Update sdk bindings and add config files

Signed-off-by: Vasile Holonec <[email protected]>

Author: VHolonec

include/tof_ros2cpp/aditof_utils.h

@@ -53,13 +53,12 @@ std::string * parseArgs(int argc, char ** argv);
 std::shared_ptr<aditof::Camera> initCamera(std::string * arguments);
 void startCamera(const std::shared_ptr<aditof::Camera> & camera);
 void stopCamera(const std::shared_ptr<aditof::Camera> & camera);
-void setFrameType(const std::shared_ptr<aditof::Camera> & camera, const std::string & type);
+void setCameraMode(const std::shared_ptr<aditof::Camera> & camera, const uint8_t & mode);
 void getAvailableFrameType(
   const std::shared_ptr<aditof::Camera> & camera, std::vector<std::string> & availableFrameTypes);
 void getCameraDataDetails(
   const std::shared_ptr<aditof::Camera> & camera, aditof::CameraDetails & details);
 void enableCameraDepthCompute(const std::shared_ptr<aditof::Camera> & camera, const bool value);
-void setMode(const std::shared_ptr<aditof::Camera> & camera, const std::string & mode);
 void setCameraRevision(const std::shared_ptr<aditof::Camera> & camera, const std::string rev);
 void setIrGammaCorrection(const std::shared_ptr<aditof::Camera> & camera, float gamma);
 void applyNoiseReduction(const std::shared_ptr<aditof::Camera> & camera, int threshold);
@@ -95,7 +94,7 @@ void control_adsd3500SetRadialThresholdMax(
 void control_adsd3500GetRadialThresholdMax(
   const std::shared_ptr<aditof::Camera> & camera, int & threshold);
 void versioningAuxiliaryFunction(const std::shared_ptr<aditof::Camera> & camera);
-void getAvailableFrameTypes(
-  const std::shared_ptr<aditof::Camera> & camera, std::vector<std::string> & availableFrameTypes);
+void getAvailableModes(
+  const std::shared_ptr<aditof::Camera> & camera, std::vector<uint8_t> & availableModes);
 
 #endif  // ADITOF_UTILS_H

src/aditof_utils.cpp

@@ -139,15 +139,15 @@ std::shared_ptr<Camera> initCamera(std::string * arguments)
   return camera;
 }
 
-void getAvailableFrameTypes(
-  const std::shared_ptr<aditof::Camera> & camera, std::vector<std::string> & availableFrameTypes)
+void getAvailableModes(
+  const std::shared_ptr<aditof::Camera> & camera, std::vector<uint8_t> & availableModes)
 {
-  //get available frae types of camera
+  //get available modes of camera
   aditof::Status status = aditof::Status::OK;
 
-  status = camera->getAvailableFrameTypes(availableFrameTypes);
+  status = camera->getAvailableModes(availableModes);
   if (status != Status::OK) {
-    LOG(ERROR) << "Couldn't get available frame types";
+    LOG(ERROR) << "Couldn't get available modes";
     return;
   }
 }
@@ -192,36 +192,11 @@ void stopCamera(const std::shared_ptr<aditof::Camera> & camera)
   return;
 }
 
-void setFrameType(const std::shared_ptr<aditof::Camera> & camera, const std::string & type)
+void getAvailableMode(
+  const std::shared_ptr<aditof::Camera> & camera, std::vector<uint8_t> & availableModes)
 {
-  std::vector<std::string> frameTypes;
-  camera->getAvailableFrameTypes(frameTypes);
-  if (frameTypes.empty()) {
-    LOG(ERROR) << "No frame type available!";
-    return;
-  }
-
-  std::vector<std::string>::iterator it = std::find(frameTypes.begin(), frameTypes.end(), type);
-  if (it == frameTypes.end()) {
-    LOG(ERROR) << "Requested frame type is not available";
-    return;
-  }
-
-  Status status = Status::OK;
-  status = camera->setFrameType(type);
-  if (status != Status::OK) {
-    LOG(ERROR) << "Could not set camera frame type!";
-    return;
-  } else {
-    LOG(INFO) << "Frame type set: " << type;
-  }
-}
-
-void getAvailableFrameType(
-  const std::shared_ptr<aditof::Camera> & camera, std::vector<std::string> & availableFrameTypes)
-{
-  camera->getAvailableFrameTypes(availableFrameTypes);
-  if (availableFrameTypes.empty()) {
+  camera->getAvailableModes(availableModes);
+  if (availableModes.empty()) {
     LOG(ERROR) << "No frame type available!";
     return;
   }
@@ -237,16 +212,16 @@ void getCameraDataDetails(
   }
 }
 
