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v1.1.1
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@desengph desengph released this 25 Aug 14:18
v1.1.1
4e4cc56

1.1.1

  • Update camera nodelet for ifm3d >= v1.2.3

    • Switch from looped image retrieval to callback based image retrieval
    • Updated schema mask handling: uint based schema mask replaced with default 2D and 3D bufferID based lists
      Between ifm3d API version 0.93 and 1.1 the internal handling of the amplitude and distance image and the point cloud has changed: The previously automatically applied masking based on the confidence image is no longer applied. As a result, more image pixels are displayed as valid pixels.
      If you want to apply a binary mapping to these images, use the confidence image as provided in the ROS node and apply the mask confidence&1 for backward compatibility.

  • Nodelet interface changes:

    • additional parameters:
      • xyz_image_stream: boolean value - Enable / disable publishing and streaming of point cloud topic / messages.
      • confidence_image_stream: boolean value - Enable / disable publishing and streaming of confidence image topic / messages
      • radial_distance_image_stream: boolean value - Enable / disable publishing and streaming of radial distance image topic / messages
      • radial_distance_noise_stream: boolean value - Enable / disable publishing and streaming of radial distance noise image topic / messages
      • amplitude_image_stream: boolean value - Enable / disable publishing and streaming of amplitude image topic / messages
      • extrinsic_image_stream: boolean value - Enable / disable publishing and streaming of extrinsics topic / messages
      • intrinsic_image_stream: boolean value - Enable / disable publishing and streaming of intrinsics topic / messages
      • rgb_image_stream: boolean value - Enable / disable publishing and streaming of 2D RGB image topic / messages
    • Updated the default launch files for 2D RGB / 3D TOF cameras accordingly
    • Added support for JSON schema dump service
    • ifm3d-ros logging:
      • Reduced level of logging messages
      • Changed default behavior of info log messages: NODELET_INFO_STREAM replaced by NODELET_INFO_ONCE
    • Removed:
      • Compressed amplitude stream: only amplitude publisher is used
      • Unit vector publisher

  • Robustness improvements:

    • Only publish data to image streams if API frames include the corresponding image data
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