Merge pull request #29 from zivid/update_to_1.8.1_and_improve_readme

Update to 1.8.1 and improve readme
zivid · Jun 19, 2020 · 0b57090 · 0b57090
2 parents f701857 + 0640ec0
commit 0b57090
Show file tree

Hide file tree

Showing 4 changed files with 45 additions and 49 deletions.
diff --git a/README.md b/README.md
@@ -39,13 +39,15 @@ sudo apt-get install -y python-catkin-tools git
 
 ### Zivid SDK
 
-To use the ROS driver you need to download and install the "Zivid Core" package.
+To use the ROS driver you need to download and install the "Zivid Core" package. SDK version 1.8.0 and
+1.8.1 are supported. See [releases](https://github.com/zivid/zivid-ros/releases) for older ROS driver
+releases that supports older SDK versions.
+
 Follow [this guide](https://zivid.atlassian.net/wiki/spaces/ZividKB/pages/59080712/Zivid+Software+Installation)
-to install Zivid for your version of Ubuntu. "Zivid Studio" and "Zivid Tools" packages are
-not required by the ROS driver, but can be useful for testing that your system has been setup correctly
-and that the camera is detected.
+to install "Zivid Core" for your version of Ubuntu. The "Zivid Studio" and "Zivid Tools" packages can be useful
+to test your system setup and camera, but are not required by the driver.
 
-An OpenCL 1.2 compatible GPU and OpenCL driver is required by the Zivid SDK. Follow
+An OpenCL 1.2 compatible GPU with driver installed is required by the SDK. Follow
 [this guide](https://zivid.atlassian.net/wiki/spaces/ZividKB/pages/426519/Install+OpenCL+drivers+on+Ubuntu) to
 install OpenCL drivers for your system.
 
@@ -317,8 +319,8 @@ and combining the captures into one high-quality point cloud. For more informati
 
 The capture settings available in the `zivid_camera` node matches the settings in the Zivid API.
 To become more familiar with the different settings and what they do, see the API reference for the
-[Settings](http://www.zivid.com/hubfs/softwarefiles/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings.html)
-and [Settings2D](http://www.zivid.com/hubfs/softwarefiles/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings2D.html)
+[Settings](http://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings.html)
+and [Settings2D](http://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings2D.html)
 classes, or use Zivid Studio.
 
 The settings can be viewed and configured using [dynamic_reconfigure](https://wiki.ros.org/dynamic_reconfigure).
@@ -374,29 +376,29 @@ In order to capture a point cloud at least one frame needs to be enabled.
 
 | Name                               | Type   |  Zivid API Setting             |      Note        |
 |------------------------------------|--------|--------------------------------|------------------|
-| `capture/frame_<n>/bidirectional`  | bool   | [Zivid::Settings::Bidirectional](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Bidirectional.html)
-| `capture/frame_<n>/brightness`     | double | [Zivid::Settings::Brightness](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Brightness.html)
+| `capture/frame_<n>/bidirectional`  | bool   | [Zivid::Settings::Bidirectional](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Bidirectional.html)
+| `capture/frame_<n>/brightness`     | double | [Zivid::Settings::Brightness](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Brightness.html)
 | `capture/frame_<n>/enabled`        | bool   |  |
-| `capture/frame_<n>/exposure_time`  | int    | [Zivid::Settings::ExposureTime](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1ExposureTime.html) | Specified in microseconds (µs)
-| `capture/frame_<n>/gain`           | double | [Zivid::Settings::Gain](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Gain.html)
-| `capture/frame_<n>/iris`           | int    | [Zivid::Settings::Iris](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Iris.html)
+| `capture/frame_<n>/exposure_time`  | int    | [Zivid::Settings::ExposureTime](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1ExposureTime.html) | Specified in microseconds (µs)
+| `capture/frame_<n>/gain`           | double | [Zivid::Settings::Gain](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Gain.html)
+| `capture/frame_<n>/iris`           | int    | [Zivid::Settings::Iris](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Iris.html)
 
 ### General settings for 3D
 
 `capture/general` contains settings that apply to all frames in a 3D capture.
 
