ChangeLog.md

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

Changed

• Updated Cxxopts library to version 3.1.1 and used through FetchContent

Added

• Add support for O3D3xx and O3X devices

1.3.3 - 2023-06-22

Fixed

• Fixed the error reporting through onError callback

1.3.2 - 2023-06-16

Added

• Add env variable IFM3D_SWUPDATE_CURL_TIMEOUT for curl transaction timeout during swupdate
• Add Project description and links to PYPI page
• Add an example on how to use the deserializer module

Fixed

• Release versions wrongly marked as +dirty

Changed

• Replaced glog with ifm3d::Logger, see the migration guide for details

1.3.1 - 2023-06-16 [YANKED] error during release - use 1.3.2

1.3.0 - 2023-06-16 [YANKED] error during release - use 1.3.2

1.2.6 - 2023-04-05

Fixes

• Fix state of the FrameGrabber not being reset correctly after Stop() causing receive failures on subsequent Start()s

Added

• Generate and distribute stubs with python wheel package
• Add MAC address in ifm3d discover command output

1.2.5 - 2023-04-03

Fixes

• Fixed a crash in FrameGrabber when the p command is called multiple times
• Fixed potential crash when waiting for the future returned by FrameGrabber::WaitForFrame()

1.2.4 - 2023-03-28

Changes

• Increase network timeout for the O3R::Set() call to 10 seconds

Fixes

• Fixed potential crash during device discovery
• Fixed possible Segmentation fault when calling FrameGrabber::Stop() directly after FrameGrabber::Start()
• Fixed typo in RGBInfoV1, TOFInfoV4 and TOFInfoV3: extrisic_optic_to_user -> extrinsic_optic_to_user

1.2.3 - 2023-03-17

Fixes

• Fixed Segmentation fault when assigning a AsyncNotification or AsyncError Handler while the FrameGrabber is not running
• Added Missing alias for ifm3dpy.Error to ifm3dpy.device.Error
• Fix device discovery requiring manual firewall rule on windows

Added

• CI job for release of ifm3d

1.2.2 - 2023-03-06

Added

• Added Frame::FrameCount to access the frame counter value
• Added API to enable disable masking in FrameGrabber

Changed

• Split the python bindings into submodules, see the migration guide for details. Warning: this requires an update of existing codebases.
• Convert SWUpdater python bindings naming to snake_case, see the migration guide for details. Warning: this requires an update of existing codebases.
• FrameGrabber::Start now returns a future resolving once the FrameGrabber is ready to receive Frames

Fixes

• Fix a bug that could cause the update process to fail with a hash mismatch error on certain network configurations
• Fix a bug preventing the FrameGrabber from being Started after it was previously Stopped
• Fix a typo in the transform_cell_center_to_user variable (previously called transfor_cell_center_to_user).
• Add missing python binding for O3R::ResolveConfig
• Fix cmake targets for deserialize module

1.2.1 - 2023-02-09

Fixes

• Fix a bug that could result in an endless loop when receiving PCIC tickets
• Fix a crash when receiving pcic data without any chunks

1.2.0 - 2023-02-03

Changed

• Upgraded nlohmann::json to version 3.11.2
• Removed json from the global namespace and moved nlohmann::json to the ifm3d::json namespace

Fixes

• Missing python bindings for O3R::Port and O3R::Ports
• CONFIDENCE_IMAGE image is not requested automatically anymore unless it's required for generating the requested chunks

Added

• O3R::RebootToRecovery to reboot supported O3R devices into recovery mode
• Support for O3R recovery based updates
• Add size() interface in ifm3d::Buffer
• Add Deserialize module
  • Add struct TOFInfoV3
  • Add struct TOFInfoV4
  • Add struct RGBInfoV1
  • Add struct ODSInfoV1
  • Add struct ODSOccupancyGridV1

1.1.1 - 2022-12-09

Fixes

• Data grabbing issue with ifm3dpy-v1.1.0

1.1.0 - 2022-12-02

Added

• Change FrameGrabber::Stop to non blocking call and now returns std::future<void>
• Add onError callback for error reporting in streaming mode of Framegrabber
• Support for retrieving O3R Diagnostics over XMLRPC
• Support for Python 3.11
• Support for Ubuntu 22.04
• Python binding: FrameGrabber.sw_trigger()

Fixes

• XYZ_IMAGE coordinates were actually ZXY instead of XYZ, this has been corrected.

