<version>2.2.0</version>
<description>Contains C++ and Python samples demonstrating
use of the zivid_camera package.</description>
<maintainer email="[email protected]">Zivid</maintainer>
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