V1.2.4: Support DS86/87 and optimizate code; For more information, please refer to the ReleaseNotes.txt

Author: Neal-Shen

AArch64/Document/VZense_NebulaSDK┐¬╖ó╒▀╓╕─╧_Linux_cn.pdf

@@ -126,7 +126,7 @@ VZENSE_C_API_EXPORT VzReturnStatus VZ_GetFrame(VzDeviceHandle device, VzFrameTyp
 /**
 * @brief        Set the working mode of the camera.
 * @param[in]    device      The handle of the device
-* @param[in]    mode      The work mode of camera.
+* @param[in]    mode        The work mode of camera. For ActiveMode, set the Time filter default true, for SlaveMode, set the Time filter default false.
 * @return       ::VzRetOK   if the function succeeded, or one of the error values defined by ::VzReturnStatus.
 */
 VZENSE_C_API_EXPORT VzReturnStatus VZ_SetWorkMode(VzDeviceHandle device, VzWorkMode mode);
@@ -430,7 +430,6 @@ VZENSE_C_API_EXPORT VzReturnStatus VZ_ConvertDepthToPointCloud(VzDeviceHandle de
 * @return        ::VzRetOK       if the function succeeded, or one of the error values defined by ::VzReturnStatus.
 */
 VZENSE_C_API_EXPORT VzReturnStatus VZ_ConvertDepthFrameToPointCloudVector(VzDeviceHandle device, const VzFrame* pDepthFrame, VzVector3f* pWorldVector);
-
 /**
 * @brief        Sets hotplug status callback function
 * @param[in]    pCallback    Pointer to the callback function. See ::PtrHotPlugStatusCallback 
@@ -467,7 +466,7 @@ VZENSE_C_API_EXPORT VzReturnStatus VZ_SetProperty(VzDeviceHandle device, const c
 VZENSE_C_API_EXPORT VzReturnStatus VZ_GetProperty(VzDeviceHandle device, const char* propertyKey, void* pData, uint32_t dataSize);
 
 /**
-* @brief         Enables or disables the HDR Mode of the ToF sensor. 
+* @brief         Enables or disables the HDR Mode of the ToF sensor with VzExposureControlMode_Manual. Default enabled,  so if you want switch to the VzExposureControlMode_Auto, set HDR Mode disable firstly.
 * @param[in]     device       The handle of the device on which to enable or disable the feature.
 * @param[in]     bEnabled     Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
 * @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
@@ -481,5 +480,60 @@ VZENSE_C_API_EXPORT VzReturnStatus VZ_SetHDRModeEnabled(VzDeviceHandle device, b
 */
 VZENSE_C_API_EXPORT VzReturnStatus VZ_GetHDRModeEnabled(VzDeviceHandle device, bool *bEnabled);
 
+/**
+* @brief         Set the input signal parameters for Hardware Trigger.
+* @param[in]     device       The handle of the device
+* @param[in]     params       Pointer to a variable in which to store the parameters.
+* @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
+*/
+VZENSE_C_API_EXPORT VzReturnStatus VZ_SetInputSignalParamsForHWTrigger(VzDeviceHandle device, VzInputSignalParamsForHWTrigger params);
+
+/**
+* @brief         Get the Input signal parameters for Hardware Trigger.
+* @param[in]     device       The handle of the device
+* @param[out]    pParams      Pointer to a variable in which to store the returned value.
+* @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
+*/
+VZENSE_C_API_EXPORT VzReturnStatus VZ_GetInputSignalParamsForHWTrigger(VzDeviceHandle device, VzInputSignalParamsForHWTrigger *pParams);
+
+/**
+* @brief         Set the output signal parameters.
+* @param[in]     device       The handle of the device
+* @param[in]     params       Pointer to a variable in which to store the parameters.
+* @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
+*/
+VZENSE_C_API_EXPORT VzReturnStatus VZ_SetOutputSignalParams(VzDeviceHandle device, VzOutputSignalParams params);
+
+/**
+* @brief         Get the output signal parameters.
+* @param[in]     device       The handle of the device
+* @param[out]    pParams      Pointer to a variable in which to store the returned value.
+* @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
+*/
+VZENSE_C_API_EXPORT VzReturnStatus VZ_GetOutputSignalParams(VzDeviceHandle device, VzOutputSignalParams *pParams);
+
+/**
+* @brief         Set the parameters by Json file that can be saved by NebulaGUITool.
+* @param[in]     device       The handle of the device.
+* @param[in]     pfilePath    Pointer to the path of Json file.
+* @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
+*/
+VZENSE_C_API_EXPORT VzReturnStatus VZ_SetParamsByJson(VzDeviceHandle device, char* pfilePath);
+
+/**
+* @brief         Set the color Gain with the exposure mode of RGB sensor in VzExposureControlMode_Manual.
+* @param[in]     device       The handle of the device.
+* @param[in]     params       The value of color Gain.Value range: [1.0 15.5]
+* @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
+*/
+VZENSE_C_API_EXPORT VzReturnStatus VZ_SetColorGain(VzDeviceHandle device, float params);
+
+/**
+* @brief         Get the color Gain.
+* @param[in]     device       The handle of the device.
+* @param[out]    params       The value of color Gain.
+* @return        ::VzRetOK    if the function succeeded, or one of the error values defined by ::VzReturnStatus.
+*/
+VZENSE_C_API_EXPORT VzReturnStatus VZ_GetColorGain(VzDeviceHandle device, float *pParams);
 
