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<div class="section" id="changelog-for-package-ifm3d-ros">
<h1>Changelog for package ifm3d-ros<a class="headerlink" href="#changelog-for-package-ifm3d-ros" title="Permalink to this headline"></a></h1>
<div class="section" id="id1">
<h2>1.1<a class="headerlink" href="#id1" title="Permalink to this headline"></a></h2>
<div class="section" id="id2">
<h3>1.1.2<a class="headerlink" href="#id2" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Update Dockerfiles for building the ROS node inside a Docker software container environment: removed glog build and runtime libs</p></li>
</ul>
</div>
<div class="section" id="id3">
<h3>1.1.1<a class="headerlink" href="#id3" title="Permalink to this headline"></a></h3>
<ul>
<li><p>Update camera nodelet for ifm3d &gt;= 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 <cite>confidence&amp;1</cite> for backward compatibility.</p></li>
<li><p>Nodelet interface changes:
* additional parameters:</p>
<blockquote>
<div><ul class="simple">
<li><p>xyz_image_stream: boolean value - Enable / disable publishing and streaming of point cloud topic / messages.</p></li>
<li><p>confidence_image_stream: boolean value - Enable / disable publishing and streaming of confidence image topic / messages</p></li>
<li><p>radial_distance_image_stream: boolean value - Enable / disable publishing and streaming of radial distance image topic / messages</p></li>
<li><p>radial_distance_noise_stream: boolean value - Enable / disable publishing and streaming of radial distance noise image topic / messages</p></li>
<li><p>amplitude_image_stream: boolean value - Enable / disable publishing and streaming of amplitude image topic / messages</p></li>
<li><p>extrinsic_image_stream: boolean value - Enable / disable publishing and streaming of extrinsics topic / messages</p></li>
<li><p>intrinsic_image_stream: boolean value - Enable / disable publishing and streaming of intrinsics topic / messages</p></li>
<li><p>rgb_image_stream: boolean value - Enable / disable publishing and streaming of 2D RGB image topic / messages</p></li>
</ul>
</div></blockquote>
<ul class="simple">
<li><p>Updated the default launch files for 2D RGB / 3D TOF cameras accordingly</p></li>
<li><p>Added support for JSON schema dump service</p></li>
<li><p>ifm3d-ros logging:
* Reduced level of logging messages
* Changed default behavior of info log messages: NODELET_INFO_STREAM replaced by NODELET_INFO_ONCE</p></li>
<li><p>Removed:
* Compressed amplitude stream: only amplitude publisher is used
* Unit vector publisher</p></li>
</ul>
</li>
<li><p>Robustness improvements:
* Only publish data to image streams if API frames include the corresponding image data</p></li>
</ul>
</div>
<div class="section" id="id4">
<h3>1.1.0<a class="headerlink" href="#id4" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>UNRELEASED</p></li>
</ul>
</div>
</div>
<div class="section" id="id5">
<h2>1.0<a class="headerlink" href="#id5" title="Permalink to this headline"></a></h2>
<div class="section" id="id6">
<h3>1.0.2<a class="headerlink" href="#id6" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Fix the IP parameter that was not being used</p></li>
</ul>
</div>
<div class="section" id="id7">
<h3>1.0.1<a class="headerlink" href="#id7" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Removed dependency to OpenCV and PCL.</p></li>
<li><p>The RGB jpeg image is published in a compressed format.</p></li>
<li><p>Removed the god_bad pixel publisher and the XYZ publisher (use <cite>cloud`</cite> instead).</p></li>
<li><p>The <cite>/cloud</cite> topic is published as <cite>sensor_msgs::PointCloud2</cite> instead of <cite>pcl::PointCloud&lt;ifm3d::PointT&gt;</cite></p></li>
</ul>
</div>
<div class="section" id="id8">
<h3>1.0.0<a class="headerlink" href="#id8" title="Permalink to this headline"></a></h3>
<p>Breaking changes:
* Restructure the ifm3d-ros package into independent subpackages. Please check your path declarations again, especially for the launch files and messages and services.</p>
<p>Changes between ifm3d_ros 0.6.x and 1.0.0:
+ Order of axis changed in 3D (cloud topic and extrinsic calibration parameters): This wrapper keeps the axis orientation as defined by the underlying API, ifm3d. Therefore, you may see a different axis order for the cloud message compared to older versions of the ifm3d and ifm cameras.