 | Name                                          | Type   |  Zivid API Setting                     |
 |-----------------------------------------------|--------|----------------------------------------|
-| `capture/general/blue_balance`                | double | [Zivid::Settings::BlueBalance](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1BlueBalance.html)
-| `capture/general/filters_contrast_enabled`    | bool   | [Zivid::Settings::Filters::Contrast::Enabled](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Contrast_1_1Enabled.html)
-| `capture/general/filters_contrast_threshold`  | double | [Zivid::Settings::Filters::Contrast::Threshold](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Contrast_1_1Threshold.html)
-| `capture/general/filters_gaussian_enabled`    | bool   | [Zivid::Settings::Filters::Gaussian::Enabled](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Gaussian_1_1Enabled.html)
-| `capture/general/filters_gaussian_sigma`      | double | [Zivid::Settings::Filters::Gaussian::Sigma](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Gaussian_1_1Sigma.html)
-| `capture/general/filters_outlier_enabled`     | bool   | [Zivid::Settings::Filters::Outlier::Enabled](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Outlier_1_1Enabled.html)
-| `capture/general/filters_outlier_threshold`   | double | [Zivid::Settings::Filters::Outlier::Threshold](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Outlier_1_1Threshold.html)
-| `capture/general/filters_reflection_enabled`  | bool   | [Zivid::Settings::Filters::Reflection::Enabled](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Reflection_1_1Enabled.html)
-| `capture/general/filters_saturated_enabled`   | bool   | [Zivid::Settings::Filters::Saturated::Enabled](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Saturated_1_1Enabled.html)
-| `capture/general/red_balance`                 | double | [Zivid::Settings::RedBalance](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings_1_1RedBalance.html)
+| `capture/general/blue_balance`                | double | [Zivid::Settings::BlueBalance](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1BlueBalance.html)
+| `capture/general/filters_contrast_enabled`    | bool   | [Zivid::Settings::Filters::Contrast::Enabled](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Contrast_1_1Enabled.html)
+| `capture/general/filters_contrast_threshold`  | double | [Zivid::Settings::Filters::Contrast::Threshold](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Contrast_1_1Threshold.html)
+| `capture/general/filters_gaussian_enabled`    | bool   | [Zivid::Settings::Filters::Gaussian::Enabled](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Gaussian_1_1Enabled.html)
+| `capture/general/filters_gaussian_sigma`      | double | [Zivid::Settings::Filters::Gaussian::Sigma](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Gaussian_1_1Sigma.html)
+| `capture/general/filters_outlier_enabled`     | bool   | [Zivid::Settings::Filters::Outlier::Enabled](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Outlier_1_1Enabled.html)
+| `capture/general/filters_outlier_threshold`   | double | [Zivid::Settings::Filters::Outlier::Threshold](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Outlier_1_1Threshold.html)
+| `capture/general/filters_reflection_enabled`  | bool   | [Zivid::Settings::Filters::Reflection::Enabled](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Reflection_1_1Enabled.html)
+| `capture/general/filters_saturated_enabled`   | bool   | [Zivid::Settings::Filters::Saturated::Enabled](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1Filters_1_1Saturated_1_1Enabled.html)
+| `capture/general/red_balance`                 | double | [Zivid::Settings::RedBalance](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings_1_1RedBalance.html)
 
 ### Frame settings for 2D
 
@@ -406,11 +408,11 @@ calling the [capture_2d](#capture_2d) service, otherwise the service will return
 
 | Name                               | Type   |  Zivid API Setting             |      Note        |
 |------------------------------------|--------|--------------------------------|------------------|
-| `capture_2d/frame_0/brightness`    | double | [Zivid::Settings2D::Brightness](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings2D_1_1Brightness.html)
+| `capture_2d/frame_0/brightness`    | double | [Zivid::Settings2D::Brightness](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings2D_1_1Brightness.html)
 | `capture_2d/frame_0/enabled`       | bool   | |
-| `capture_2d/frame_0/exposure_time` | int    | [Zivid::Settings2D::ExposureTime](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings2D_1_1ExposureTime.html) | Specified in microseconds (µs)
-| `capture_2d/frame_0/gain`          | double | [Zivid::Settings2D::Gain](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings2D_1_1Gain.html)
-| `capture_2d/frame_0/iris`          | int    | [Zivid::Settings2D::Iris](https://www.zivid.com/software/releases/1.8.0+89ae8b3e-39/doc/cpp/classZivid_1_1Settings2D_1_1Iris.html)
+| `capture_2d/frame_0/exposure_time` | int    | [Zivid::Settings2D::ExposureTime](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings2D_1_1ExposureTime.html) | Specified in microseconds (µs)
+| `capture_2d/frame_0/gain`          | double | [Zivid::Settings2D::Gain](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings2D_1_1Gain.html)
+| `capture_2d/frame_0/iris`          | int    | [Zivid::Settings2D::Iris](https://www.zivid.com/software/releases/1.8.1+6967bc1b-1/doc/cpp/classZivid_1_1Settings2D_1_1Iris.html)
 
 ## Samples
 

diff --git a/azure-pipelines.yml b/azure-pipelines.yml
@@ -6,7 +6,7 @@ schedules:
     - master
   always: true
 variables:
-  newest_zivid_version: '1.8.0+89ae8b3e-39'
+  newest_zivid_version: '1.8.1+6967bc1b-1'
 stages:
   - stage: Code_Analysis
     jobs:
@@ -29,13 +29,10 @@ stages:
         zivid_versions: ["${{ variables['newest_zivid_version'] }}"]
         ros_distros: ['ros:kinetic-ros-base-xenial']
         compilers: ['g++-7']
-#
-# Currently only newest_zivid_version is supported. Azure Pipelines requires at least one job under
-# jobs, so parameters.zivid_versions cannot be empty. Re-enable this when we support >0 old versions.
-#  - stage: Build_And_Test_Old_Zivid_Melodic_And_Kinetic
-#    jobs:
-#    - template: continuous-integration/azure-pipelines/templates/build_and_test.yml
-#      parameters:
-#        zivid_versions: []
-#        ros_distros: ['ros:melodic-ros-base-bionic', 'ros:kinetic-ros-base-xenial']
-#        compilers: ['g++-7']
+  - stage: Build_And_Test_Old_Zivid_Melodic_And_Kinetic
+    jobs:
+    - template: continuous-integration/azure-pipelines/templates/build_and_test.yml
+      parameters:
+        zivid_versions: ['1.8.0+89ae8b3e-39']
+        ros_distros: ['ros:melodic-ros-base-bionic', 'ros:kinetic-ros-base-xenial']
+        compilers: ['g++-7']
diff --git a/continuous-integration/setup/setup_build_and_test.sh b/continuous-integration/setup/setup_build_and_test.sh
@@ -88,13 +88,10 @@ fi
 echo "Install Zivid and Telicam debian packages"
 