 #endif /* VZENSEDS_API_H */

AArch64/Include/VzenseNebula_api.h

@@ -63,7 +63,11 @@ typedef enum
     VzRetUpgradeImgPathTooLong      = -18,  //!< Upgrade file path length greater than 260.
 	VzRetUpgradeCallbackNotSet		= -19,  //!< VZ_SetUpgradeStatusCallback is not called.
 	VzRetProductNotSupport          = -20,  //!< The current product does not support this operation.
-	VzRetNoProductProfile			= -21,  //!< No product profile found.
+	VzRetNoConfigFolder				= -21,  //!< No product profile found.
+	VzRetWebServerStartError        = -22,  //!< WebServer Start/Restart error(IP or PORT).
+	VzRetGetOverStayFrame           = -23,  //!< The time from frame ready to get frame is out of 1s
+	VzRetCreateLogDirError          = -24,  //!< Create log directory error
+	VzRetCreateLogFileError			= -25,  //!< Create log file error
 	VzRetNoAdapterConnected			= -100,	//!< There is no adapter connected
 	VzRetReInitialized				= -101,	//!< The SDK has been Initialized
 	VzRetNoInitialized				= -102,	//!< The SDK has not been Initialized
@@ -73,6 +77,7 @@ typedef enum
     VzRetIPNotMatch                 = -106, //!< IP is not in the same network segment
     VzRetNotStopStream              = -107, //!< Please invoke VZ_StopStream first to close the data stream
     VzRetNotStartStream             = -108, //!< Please invoke VZ_StartStream first to get the data stream
+	VzRetNoDriversFolder			= -109, //!< Please invoke VZ_StartStream first to get the data stream
 
 	VzRetOthers = -255,	             //!< An unknown error occurred.
 }VzReturnStatus;

AArch64/Include/VzenseNebula_enums.h

@@ -143,20 +143,20 @@ typedef struct
 
 typedef struct
 {
+	int threshold;//[0, 3],The larger the value is, the more obvious the filtering effect is and The smaller the point cloud wobble
     bool enable;
-    int threshold;//[0, 3],The larger the value is, the more obvious the filtering effect is and The smaller the point cloud wobble
 } VzTimeFilterParams;
 
 typedef struct
 {
+	int threshold;//[0, 100],The larger the value is, the more obvious the filtering effect is and the more points are filtered out
     bool enable;
-    int threshold;//[0, 100],The larger the value is, the more obvious the filtering effect is and the more points are filtered out
 } VzConfidenceFilterParams;
 
 typedef struct
 {
-    bool enable;
     int	threshold;//[0, 49],The larger the value is, the more obvious the filtering effect is and the more points are filtered out
+    bool enable;
 } VzFlyingPixelFilterParams;
 
 typedef struct
@@ -177,6 +177,19 @@ typedef struct
     char errorMessage[10][64];          //The maximum length of each error message is 64(contains '\0').
 } VzDeviceErrorInfo;
 
+typedef struct
+{	
+	uint16_t width;                      //[1,65535],The width of input signal.
+	uint16_t interval;                   //[34000,65535],The interval of input signal.
+	uint8_t polarity;                    //[0,1],0 for active low, 1 for active high.
+}VzInputSignalParamsForHWTrigger;        //Input signal parameters for Hardware Trigger.
+
+typedef struct
+{
+	uint16_t width;                      //[1,65535],The width of output signal.
+	uint16_t delay;                      //[0,65535],The delay time of output signal.
+	uint8_t polarity;                    //[0,1],0 for active low, 1 for active high.
+}VzOutputSignalParams;                   //Output signal parameters.
 
