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Merged
psmithcrl merged 12 commits into from
Jun 16, 2026
Merged

Psmithcrl/thermal lowcost #304

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7a6eb2e
Added hardware revisions for st25i
psmithcrl Jun 1, 2026
7743675
Change name from ST25i, to STLC
psmithcrl Jun 1, 2026
0dbc365
Added TURA640 IMAGER typ
psmithcrl Jun 1, 2026
0b52e49
Merge branch 'master' of github.com:carnegierobotics/LibMultiSense in…
psmithcrl Jun 2, 2026
7df223b
Merge branch 'master' into psmithcrl/thermal_lowcost
psmithcrl Jun 8, 2026
c9c4cc7
removed semicolon
psmithcrl Jun 12, 2026
4edd09d
Merge branch 'master' into psmithcrl/thermal_lowcost
QuentinTorg Jun 15, 2026
631139c
Merge branch 'master' of github.com:carnegierobotics/LibMultiSense in…
psmithcrl Jun 16, 2026
7afdb1b
added test for tenum1280 and tura640
psmithcrl Jun 16, 2026
70fe892
Added test for stlc hardware revision
psmithcrl Jun 16, 2026
0f20bbd
added some new info tests
psmithcrl Jun 16, 2026
6ff1596
Added tests
psmithcrl Jun 16, 2026
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6 changes: 4 additions & 2 deletions python/bindings.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -625,7 +625,8 @@ PYBIND11_MODULE(_libmultisense, m) {
.value("MONOCAM", multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::MONOCAM)
.value("KS21_SILVER", multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::KS21_SILVER)
.value("ST25", multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::ST25)
.value("KS21i", multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i);
.value("KS21i", multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i)
.value("STLC", multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::STLC);

// MultiSenseInfo::DeviceInfo::ImagerType
py::enum_<multisense::MultiSenseInfo::DeviceInfo::ImagerType>(m, "ImagerType")
Expand All @@ -637,7 +638,8 @@ PYBIND11_MODULE(_libmultisense, m) {
.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("TENUM1280", multisense::MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280);
.value("TENUM1280", multisense::MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280)
.value("TURA640", multisense::MultiSenseInfo::DeviceInfo::ImagerType::TURA640);

// MultiSenseInfo::DeviceInfo::LightingType
py::enum_<multisense::MultiSenseInfo::DeviceInfo::LightingType>(m, "LightingType")
Expand Down
4 changes: 4 additions & 0 deletions source/Legacy/details/channel.cc
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Expand Up @@ -578,6 +578,7 @@ uint32_t impl::hardwareApiToWire(uint32_t a)
case system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER: return wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER;
case system::DeviceInfo::HARDWARE_REV_MULTISENSE_ST25: return wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_ST25;
case system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21i: return wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i;
case system::DeviceInfo::HARDWARE_REV_MULTISENSE_STLC: return wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_STLC;
default:
CRL_DEBUG("unknown API hardware type \"%d\"\n", a);
return a; // pass through
Expand Down Expand Up @@ -605,6 +606,7 @@ uint32_t impl::hardwareWireToApi(uint32_t w)
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER: return system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER;
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_ST25: return system::DeviceInfo::HARDWARE_REV_MULTISENSE_ST25;
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i: return system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21i;
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_STLC: return system::DeviceInfo::HARDWARE_REV_MULTISENSE_STLC;
default:
CRL_DEBUG("unknown WIRE hardware type \"%d\"\n", w);
return w; // pass through
Expand All @@ -622,6 +624,7 @@ uint32_t impl::imagerApiToWire(uint32_t a)
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;
case system::DeviceInfo::IMAGER_TYPE_TURA640: return wire::SysDeviceInfo::IMAGER_TYPE_TURA640;
default:
CRL_DEBUG("unknown API imager type \"%d\"\n", a);
return a; // pass through
Expand All @@ -639,6 +642,7 @@ uint32_t impl::imagerWireToApi(uint32_t w)
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;
case wire::SysDeviceInfo::IMAGER_TYPE_TURA640: return system::DeviceInfo::IMAGER_TYPE_TURA640;
default:
CRL_DEBUG("unknown WIRE imager type \"%d\"\n", w);
return w; // pass through
Expand Down
2 changes: 2 additions & 0 deletions source/Legacy/include/MultiSense/MultiSenseTypes.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -3266,6 +3266,7 @@ public:
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_KS21_SILVER = 15;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_ST25 = 16;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_KS21i = 17;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_STLC = 18;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_BCAM = 100;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MONO = 101;