1.0.1 - 2022-10-14

Added

• Auto closure of stale issue on GitHub
• Support for ODS schema
• Asynchronous notification support

Fixes

• ifm3d and ifm3dpy documentation update
• Confidence buffer available for user
• Reflectivity buffer support in schema
• Distance noise buffer in float format
• Exception if buffer is not available in frame
• Extrinsic values
• Linux .deb file now depends on local installed libs

1.0.0 - 2022-09-08

Added

• Example update showing usage of fg API
• Visibility attribute added for ifm3d API
• Playground example for cmake users
• Python API renamed as per C++ changes
• CameraO3D, CameraO3R, CameraO3X renamed as O3D,O3R,O3X respectively
• Camera is renamed as LegacyDevice
• CameraBase is renamed as Device
• image_id is renamed as buffer_id
• Image is renamed as Buffer
• Camera module name changed to Device
• Example list update
• Windows installer support for ifm3d
• ifm3dpy documentation update
• Software trigger support for the FrameGrabber module
• Software trigger Error Reporting on execution failure
• Async Error support for FrameGrabber module
• Schema support for FrameGrabber module
• OSS compliance added
• Windows build instruction update
• Major architecture changes in the FrameGrabber module
• Swupdater support for ifm3dpy
• File(.swu) streaming for updating firmware through swupdater
• Multiple timestamp support in ifm3dpy
• O3R support for intrinsic calibration model type 2 (Fisheye Distortion Model)

Fixed

• Error code from 7 digit to 6 digit for Lib error codes
• Discover app for O3R devices
• ifm3d::tools compatibility for O3R devices

0.93.0 - 2022-02-17

Added

• Document for schema
• Document for O3X parameters
• Added functionality to get timestamp at which data is send over ethernet
• Support for Distance noise image for O3X Devices
• Support for latest O3X firmware (1.1.190)
• New Parameters for O3X device: AbsDistStraylightThreshold, EnableStraylightCorrection, EnableNoiseEstimation, CompensateAmbientLightDrift, DistNoiseThreshold, EnableNoiseEstimation, RelAmpStraylightThreshold
• Added the O3X FW 1.1.166 to the compatibility list
• Added compatibility list to swupdate document
• error_t::message() function to retrieve details about exceptions
• custom python exception type: ifm3dpy.Error
• Added timeout option in swupdate command of tools

Fixed

• O3R FW detection

Changed

• The conversion of the camera frame is now a compile time option (Use -DUSE_LEGACY_COORDINATES=ON to keep the old behaviour)
• O3RCamera::Port & O3RCamera::Ports methods to get information (pcic port & type) of connected ports
• O3RCamera::ResolveConfig convencience method to access specific parts of the configuration

0.92.0 - 2021-10-22

Added

• HTTP 407 Proxy authentication required error detection
• Python 3.10 builds
• Docker image on DockerHub: ifmrobotics/ifm3d
• Docker image on GHCR: ghcr.io/ifm/ifm3d:latest
• Basic usage tutorials

Fixed

• O3R broken XYZImage
• O3R getInit() method
• Use the correct base image for arm64 based containers

Changed

• Docker images now build ifm3d in Release mode

0.91.0 - 2021-10-05

Added

• O3R specific methods

0.90.2 - 2021-09-16

• stlImage module (Image container based on STL)
• Removed copying of the tools header
• Example to upload docker container to O3R

0.90.1 - 2021-08-17

Added

• Basic c++ tutorials
• Support for the new JSON based XML-RPC interface
• Support for 2D image data
• ifm3dpy_viewer python example
• Generate version based on last tag and commits since

Changed

• Split Camera implementation into multiple classes
• IsO3D/IsO3X/IsO3R replaced by WhoAmI/AmI functions

0.90.0 - 2021-01-18

Added

• Basic O3R support
• Support for the compressed image format introduced for O3R
• Initial IPv4 Discovery in the ifm3d command line tool

Removed

• Hardcoded compiler Flags for Linux
• Copy of the header files during CMake build

Changes between ifm3d 0.18.0 and 0.20.0 [Unreleased]

• Added clang format support for formatting
• Changed License Headers to SPDX format
• Embedded third-party libs asio and cxxopt
  • Removed boost from dependency list
• Support user defined port for camera, fg, swupdater module
  • This enable ifm3d to connect to devices behind NAT router
• Added example for NTP to command line usage
• Added build jobs in github actions
  • Windows VS 2019
  • Ubuntu 20.04
• Bugfixes
  • #284 ifm3d Compiling error at swupdater app with VS2019 and Windows
  • #283 Imported target "ifm3d::image" includes non-existent path "/usr/include/opencv"

Changes between ifm3d 0.17.0 and 0.18.0

• Support for latest O3D3XX firmware (1.30.5309)
• Support for latest O3X firmware (1.0.156)
• Deprecated ROS-specific apt repositories
• Deprecated python2 support
• Support for Ubuntu 20.04 Focal Fossa
• Packaged and released ifm3d as a Snap
• Added support for Ubuntu ARM64
• Added support for L4T (Linux for Tegra) JetPack 4.3 and 4.4
• Improved Windows build instructions
• Created GitHub Actions CI workflows
• Bugfixes:
  • #190 - Added missing include for Windows build

Changes between ifm3d 0.16.0 and 0.17.0

• Reverted changes in 0.16.0 (FrameGrabberUdp -- No viable path to UDP implementation in F/W)
• Bugfixes
  • Issue with libcurl usage on 32bit targets
  • Corrected minimum firmware version required for inverse intrinsics
  • Corrected handling of spurious wakes in FrameGrabber
  • Fixed ComputeCartesian python unit test to properly blank out invalid pixels
  • Changed build Dockerfiles to use pip for numpy/pytest
  • Fixed race condition in PCICClient unit tests
  • Changed setup.py to honor the environment variables per the Windows installation instructions
  • Updated installation documentation for Windows

Changes between ifm3d 0.15.1 and 0.16.0

• Created new framegrabberudp module for consuming data over UDP interface

Changes between ifm3d 0.15.0 and 0.15.1

• Minor updates to allow for cross-compiling ifm3d for the O3D3XX
• PCIC timeout issue fixed

Changes between ifm3d 0.14.1 and 0.15.0

• Added Interface for getting json_model from O3D3xx devices.

Changes between ifm3d 0.14.0 and 0.14.1

• Fixes to how timeouts are handled in swupdate module
• Updated embedded JSON library to 3.6.1, single-header.

Changes between ifm3d 0.13.0 and 0.14.0

• New module: swupdater -- utilities for updating camera firmware
  • Ported functionality from swupdate command into its own library for programmatic consumption.
  • Updated certain semantics of the swupdate command in the tools module to match those of the other ifm3d tools commands
    • Updated command line switch naming to match other ifm3d tools:
      • check subcommand now invoked by -c or --check
      • reboot subcommand now invoked by -r or --reboot
    • file subcommand will now test for recovery and automatically reboot the device into recovery as needed.
• Disabled framegrabber's InverseIntrinsicParamSchema test due to suspected false failures. Test case will be investigated and re-opened in a future release.
• Fixed issues with unit test scripts on Windows
• Fixed Windows build documentation
  • Added BUILD_SHARED_LIBS definition to glog to address issues with logging to STDERR in Windows binaries
  • Parameterized the CMake generator for easier building when multiple versions of MSVC are installed concurrently

Changes between ifm3d 0.12.0 and 0.13.0

• Honor semantics of CMake's BUILD_SHARED_LIBS flag (ON by default). Setting to off will build and link against ifm3d modules as static libraries.
• New module: pybind11 -- Python bindings for the the C++ API

Changes between ifm3d 0.11.2 and 0.12.0

• Fixes to build infrastructure in support of windows unit tests
• Added support to retrieve the inverse intrinsic parameters from O3D3xx cameras

Changes between ifm3d 0.11.1 and 0.11.2

• Bugfix for #111, moved a log message in framegrabber to IFM3D_PROTO_DEBUG to keep noise level low when running an O3X for extended periods of time.
• Changed flagging bad pixels to always be 0 regardless of data type. Users could always consult the confidence image themselves and discriminate between a true 0 (not possible) and a bad pixel which they could then transform to nan or whatever other sentinel makes sense for their application.

Changes between ifm3d 0.11.0 and 0.11.1

• Bugfix for #103 header is not in the correct format when make check is executed against FW 1.6.2114
• Bugifx for #107 Allows OpenCV module headers to be included in more than one translation unit thus avoiding violation of ODR.
• The image and opencv modules now flags bad pixels at the driver-level

Changes between ifm3d 0.10.0 and 0.11.0

• Added a jitter subcommand to ifm3d
• Added support to retrieve the intrinsic parameters from O3D3xx cameras

Changes between ifm3d 0.9.3 and 0.10.0

• Adds support for setting the IFM3D_SESSION_ID environment variable for establishing edit sessions with the camera using a known ID.
• Sessions are now explicitly cancellable if the session ID is known.
• Some session management optimizations in FromJSON which should result in incremental speedups in importing JSON configurations to the camera.

Changes between ifm3d 0.9.2 and 0.9.3

• Added build instructions how to switch between Release and Debug for Windows builds
• Added Troubleshoot guide
• Added Opencv module build instruction for windows
• Added minimum MSVC version requirement
• Added prerequisite packages list for building ifm3d
• Changed warning message in framegrabber from WARNING to IFM3D_TRACE severity level
• Updated swupdate command with --check (recovery mode check) and -r (reboot to productive mode)

Changes between ifm3d 0.9.1 and 0.9.2

• Added Support for the Ubuntu 18.04
• Added glog support in the cmake config files

Changes between ifm3d 0.9.0 and 0.9.1

• Removed some additional Boost dependencies

Changes between ifm3d 0.8.3 and 0.9.0

• Version number handling is now done in the cmake project command in the top-level CMakeLists.txt file
• Dropped support for Ubuntu 14.04
• Increased cmake requirements to 3.5
• Increaded compiler requirements to C++14
• Moved examples module into new project ifm3d-examples
• Moved viewer sub-command out of the ifm3d project. This is to decrease the PCL dependencies (see Issue #42). A new project will be created in support of this viewer application: ifm3d-pcl-viewer
• Updated JSON parsing library to 3.1.2
• By default, pcicclient module is now OFF.
• Pixel-parsing framework has been significantly refactored. Sub-system specific docs for image container implementers have been provided in the doc folder.
• Updated the ImageBuffer to conform to the new pixel-publishing architecture.
• Initial implementation of an OpenCV-only (i.e., no PCL) image container. This is the opencv module of the ifm3d project.
• Added a passwd subcommand to ifm3d

Changes between ifm3d 0.8.2 and 0.8.3

• Fixed a cmake regression regarding -std=c++11 flags passed to the compiler; surfaces on old versions of cmake, i.e., in Ubuntu 14.04

Changes between ifm3d 0.8.1 and 0.8.2

• Patch to windows build
• Better semver parsing of camera firmware

Changes between ifm3d 0.8.0 and 0.8.1

• Reverted Windows build changes due to how it broke packaging on Linux

Changes between ifm3d 0.7.0 and 0.8.0

• Illumination temperature is registered to frame data

Changes between ifm3d 0.6.0 and 0.7.0

• Added timestamping of image buffers
• Added support for setting/getting time on O3D cameras
• Added support for setting temporary application parameters. Please note, that if the device does not support this, it may "fail silently", so, a closed-loop check by the user is recommended.

Changes between ifm3d 0.5.0 and 0.6.0

• Added the pcic client feature from libo3d3xx
• Added the ability to dump on-camera tracelogs including an interface to this capability via the trace subcommand to the ifm3d command-line tool.

Changes between ifm3d 0.4.0 and 0.5.0

• Added swupdate subcommand in the tools module
• Added image module support to Windows build

Changes between ifm3d 0.3.3 and 0.4.0

• Added modules/tools/contrib with bash completions for ifm3d

Changes between ifm3d 0.3.2 and 0.3.3

• Windows build support (should have been a bump to 0.4.0)

Changes between ifm3d 0.3.1 and 0.3.2

• CMake build scripts now look for opencv in tools module since the image buffer header includes an opencv header

Changes between ifm3d 0.3.0 and 0.3.1

• Fixed regression on 14.04 - no compiler support for std::put_time (#3)

Changes between ifm3d 0.2.0 and 0.3.0

• Support for NTP (on O3X)
• Added simple viewer sub-command to the ifm3d command-line program. This viewer will render the point cloud and color each pixel with the normalized amplitude value registered to that point.

Changes between ifm3d 0.1.0 and 0.2.0

• Added software trigger support to O3X
• Added support for ifm Vision Assistant compatible import/export functions for O3X cameras
• Optimization to ifm3d cmd line tool when passed either --help or version. It will no longer try to connect to the device first, which makes this much more responsive and convenient for when no h/w is plugged in.
• Added the ability to explicitly choose OpenCV 2.4 or OpenCV 3 at cmake/compile time.
• Modifications to enable the library to build under Ubuntu 14.04 (C++11 instead of C++14 and gcc 4.8. Big thanks to @aaronhoy at Fetch Robotics for his work
• Added a new build-time utility ifm3d-dpkg-deps.py to auto-generate debian dependencies for the binary packages. This is needed because, for how we are building multiple shared libraries across multiple debian packages, cmake's stanard wrapper to dpkg-shlibdeps does not work for us (for several reasons).

This file has started tracking ifm3d at 0.1.0

• Initial (alpha) release