+ Extrinsic calibration parameters: now consistent with SI units, e.g. translation are scaled in <cite>m</cite> and rotation parameters are scaled in <cite>rad</cite>.
+ Added publisher for 2D RGB data
+ Use CameraBase for compatibility with other O3 devices
+ Comment out methods / publisher which are not available for the O3RCamera (at the moment)
+ Comment out the unit vector publishing
+ Changed services trigger and softon, softoff to be compatible with new JSON methods and schema.
+ Changed service trigger to a dummy method until triggers are implemented for the O3R platform. It only has a status message at the moment.
+ Changed service dump: coverts from json to str for displaying the message</p>
<p>added:
* Added pcic_port to the list of framegrabber arguments</p>
<p>known limitations:
* This version of the ifm3d-ros package only works with the O3R camera platform.</p>
</div>
</div>
<div class="section" id="id9">
<h2>0.6<a class="headerlink" href="#id9" title="Permalink to this headline"></a></h2>
<div class="section" id="id10">
<h3>0.6.2<a class="headerlink" href="#id10" title="Permalink to this headline"></a></h3>
<p>Changes between ifm3d_ros 0.6.1 and 0.6.2</p>
<ul class="simple">
<li><p>Updated maintainer email address</p></li>
<li><p>Added ifm3d-core dependency in preparation for submission to the ROS index</p></li>
</ul>
</div>
<div class="section" id="id11">
<h3>0.6.1<a class="headerlink" href="#id11" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Added support syncing the system and camera clocks at startup. Side-effect,
is we can now stamp the images with the camera-side capture time and not the
host-side reception time.</p></li>
<li><p>Added the <cite>SyncClocks</cite> Service</p></li>
</ul>
</div>
<div class="section" id="id12">
<h3>0.6.0.<a class="headerlink" href="#id12" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Added a image transport plugin _blacklist_ to the nodlet launch file. This
prevents many of the errors seen in the terminal when running <cite>rosbag -a</cite> to
capture camera data</p></li>
<li><p>Added the <cite>SoftOn</cite> and <cite>SoftOff</cite> service calls</p></li>
</ul>
</div>
</div>
<div class="section" id="id13">
<h2>0.5<a class="headerlink" href="#id13" title="Permalink to this headline"></a></h2>
<div class="section" id="id14">
<h3>0.5.1<a class="headerlink" href="#id14" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Added support for Ubuntu 18.04 and ROS Melodic</p></li>
</ul>
</div>
<div class="section" id="id15">
<h3>0.5.0<a class="headerlink" href="#id15" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Converted primary data publisher to a nodelet architecture</p></li>
<li><p>Provide the <cite>dump</cite> and <cite>config</cite> scripts to call into the exposed ROS services
of the nodelet. Removed the older “config node”.</p></li>
<li><p>Added unit tests</p></li>
</ul>
</div>
</div>
<div class="section" id="id16">
<h2>0.4<a class="headerlink" href="#id16" title="Permalink to this headline"></a></h2>
<div class="section" id="id17">
<h3>0.4.2<a class="headerlink" href="#id17" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Now requires ifm3d 0.9.0 and by association the more modernized tooling
(C++14, cmake 3.5, dropped support for 14.04/Indigo, etc.)</p></li>
</ul>
</div>
<div class="section" id="id18">
<h3>0.4.1<a class="headerlink" href="#id18" title="Permalink to this headline"></a></h3>
<ul class="simple">
<li><p>Now publishing extrinsics on a topic</p></li>
</ul>
</div>
</div>
<div class="section" id="id19">
<h2>0.3<a class="headerlink" href="#id19" title="Permalink to this headline"></a></h2>
<ul class="simple">
<li><p>Added <cite>Dump</cite> Service</p></li>
<li><p>Added <cite>Config</cite> Service</p></li>
<li><p>Added <cite>Trigger</cite> Service</p></li>
</ul>
</div>
<div class="section" id="id20">
<h2>0.2<a class="headerlink" href="#id20" title="Permalink to this headline"></a></h2>
<ul class="simple">
<li><p>Updates to CMakeLists.txt to support Ubuntu 14.04 and ROS Indigo</p></li>
</ul>
</div>
<div class="section" id="id21">
<h2>0.1<a class="headerlink" href="#id21" title="Permalink to this headline"></a></h2>
<p>This file has started tracking ifm3d_ros at 0.1.0</p>
<ul class="simple">
<li><p>Initial (alpha) release</p></li>
</ul>
</div>
</div>


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