-void setMode(const std::shared_ptr<aditof::Camera> & camera, const std::string & mode)
+void setCameraMode(const std::shared_ptr<aditof::Camera> & camera, const uint8_t & mode)
 {
-  std::vector<std::string> modes;
+  std::vector<uint8_t> modes;
   camera->getAvailableModes(modes);
   if (modes.empty()) {
     LOG(ERROR) << "No camera modes available!";
     return;
   }
 
-  std::vector<std::string>::iterator it = std::find(modes.begin(), modes.end(), mode);
+  std::vector<uint8_t>::iterator it = std::find(modes.begin(), modes.end(), mode);
   if (it == modes.end()) {
     LOG(ERROR) << "Requested mode is not available";
     return;

src/tof_camera_node.cpp

@@ -237,26 +237,26 @@ int main(int argc, char * argv[])
   std::string * arguments = parseArgs(argc, argv);
   // find camera (local/usb/network), set config file and initialize the camera
   std::shared_ptr<Camera> camera = initCamera(arguments);
-  // versioning print
-  versioningAuxiliaryFunction(camera);
 
   if (!camera) {
     LOG(WARNING) << "No cameras found";
     return 0;
   }
+  // versioning print
+  versioningAuxiliaryFunction(camera);
 
-  // getting available frame types, backward compatibility
-  std::vector<std::string> availableFrameTypes;
-  getAvailableFrameTypes(camera, availableFrameTypes);
+  // getting available modes
+  std::vector<uint8_t> availableModes;
+  getAvailableModes(camera, availableModes);
 
   // Setting camera parameters
   int currentMode = atoi(arguments[2].c_str());
-  int availableFrameTypeSize = availableFrameTypes.size();
+  int availableModesSize = availableModes.size();
 
-  if (0 <= currentMode && currentMode < availableFrameTypeSize) {
-    setFrameType(camera, availableFrameTypes.at(currentMode));
+  if (0 <= currentMode && currentMode < availableModesSize) {
+    setCameraMode(camera, currentMode);
   } else {
-    LOG(ERROR) << "Incompatible or unavalable mode type chosen";
+    LOG(ERROR) << "Incompatible or unavalable mode type chosen" << currentMode;
     return 0;
   }
 

tof_config/RawToDepthAdsd3500_sr-qnative.ini tof_config/RawToDepthAdsd3030_0.ini

@@ -1,16 +1,14 @@
 abThreshMin=3.0
-abSumThresh=25.0
 confThresh=25.0
-radialThreshMin=30.0
-radialThreshMax=4200.0
+radialThreshMin=100.0
+radialThreshMax=10000.0
 jblfApplyFlag=1
 jblfWindowSize=7
 jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=raw8
 depthComputeIspEnable=1
 partialDepthEnable=0
@@ -20,4 +18,4 @@ bitsInConf=8
 bitsInAB=16
 phaseInvalid=0
 xyzEnable=1
-fps=10
+fps=16

tof_config/RawToDepthAdsd3030_sr-qnative.ini tof_config/RawToDepthAdsd3030_1.ini

@@ -1,16 +1,14 @@
 abThreshMin=3.0
-abSumThresh=25.0
 confThresh=25.0
-radialThreshMin=30.0
-radialThreshMax=4200.0
+radialThreshMin=100.0
+radialThreshMax=10000.0
 jblfApplyFlag=1
 jblfWindowSize=7
 jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=raw8
 depthComputeIspEnable=1
 partialDepthEnable=0
@@ -20,4 +18,4 @@ bitsInConf=8
 bitsInAB=16
 phaseInvalid=0
 xyzEnable=1
-fps=10
+fps=16