Expand All @@ -3279,6 +3280,7 @@ public:
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 IMAGER_TYPE_TURA640 = 301;

static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_NONE = 0;
static CRL_CONSTEXPR uint32_t LIGHTING_TYPE_INTERNAL = 1;
Expand Down
8 changes: 8 additions & 0 deletions source/LibMultiSense/details/legacy/info.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,8 @@ MultiSenseInfo::DeviceInfo convert(const crl::multisense::details::wire::SysDevi
{output.hardware_revision = MultiSenseInfo::DeviceInfo::HardwareRevision::ST25; break;}
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i:
{output.hardware_revision = MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i; break;}
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_STLC:
{output.hardware_revision = MultiSenseInfo::DeviceInfo::HardwareRevision::STLC; break;}
default: {CRL_EXCEPTION("Unsupported hardware revision");}
}

Expand Down Expand Up @@ -101,6 +103,8 @@ MultiSenseInfo::DeviceInfo convert(const crl::multisense::details::wire::SysDevi
{output.imager_type = MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR; break;}
case wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280:
{output.imager_type = MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280; break;}
case wire::SysDeviceInfo::IMAGER_TYPE_TURA640:
{output.imager_type = MultiSenseInfo::DeviceInfo::ImagerType::TURA640; break;}
default: {CRL_EXCEPTION("Unsupported imager type");}
}

Expand Down Expand Up @@ -177,6 +181,8 @@ crl::multisense::details::wire::SysDeviceInfo convert(const MultiSenseInfo::Devi
{output.hardwareRevision = wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_ST25; break;}
case MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i:
{output.hardwareRevision = wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i; break;}
case MultiSenseInfo::DeviceInfo::HardwareRevision::STLC:
{output.hardwareRevision = wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_STLC; break;}
default: {CRL_EXCEPTION("Unsupported hardware revision");}
}

Expand Down Expand Up @@ -206,6 +212,8 @@ crl::multisense::details::wire::SysDeviceInfo convert(const MultiSenseInfo::Devi
{output.imagerType = wire::SysDeviceInfo::IMAGER_TYPE_AR0239_COLOR; break;}
case MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280:
{output.imagerType = wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280; break;}
case MultiSenseInfo::DeviceInfo::ImagerType::TURA640:
{output.imagerType = wire::SysDeviceInfo::IMAGER_TYPE_TURA640; break;}
default: {CRL_EXCEPTION("Unsupported hardware revision");}
}

Expand Down
6 changes: 4 additions & 2 deletions source/LibMultiSense/include/MultiSense/MultiSenseSerialization.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -209,7 +209,8 @@ NLOHMANN_JSON_SERIALIZE_ENUM(MultiSenseInfo::DeviceInfo::HardwareRevision, {
{MultiSenseInfo::DeviceInfo::HardwareRevision::MONOCAM, "MONOCAM"},
{MultiSenseInfo::DeviceInfo::HardwareRevision::KS21_SILVER, "KS21_SILVER"},
{MultiSenseInfo::DeviceInfo::HardwareRevision::ST25, "ST25"},
{MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i, "KS21i"}
{MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i, "KS21i"},
{MultiSenseInfo::DeviceInfo::HardwareRevision::STLC, "STLC"}
})

NLOHMANN_JSON_SERIALIZE_ENUM(MultiSenseInfo::DeviceInfo::ImagerType, {
Expand All @@ -221,7 +222,8 @@ NLOHMANN_JSON_SERIALIZE_ENUM(MultiSenseInfo::DeviceInfo::ImagerType, {
{MultiSenseInfo::DeviceInfo::ImagerType::FLIR_TAU2, "FLIR_TAU2"},
{MultiSenseInfo::DeviceInfo::ImagerType::AR0234_GREY, "AR0234_GREY"},
{MultiSenseInfo::DeviceInfo::ImagerType::AR0239_COLOR, "AR0239_COLOR"},
{MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280, "TENUM1280"}
{MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280, "TENUM1280"},
{MultiSenseInfo::DeviceInfo::ImagerType::TURA640, "TURA640"}
})

NLOHMANN_JSON_SERIALIZE_ENUM(MultiSenseInfo::DeviceInfo::LightingType, {
Expand Down
6 changes: 4 additions & 2 deletions source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -1539,7 +1539,8 @@ struct MultiSenseInfo
MONOCAM,
KS21_SILVER,
ST25,
KS21i
KS21i,
STLC
};

///
Expand All @@ -1555,7 +1556,8 @@ struct MultiSenseInfo
FLIR_TAU2,
AR0234_GREY,
AR0239_COLOR,
TENUM1280
TENUM1280,
TURA640
};

