Merge branch 'issue_fixes' into 'main'

Issue fixes See merge request syntron/support/csr/ifm3d/ifm3d!396
ifm · Aug 20, 2024 · 567a078 · 567a078
2 parents fc5bd61 + 8f8e272
commit 567a078
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Showing 4 changed files with 13 additions and 8 deletions.
diff --git a/ChangeLog.md b/ChangeLog.md
@@ -7,17 +7,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ### Added
+- The documentation about the different available `buffer_id` has been updated to provide the complete list for each compatible device.
+- add `O3R_ODS_RENDERED_ZONES` `buffer_id`
 - Add `ovp8xx`,`o3x1xx` and `o3d3xx` and `discover` commands as a primary level subcommands to ifm3d command line interface
 
-### Changed
-- Split CLI into device specific `ovp8xx`,`o3x1xx`,`o3x2xx`,`o3d3xx` subcommands
-
 ### Changed
 - Use CLI11 library instead of cxxopts for ifm3d command line interface
 
-### Added
-- The documentation about the different available `buffer_id` has been updated to provide the complete list for each compatible device.
-- add `O3R_ODS_RENDERED_ZONES` `buffer_id`
+### Fixed
+- Added fix for `O3D` and `O3R` issues
 
 ## 1.6.0 - 2024-06-10
 ### Changed

diff --git a/modules/framegrabber/src/libifm3d_framegrabber/frame_grabber_impl.hpp b/modules/framegrabber/src/libifm3d_framegrabber/frame_grabber_impl.hpp
@@ -879,7 +879,6 @@ ifm3d::FrameGrabber::Impl::GetImageChunks(buffer_id id)
         return {id};
     case buffer_id::RADIAL_DISTANCE_IMAGE:
     case buffer_id::NORM_AMPLITUDE_IMAGE:
-    case buffer_id::EXPOSURE_TIME:
     case buffer_id::EXTRINSIC_CALIB:
     case buffer_id::INTRINSIC_CALIB:
     case buffer_id::INVERSE_INTRINSIC_CALIBRATION:

diff --git a/modules/framegrabber/src/libifm3d_framegrabber/schema.cpp b/modules/framegrabber/src/libifm3d_framegrabber/schema.cpp
@@ -44,6 +44,8 @@ const std::map<ifm3d::buffer_id, const ifm3d::json> o3d_schema_map{
    {{"type", "blob"}, {"id", "confidence_image"}}},
   {ifm3d::buffer_id::DIAGNOSTIC,
    {{"type", "blob"}, {"id", "diagnostic_data"}}},
+  {ifm3d::buffer_id::JSON_DIAGNOSTIC,
+   {{"type", "blob"}, {"id", "json_diagnostic"}}},
   {ifm3d::buffer_id::EXTRINSIC_CALIB,
    {{"type", "blob"}, {"id", "extrinsic_calibration"}}},
   {ifm3d::buffer_id::EXPOSURE_TIME,
@@ -126,7 +128,8 @@ ifm3d::make_o3x_json_from_mask(const std::set<ifm3d::buffer_id>& buffer_ids)
   app_json_pointer["OutputDistanceImage"] =
     bool_to_string[buffer_ids.count(ifm3d::buffer_id::RADIAL_DISTANCE_IMAGE)];
   app_json_pointer["OutputAmplitudeImage"] =
-    bool_to_string[buffer_ids.count(ifm3d::buffer_id::AMPLITUDE_IMAGE)];
+    bool_to_string[buffer_ids.count(ifm3d::buffer_id::AMPLITUDE_IMAGE) ||
+                   buffer_ids.count(ifm3d::buffer_id::NORM_AMPLITUDE_IMAGE)];
   app_json_pointer["OutputGrayscaleImage"] =
     bool_to_string[buffer_ids.count(ifm3d::buffer_id::GRAYSCALE_IMAGE)];
   app_json_pointer["OutputXYZImage"] =

diff --git a/modules/pybind11/src/util.hpp b/modules/pybind11/src/util.hpp
@@ -131,15 +131,20 @@ namespace ifm3d
         return image_to_array_<std::int8_t>(img);
         break;
       case ifm3d::pixel_format::FORMAT_16U:
+      case ifm3d::pixel_format::FORMAT_16U2:
         return image_to_array_<std::uint16_t>(img);
         break;
       case ifm3d::pixel_format::FORMAT_16S:
         return image_to_array_<std::int16_t>(img);
         break;
+      case ifm3d::pixel_format::FORMAT_32U:
+        return image_to_array_<std::uint32_t>(img);
+        break;
       case ifm3d::pixel_format::FORMAT_32S:
         return image_to_array_<std::int32_t>(img);
         break;
       case ifm3d::pixel_format::FORMAT_32F:
+      case ifm3d::pixel_format::FORMAT_32F3:
         return image_to_array_<float>(img);
         break;
       case ifm3d::pixel_format::FORMAT_64F: