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Added initial support for ZR300 camera #108
Added initial support for ZR300 camera #108
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@reaganlo You should rebase this PR. |
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Updated code for librealsense v1.11.0 compatibility. Added optical frame ids for IR and IR2 streams to keep it consistent with the Depth and Color streams. Added Fisheye stream for ZR300. Added IMU capability for ZR300. Added basic unit tests for Fisheye and IMU data Added a service to get IMU Info Updated README with ZR300 details.
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Looks good to me. Approved 👍 |
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This looks good. I made a comment about naming, but that's minor.
@@ -324,3 +351,5 @@ Until it gets fixed, use a single launch file for multiple F200 or SR300 cameras | |||
[Issue #89](https://github.com/intel-ros/realsense/issues/89). | |||
Unlikely to be fixed as current plan is to | |||
[remove native point cloud generation](https://github.com/intel-ros/realsense/issues/47). | |||
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* The service "get_imu_info" is yet to be tested. |
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Why are we introducing a service if we haven't tested it? Or is this comment out of date?
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@kevincwells Removed the comment. Was able to test the service.
gen.add("color_enable_auto_exposure", int_t, 0, "Enable Auto Exposure", 1, 0, 1) | ||
gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1) | ||
gen.add("r200_lr_auto_exposure_enabled", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) | ||
gen.add("r200_lr_gain", int_t, 0, "LR Gain", 400, 100, 6399) |
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If all of these parameters are generic or used in multiple cameras, they should probably not have "r200" in the name.
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@kevincwells As discussed, even if we remove the term "r200" from the dynamic config, it still appears when we read them directly using the get_settings service. Instead, will raise an issue with librealsense to rename these camera options and then make the change in the dynamic config.
@@ -116,14 +117,13 @@ namespace realsense_camera | |||
int cv_type_[STREAM_COUNT]; | |||
int unit_step_size_[STREAM_COUNT]; | |||
int step_[STREAM_COUNT]; | |||
int ts_[STREAM_COUNT]; | |||
double ts_[STREAM_COUNT]; |
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Wow, did they really change timestamps to be doubles?!
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Please ensure the above guidelines for contributing are met.
Fixes Issue:
Added initial support for ZR300 camera
Changes proposed in this pull request: