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Support the ST25 camera #249

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Merged
mattalvarado merged 2 commits into from
Oct 2, 2025
Merged

Support the ST25 camera #249

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7698e27
Support the ST25 camera
mattalvarado Oct 2, 2025
99103c1
Support the ST25 in the legacy API
mattalvarado Oct 2, 2025
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3 changes: 2 additions & 1 deletion python/bindings.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -541,7 +541,8 @@ PYBIND11_MODULE(_libmultisense, m) {
.value("CMV4000_COLOR", multisense::MultiSenseInfo::DeviceInfo::ImagerType::CMV4000_COLOR)
.value("FLIR_TAU2", multisense::MultiSenseInfo::DeviceInfo::ImagerType::FLIR_TAU2)
.value("AR0234_GREY", multisense::MultiSenseInfo::DeviceInfo::ImagerType::AR0234_GREY)
.value("AR0239_COLOR", multisense::MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR);
.value("AR0239_COLOR", multisense::MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR)
.value("TENUM1280", multisense::MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280);

// MultiSenseInfo::DeviceInfo::LightingType
py::enum_<multisense::MultiSenseInfo::DeviceInfo::LightingType>(m, "LightingType")
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2 changes: 2 additions & 0 deletions source/Legacy/details/channel.cc
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Expand Up @@ -621,6 +621,7 @@ uint32_t impl::imagerApiToWire(uint32_t a)
case system::DeviceInfo::IMAGER_TYPE_AR0234_GREY: return wire::SysDeviceInfo::IMAGER_TYPE_AR0234_GREY;
case system::DeviceInfo::IMAGER_TYPE_AR0239_COLOR: return wire::SysDeviceInfo::IMAGER_TYPE_AR0239_COLOR;
case system::DeviceInfo::IMAGER_TYPE_FLIR_TAU2: return wire::SysDeviceInfo::IMAGER_TYPE_FLIR_TAU2;
case system::DeviceInfo::IMAGER_TYPE_TENUM1280: return wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280;
default:
CRL_DEBUG("unknown API imager type \"%d\"\n", a);
return a; // pass through
Expand All @@ -637,6 +638,7 @@ uint32_t impl::imagerWireToApi(uint32_t w)
case wire::SysDeviceInfo::IMAGER_TYPE_AR0234_GREY: return system::DeviceInfo::IMAGER_TYPE_AR0234_GREY;
case wire::SysDeviceInfo::IMAGER_TYPE_AR0239_COLOR: return system::DeviceInfo::IMAGER_TYPE_AR0239_COLOR;
case wire::SysDeviceInfo::IMAGER_TYPE_FLIR_TAU2: return system::DeviceInfo::IMAGER_TYPE_FLIR_TAU2;
case wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280: return system::DeviceInfo::IMAGER_TYPE_TENUM1280;
default:
CRL_DEBUG("unknown WIRE imager type \"%d\"\n", w);
return w; // pass through
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4 changes: 4 additions & 0 deletions source/LibMultiSense/details/legacy/info.cc
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Expand Up @@ -99,6 +99,8 @@ MultiSenseInfo::DeviceInfo convert(const crl::multisense::details::wire::SysDevi
{output.imager_type = MultiSenseInfo::DeviceInfo::ImagerType::AR0234_GREY; break;}
case wire::SysDeviceInfo::IMAGER_TYPE_AR0239_COLOR:
{output.imager_type = MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR; break;}
case wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280:
{output.imager_type = MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280; break;}
default: {CRL_EXCEPTION("Unsupported imager type");}
}

Expand Down Expand Up @@ -202,6 +204,8 @@ crl::multisense::details::wire::SysDeviceInfo convert(const MultiSenseInfo::Devi
{output.imagerType = wire::SysDeviceInfo::IMAGER_TYPE_AR0234_GREY; break;}
case MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR:
{output.imagerType = wire::SysDeviceInfo::IMAGER_TYPE_AR0239_COLOR; break;}
case MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280:
{output.imagerType = wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280; break;}
default: {CRL_EXCEPTION("Unsupported hardware revision");}
}

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3 changes: 2 additions & 1 deletion source/LibMultiSense/include/MultiSense/MultiSenseSerialization.hh
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Expand Up @@ -200,7 +200,8 @@ NLOHMANN_JSON_SERIALIZE_ENUM(MultiSenseInfo::DeviceInfo::ImagerType, {
{MultiSenseInfo::DeviceInfo::ImagerType::CMV4000_COLOR, "CMV4000_COLOR"},
{MultiSenseInfo::DeviceInfo::ImagerType::FLIR_TAU2, "FLIR_TAU2"},
{MultiSenseInfo::DeviceInfo::ImagerType::AR0234_GREY, "AR0234_GREY"},
{MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR, "AR0239_COLOR"}
{MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR, "AR0239_COLOR"},
{MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280, "TENUM1280"}
})

NLOHMANN_JSON_SERIALIZE_ENUM(MultiSenseInfo::DeviceInfo::LightingType, {
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2 changes: 2 additions & 0 deletions source/LibMultiSense/test/info_test.cc
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Expand Up @@ -252,6 +252,8 @@ void check_equal(const crl::multisense::details::wire::SysDeviceInfo &wire,
ASSERT_EQ(info.imager_type, MultiSenseInfo::DeviceInfo::ImagerType::AR0234_GREY); break;
case wire::SysDeviceInfo::IMAGER_TYPE_AR0239_COLOR:
ASSERT_EQ(info.imager_type, MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR); break;
case wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280:
ASSERT_EQ(info.imager_type, MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280); break;
default: {CRL_EXCEPTION("Unsupported imager type");}
}
ASSERT_EQ(wire.imagerWidth, info.imager_width);
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3 changes: 1 addition & 2 deletions source/Wire/include/wire/SysDeviceInfoMessage.hh
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Expand Up @@ -115,12 +115,11 @@ public:
static CRL_CONSTEXPR uint32_t IMAGER_TYPE_IMX104_COLOR = 100;
static CRL_CONSTEXPR uint32_t IMAGER_TYPE_AR0234_GREY = 200;
static CRL_CONSTEXPR uint32_t IMAGER_TYPE_AR0239_COLOR = 202;
static CRL_CONSTEXPR uint32_t IMAGER_TYPE_TENUM1280 = 300;

static CRL_CONSTEXPR uint32_t LENS_TYPE_STANDARD = 1;
static CRL_CONSTEXPR uint32_t LENS_TYPE_FISHEYE = 2;



static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_NONE = 0;
static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_INTERNAL = 1;
static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_SL_INTERNAL = 1; // Legacy
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