tof_config/RawToDepthAdsd3030_lr-qnative.ini tof_config/RawToDepthAdsd3030_2.ini

@@ -1,16 +1,14 @@
 abThreshMin=3.0
-abSumThresh=25.0
 confThresh=25.0
-radialThreshMin=50.0
-radialThreshMax=15000.0
+radialThreshMin=100.0
+radialThreshMax=10000.0
 jblfApplyFlag=1
 jblfWindowSize=7
 jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=raw8
 depthComputeIspEnable=1
 partialDepthEnable=0
@@ -20,4 +18,4 @@ bitsInConf=8
 bitsInAB=16
 phaseInvalid=0
 xyzEnable=1
-fps=10
+fps=40

tof_config/RawToDepthAdsd3030_3.ini

@@ -0,0 +1,21 @@
+abThreshMin=3.0
+confThresh=25.0
+radialThreshMin=100.0
+radialThreshMax=10000.0
+jblfApplyFlag=1
+jblfWindowSize=7
+jblfGaussianSigma=10.0
+jblfExponentialTerm=5.0
+jblfMaxEdge=12.0
+jblfABThreshold=10.0
+headerSize=128
+inputFormat=raw8
+depthComputeIspEnable=1
+partialDepthEnable=0
+interleavingEnable=1
+bitsInPhaseOrDepth=16
+bitsInConf=8
+bitsInAB=16
+phaseInvalid=0
+xyzEnable=1
+fps=40

tof_config/RawToDepthAdsd3030_sr-mixed.ini tof_config/RawToDepthAdsd3030_5.ini

@@ -1,16 +1,14 @@
 abThreshMin=1.0
-abSumThresh=25.0
 confThresh=25.0
-radialThreshMin=30.0
-radialThreshMax=4200.0
+radialThreshMin=100.0
+radialThreshMax=10000.0
 jblfApplyFlag=1
 jblfWindowSize=5
 jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=raw8
 depthComputeIspEnable=1
 partialDepthEnable=0
@@ -20,4 +18,4 @@ bitsInConf=8
 bitsInAB=16
 phaseInvalid=0
 xyzEnable=1
-fps=10
+fps=40

tof_config/RawToDepthAdsd3500_lr-mixed.ini tof_config/RawToDepthAdsd3030_6.ini

@@ -1,16 +1,14 @@
 abThreshMin=1.0
-abSumThresh=25.0
 confThresh=25.0
-radialThreshMin=50.0
-radialThreshMax=15000.0
+radialThreshMin=100.0
+radialThreshMax=10000.0
 jblfApplyFlag=1
 jblfWindowSize=5
 jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=raw8
 depthComputeIspEnable=1
 partialDepthEnable=0
@@ -20,4 +18,4 @@ bitsInConf=8
 bitsInAB=16
 phaseInvalid=0
 xyzEnable=1
-fps=10
+fps=40

tof_config/RawToDepthAdsd3030_lr-native.ini

@@ -1,5 +1,4 @@
 abThreshMin=3.0
-abSumThresh=25.0
 confThresh=25.0
 radialThreshMin=30.0
 radialThreshMax=4200.0
@@ -9,8 +8,7 @@ jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=mipiRaw12_8
 depthComputeIspEnable=1
 partialDepthEnable=1

tof_config/RawToDepthAdsd3500_sr-native.ini tof_config/RawToDepthAdsd3500_0.ini

@@ -1,5 +1,4 @@
 abThreshMin=3.0
-abSumThresh=25.0
 confThresh=25.0
 radialThreshMin=50.0
 radialThreshMax=15000.0
@@ -9,8 +8,7 @@ jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=mipiRaw12_8
 depthComputeIspEnable=1
 partialDepthEnable=1

tof_config/RawToDepthAdsd3500_lr-native.ini tof_config/RawToDepthAdsd3500_1.ini

@@ -1,5 +1,4 @@
 abThreshMin=3.0
-abSumThresh=25.0
 confThresh=25.0
 radialThreshMin=30.0
 radialThreshMax=4200.0
@@ -9,8 +8,7 @@ jblfGaussianSigma=10.0
 jblfExponentialTerm=5.0
 jblfMaxEdge=12.0
 jblfABThreshold=10.0
-headerSize=0
-deltaCompEnable=0
+headerSize=128
 inputFormat=raw8
 depthComputeIspEnable=1
 partialDepthEnable=0
@@ -20,4 +18,4 @@ bitsInConf=8
 bitsInAB=16
 phaseInvalid=0
 xyzEnable=1
-fps=10
+fps=16