 ZIVID_RELEASE_DIR="https://www.zivid.com/hubfs/softwarefiles/releases/$CI_TEST_ZIVID_VERSION"
-ZIVID_TELICAM_SDK_DEB="zivid-telicam-driver_2.0.0.1-1_amd64.deb"
+ZIVID_TELICAM_SDK_DEB="zivid-telicam-driver_3.0.1.1-1_amd64.deb"
 
-if [[ "$CI_TEST_ZIVID_VERSION" =~ ^1\.[3-4]\..* ]]; then
-    # This can be removed when the minimum required Zivid version is bumped to
-    # 1.5.0 or newer.
-    echo "Zivid API version is 1.3 or 1.4, use old telicam-sdk deb."
-    ZIVID_TELICAM_SDK_DEB="telicam-sdk_2.0.0.1-1_amd64.deb"
+if [[ "$CI_TEST_ZIVID_VERSION" =~ ^1\.8\.0.* ]]; then
+    ZIVID_TELICAM_SDK_DEB="zivid-telicam-driver_2.0.0.1-1_amd64.deb"
 fi
 
 if [[ "$UBUNTU_VERSION" == "16.04" ]]; then

diff --git a/zivid_camera/test/test_zivid_camera.cpp b/zivid_camera/test/test_zivid_camera.cpp
@@ -553,12 +553,12 @@ class ZividCATest : public ZividNodeTest
   std::vector<std::unique_ptr<dynamic_reconfigure::Client<zivid_camera::CaptureFrameConfig>>> m_captureFrameClients;
 };
 
-TEST_F(ZividCATest, test_ca_service_is_available)
+TEST_F(ZividCATest, testCaptureAssistantServiceAvailable)
 {
   ASSERT_TRUE(ros::service::waitForService(capture_assistant_suggest_settings_service_name, short_wait_duration));
 }
 
-TEST_F(ZividCATest, test_different_max_capture_time_and_ambient_light_frequency)
+TEST_F(ZividCATest, testDifferentMaxCaptureTimeAndAmbientLightFrequency)
 {
   using Request = zivid_camera::CaptureAssistantSuggestSettings::Request;
   for (double max_capture_time : { 0.2, 1.2, 10.0 })
@@ -571,7 +571,7 @@ TEST_F(ZividCATest, test_different_max_capture_time_and_ambient_light_frequency)
   }
 }
 
-TEST_F(ZividCATest, test_going_from_several_frames_to_1_frame)
+TEST_F(ZividCATest, testGoingFromMultipleFramesTo1Frame)
 {
   using Request = zivid_camera::CaptureAssistantSuggestSettings::Request;
   performSuggestSettingsAndCompareWithCppAPI(ros::Duration{ 10.0 }, Request::AMBIENT_LIGHT_FREQUENCY_NONE);
@@ -581,7 +581,7 @@ TEST_F(ZividCATest, test_going_from_several_frames_to_1_frame)
   ASSERT_EQ(numEnabled3DFrames(), 1U);
 }
 
-TEST_F(ZividCATest, test_capture_assistant_with_invalid_max_capture_time_fails)
+TEST_F(ZividCATest, testCaptureAssistantWithInvalidMaxCaptureTimeFails)
 {
   zivid_camera::CaptureAssistantSuggestSettings srv;
   srv.request.max_capture_time = ros::Duration{ 0.0 };
@@ -598,14 +598,14 @@ TEST_F(ZividCATest, test_capture_assistant_with_invalid_max_capture_time_fails)
   ASSERT_TRUE(ros::service::call(capture_assistant_suggest_settings_service_name, srv));
 }
 
-TEST_F(ZividCATest, test_capture_assistant_default_ambient_light_frequency_works)
+TEST_F(ZividCATest, testCaptureAssistantDefaultAmbientLightFrequencyWorks)
 {
   zivid_camera::CaptureAssistantSuggestSettings srv;
   srv.request.max_capture_time = ros::Duration{ 1.0 };
   ASSERT_TRUE(ros::service::call(capture_assistant_suggest_settings_service_name, srv));
 }
 
-TEST_F(ZividCATest, test_capture_assistant_invalid_ambient_light_frequency_fails)
+TEST_F(ZividCATest, testCaptureAssistantInvalidAmbientLightFrequencyFails)
 {
   zivid_camera::CaptureAssistantSuggestSettings srv;
   srv.request.max_capture_time = ros::Duration{ 1.0 };