 #pragma pack (pop)
 

AArch64/Include/VzenseNebula_types.h

@@ -0,0 +1,13 @@
+{
+    "productName": "DS86",
+    "connectType":"socket",
+    "colorSensor": [
+    {
+      "type": "gc2053",
+      "resolutionList": [ "1600_1200", "800_600", "640_480" ]
+    }    ],
+    "toFSensor": [
+        {
+            "type": "sony_cw_2022"
+        }]
+}

AArch64/Lib/Config/DS86_12.json

@@ -0,0 +1,13 @@
+{
+    "productName": "DS87",
+    "connectType":"socket",
+    "colorSensor": [
+    {
+      "type": "gc2053",
+      "resolutionList": [ "1600_1200", "800_600", "640_480" ]
+    }    ],
+    "toFSensor": [
+        {
+            "type": "sony_cw_2022"
+        }]
+}

AArch64/Lib/Config/DS87_13.json

@@ -1,4 +1,5 @@
 ## Introduction of  Tools
 
 - DS77_OpenCVSample: support for DS77Lite/DS77Pro
-- DS77C_OpenCVSample: support for DS77CLite/DS77CPro
+- DS77C_OpenCVSample: support for DS77CLite/DS77CPro
+- DS86: support for DS86 & DS87

AArch64/Lib/Drivers/libgc2053.so

@@ -0,0 +1,2 @@
+## Details
+- When using multiple network cards, set different IP network segments

AArch64/Lib/Drivers/libsony_cw_2022.so

@@ -1,42 +1,72 @@
-Ver1.1.20
-1.Fix bug in VZ_ConvertDepthFrameToPointCloudVector api with VzTransformDepthImgToColorSensorFrame
-2.Add samples PointCloudCaptureAndSaveDepthImgToColorSensor and PointCloudVectorAndSaveDepthImgToColorSensor
-3.Optimizate code
-
-Ver1.1.19
-1.Add HDR Mode VZ_SetHDRModeEnabled/VZ_GetHDRModeEnabled,(support firmware version: after 20221207)
-2.Optimizate code
-
-Ver1.1.17
-1.Optimizate code
-2.Add Samples ToFExposureTimeSetGet & ToFFiltersSetGet
-
-Ver1.1.16
-1.Modify the api of filters
-2.fix some errors
-
-Ver1.1.13
-1.Change the name of the header file
-2.Modify filter error
-
-Ver1.1.0
-1.Optimizing the SDK Architecture
-2.Modify the API of VZ_SetColorResolution/VZ_GetColorResolution
-
-Ver1.0.9
-1.Change the library name frome vzenseDS_api to NebulaSDK
-2.Adjust the file directory structure
-
-Ver1.0.8
-1.add VZ_S/GetExposureControlMode
-2.Modify the API of VZ_SetExposureTime
-3.Modify the API of VZ_ConvertDepthFrameToPointCloudVector for support VzTransformDepthImgToColorSensorFrame
-
-Ver1.0.7
-Modify the SDK API
-
-Ver1.0.6
-Modify the SDK API
-
-Ver1.0.5
-First version
+Ver1.2.4
+1.Optimizate code check the time from frame ready to get frame is out of 1s or not
+
+Ver1.2.3
+1.Optimizate softwaretrigger
+2.Support jsonfile update
+3.Fix some errors
+4.Support Arm32 (arm-linux-gnueabihf)
+
+Ver1.2.2
+1.Add the sn field in the Log module
+2.Add API VZ_SetParamsByJson, the json file can be saved by NebulaGUITool(V1.2.2)
+3.Fix some errors
+4.Add API VZ_SetColorGain/VZ_GetColorGain which is used in VzExposureControlMode_Manual
+
+Ver1.2.1
+1.For VZ_SetWorkMode API: 
+	to set ActiveMode, the Firmware set the Time filter default true; 
+	to set SlaveMode, the Firmware set the Time filter default false.
+  if need change the the Time filter status,call the API VZ_SetTimeFilterParams
+2.Optimizate code
+
+Ver1.2.0
+1.Support DS86 & DS87
+2.Add API for DS86 & DS87
+	VZ_SetInputSignalParamsForHWTrigger
+	VZ_GetInputSignalParamsForHWTrigger
+	VZ_SetOutputSignalParams
+	VZ_GetOutputSignalParams
+
+Ver1.1.20
+1.Fix bug in VZ_ConvertDepthFrameToPointCloudVector api with VzTransformDepthImgToColorSensorFrame
+2.Add samples PointCloudCaptureAndSaveDepthImgToColorSensor and PointCloudVectorAndSaveDepthImgToColorSensor
+3.Optimizate code
+
+Ver1.1.19
+1.Add HDR Mode VZ_SetHDRModeEnabled/VZ_GetHDRModeEnabled,(support firmware version: after 20221207)
+2.Optimizate code
+
+Ver1.1.17
+1.Optimizate code
+2.Add Samples ToFExposureTimeSetGet & ToFFiltersSetGet
+
+Ver1.1.16
+1.Modify the api of filters
+2.fix some errors
+
+Ver1.1.13
+1.Change the name of the header file
+2.Modify filter error
+
+Ver1.1.0
+1.Optimizing the SDK Architecture
+2.Modify the API of VZ_SetColorResolution/VZ_GetColorResolution
+
+Ver1.0.9
+1.Change the library name frome vzenseDS_api to NebulaSDK
+2.Adjust the file directory structure
+
+Ver1.0.8
+1.add VZ_S/GetExposureControlMode
+2.Modify the API of VZ_SetExposureTime
+3.Modify the API of VZ_ConvertDepthFrameToPointCloudVector for support VzTransformDepthImgToColorSensorFrame
+
+Ver1.0.7
+Modify the SDK API
+
+Ver1.0.6
+Modify the SDK API
+
+Ver1.0.5
+First version

AArch64/Lib/libDSImgPreProcess.so

@@ -28,6 +28,7 @@ add_subdirectory(DeviceInfoGet)
 add_subdirectory(DeviceParamSetGet)
 add_subdirectory(DeviceSearchAndConnect)
 add_subdirectory(DeviceSetFrameRate)
+add_subdirectory(DeviceSetParamsByJson)
 add_subdirectory(DeviceStartStopStreaming)
 add_subdirectory(DeviceSWTriggerMode)
 add_subdirectory(FrameCaptureAndSave)

AArch64/Lib/libNebula_api.so

@@ -5,7 +5,7 @@
 using namespace std;
 
 int main() {
-	cout << "---DeviceParamGet---"<< endl;
+	cout << "---DeviceParamSetGet---"<< endl;
 
 	//about dev
 	uint32_t deviceCount;

AArch64/Lib/libNebula_api.so.1.1

@@ -97,22 +97,22 @@ int main() {
 		cout << "VZ_SetWorkMode failed status:" <<status<< endl;
 		return -1;
 	}
-
-    //Clearing cached images
-    for (int i = 0; i < 5; i++)
-    {
-        status = VZ_GetFrameReady(deviceHandle, 200, &FrameReady);
-    }
+	// get frameRate
+	int frameRate = 5;
+	status = VZ_GetFrameRate(deviceHandle, &frameRate);
+	if (status != VzReturnStatus::VzRetOK)
+	{
+		cout << "VZ_SetFrameRate failed status:" << status << endl;
+		return -1;
+	}
+	cout << "frameRate :" << frameRate << endl;
 
 	//1.software trigger.
 	//2.ReadNextFrame.
 	//3.GetFrame acoording to Ready flag and Frametype.
+	//4.sleep 1000/frameRate (ms)
 	for (int i = 0; i < frameSpace;	i++)
 	{
-		
-        //The minimum time interval to trigger a signal is 1000/FPS milliseconds
-        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-
         //call the below api to trigger one frame, then the frame will be sent
         // if do not call this function, the frame will not be sent and the below call will return timeout fail
 		status = VZ_SetSoftwareSlaveTrigger(deviceHandle);
@@ -144,6 +144,7 @@ int main() {
 			}
 		}
 
+		this_thread::sleep_for(chrono::milliseconds(1000 / frameRate));
 	}
 	//set slave false
 	status = VZ_SetWorkMode(deviceHandle, VzActiveMode);

AArch64/Lib/libNebula_api.so.1.1.20

@@ -77,7 +77,7 @@ int main() {
 		return -1;
 	}
 
-	int frameRate = 15;
+	int frameRate = 5;
 	status = VZ_SetFrameRate(deviceHandle, frameRate);
 	if (status != VzReturnStatus::VzRetOK)
 	{

AArch64/Lib/libNebula_api.so.1.2

@@ -0,0 +1,3 @@
+project(DeviceSetParamsByJson)
+add_executable( ${PROJECT_NAME} DeviceSetParamsByJson.cpp)
+target_link_libraries(${PROJECT_NAME} Nebula_api)