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Added initial support for ZR300 camera #108

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reaganlo
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Fixes Issue:
Added initial support for ZR300 camera

Changes proposed in this pull request:

  • Updated code for librealsense v1.9.7 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
  • Update README with ZR300 details and erratum.

@reaganlo reaganlo force-pushed the zr300-initial-support branch 5 times, most recently from e9a159c to a04a4f0 Compare September 15, 2016 01:05
@mdhorn
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mdhorn commented Sep 20, 2016

@reaganlo You should rebase this PR.

@reaganlo reaganlo force-pushed the zr300-initial-support branch 4 times, most recently from 82c6670 to d928e46 Compare September 27, 2016 21:38
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.
@reaganlo reaganlo force-pushed the zr300-initial-support branch 2 times, most recently from 8e53175 to 5f014b7 Compare October 5, 2016 23:54
@rjingar
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rjingar commented Oct 6, 2016

Looks good to me. Approved 👍

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@kevincwells kevincwells left a comment

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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).

* 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 Or is this comment out of date?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?!

@reaganlo reaganlo merged commit 617f787 into IntelRealSense:indigo-devel Oct 7, 2016
@reaganlo reaganlo deleted the zr300-initial-support branch November 11, 2016 18:18
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4 participants