///
Expand Down
88 changes: 88 additions & 0 deletions source/LibMultiSense/test/info_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -224,6 +224,8 @@ void check_equal(const crl::multisense::details::wire::SysDeviceInfo &wire,
ASSERT_EQ(info.hardware_revision, MultiSenseInfo::DeviceInfo::HardwareRevision::ST25); break;
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i:
ASSERT_EQ(info.hardware_revision, MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i); break;
case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_STLC:
ASSERT_EQ(info.hardware_revision, MultiSenseInfo::DeviceInfo::HardwareRevision::STLC); break;
default: {CRL_EXCEPTION("Unsupported hardware revision");}
}

Expand Down Expand Up @@ -254,6 +256,8 @@ void check_equal(const crl::multisense::details::wire::SysDeviceInfo &wire,
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;
case wire::SysDeviceInfo::IMAGER_TYPE_TURA640:
ASSERT_EQ(info.imager_type, MultiSenseInfo::DeviceInfo::ImagerType::TURA640); break;
default: {CRL_EXCEPTION("Unsupported imager type");}
}
ASSERT_EQ(wire.imagerWidth, info.imager_width);
Expand Down Expand Up @@ -318,12 +322,96 @@ TEST(convert, wire_to_info)
check_equal(info, convert(info), "key");
}

TEST(convert, wire_to_info_tenum)
{
auto info = create_wire_info("test", "key");
info.imagerType = crl::multisense::details::wire::SysDeviceInfo::IMAGER_TYPE_TENUM1280;
check_equal(info, convert(info), "key");
}

TEST(convert, wire_to_info_tura)
{
auto info = create_wire_info("test", "key");
info.imagerType = crl::multisense::details::wire::SysDeviceInfo::IMAGER_TYPE_TURA640;
check_equal(info, convert(info), "key");
}

TEST(convert, wire_to_info_234)
{
auto info = create_wire_info("test", "key");
info.imagerType = crl::multisense::details::wire::SysDeviceInfo::IMAGER_TYPE_AR0234_GREY;
check_equal(info, convert(info), "key");
}

TEST(convert, wire_to_info_ks21i)
{
auto info = create_wire_info("test", "key");
info.hardwareRevision = crl::multisense::details::wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i;
check_equal(info, convert(info), "key");
}

TEST(convert, wire_to_info_stlc)
{
auto info = create_wire_info("test", "key");
info.hardwareRevision = crl::multisense::details::wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_STLC;
check_equal(info, convert(info), "key");
}

TEST(convert, wire_to_info_st25)
{
auto info = create_wire_info("test", "key");
info.hardwareRevision = crl::multisense::details::wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_ST25;
check_equal(info, convert(info), "key");
}

TEST(convert, info_to_wire)
{
const auto info = create_info("test");
check_equal(convert(info, "key"), info, "key");
}

TEST(convert, info_to_wire_ks21i)
{
auto info = create_info("test");
info.hardware_revision = multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::KS21i;
check_equal(convert(info, "key"), info, "key");
}

TEST(convert, info_to_wire_stlc)
{
auto info = create_info("test");
info.hardware_revision = multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::STLC;
check_equal(convert(info, "key"), info, "key");
}

TEST(convert, info_to_wire_st25)
{
auto info = create_info("test");
info.hardware_revision = multisense::MultiSenseInfo::DeviceInfo::HardwareRevision::ST25;
check_equal(convert(info, "key"), info, "key");
}

TEST(convert, info_to_wire_234)
{
auto info = create_info("test");
info.imager_type = multisense::MultiSenseInfo::DeviceInfo::ImagerType::AR0234_GREY;
check_equal(convert(info, "key"), info, "key");
}

TEST(convert, info_to_wire_tura640)
{
auto info = create_info("test");
info.imager_type = multisense::MultiSenseInfo::DeviceInfo::ImagerType::TURA640;
check_equal(convert(info, "key"), info, "key");
}

TEST(convert, info_to_wire_tenum1280)
{
auto info = create_info("test");
info.imager_type = multisense::MultiSenseInfo::DeviceInfo::ImagerType::TENUM1280;
check_equal(convert(info, "key"), info, "key");
}

TEST(convert, version)
{
const auto version_wire = create_version();
Expand Down
2 changes: 2 additions & 0 deletions source/Wire/include/MultiSense/wire/SysDeviceInfoMessage.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ public:
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_KS21_SILVER = 15;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_ST25 = 16;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_KS21i = 17;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MULTISENSE_STLC = 18;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_BCAM = 100;
static CRL_CONSTEXPR uint32_t HARDWARE_REV_MONO = 101;

Expand All @@ -116,6 +117,7 @@ public:
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 IMAGER_TYPE_TURA640 = 301;

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