Quelltext der Seite Bluetechnix 'Time of Flight' API

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'''The newer [[Bluetechnix ToF API v2]] is available. Use it instead!'''
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This Section introduces the SDK v1 for Bluetechnix ToF products

== Available Versions ==

Find the SDK implementation you need in the table below
{| class="wikitable" style="text-align: left"
! ToF device
! Library to use
|-
| [[Argos 3D - P100]]
| [[#BTA P100 Library|BtaP100Lib]]
|-
| [[Argos 3D - P310]]
| [[#BTA ETH Library|BtaEthLib]]
|-
| [[Argos 3D-P320|Argos 3D - P320]]
| [[#BTA ETH Library|BtaEthLib]]
|-
| [[Sentis-ToF-M100|Sentis ToF - M100]]
| [[#BTA ETH Library|BtaEthLib]]
|-
| [[Sentis ToF - P509]]
| [[#BTA ETH Library|BtaEthLib]]
|-
| [[Sentis ToF - P510]]
| [[#BTA ETH Library|BtaEthLib]]
|-
| [[TIM-UP-19k-S3-Spartan6|TIM-UP-19k-S3-Spartan6-USB]]
| [[#BTA P100 Library|BtaP100Lib]]
|}

== BTA P100 Library ==

===Downloads===
<br><br>
'''The newer [[Bluetechnix ToF API v2]] is available. Use it instead!'''
<br><br><br>
----
<br><br>
{| class="wikitable" style="text-align: center"
| 
! Windows 32 bit
! Windows 64 bit
! Linux 64 bit
! ARM hardfloat
|-
! [[Bluetechnix 'Time of Flight' API#BtaP100Lib Version 1.3.0|V1.6.1]]
| colspan="4" | [https://datasheets.becom-group.com/goto/BltTofApi/v1.6.1/Bluetechnix_ToF_Api_P100_v1.6.1_Win_x86_x64_Lin_x64_Armhf.zip download]
|-
! [[Bluetechnix 'Time of Flight' API#BtaP100Lib Version 1.3.0|V1.3.0]]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.3.0/Bluetechnix_ToF_Api_P100_Win_Lin_ARM_v1.3.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.3.0/Bluetechnix_ToF_Api_P100_Win_Lin_ARM_v1.3.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.3.0/Bluetechnix_ToF_Api_P100_Win_Lin_ARM_v1.3.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.3.0/Bluetechnix_ToF_Api_P100_Win_Lin_ARM_v1.3.0.zip download]
|-
! [[Bluetechnix 'Time of Flight' API#BtaP100Lib Version 1.0.0|V1.0.0]]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_P100_Win_x86_x64_v1.0.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_P100_Win_x86_x64_v1.0.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_P100_Lin_x64_v1.0.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_P100_Armhf_v1.0.0.zip download]
|-
|}

=== Version 1.6.1 ===

Supported devices/modules in their hardware (HW) and firmware (FW) version combinations:

{| class="wikitable" style="text-align: center"
! Argos3D-P100
| FW v1.0.0
| FW v2.0.0
|-
| HW v1.0.0 || {{tcc|OK}} || {{tcc|OK}}
|-
| HW v2.0.0 || {{tcc|OK}} || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Tim-uP-19k-S3-Spartan-6-USB
| FW v2.0.0
|-
| HW v2.0.0 || {{tcc|OK}}
|}

==== Changes  ====
* Added new frame modes (see header files).
* Getter and setter for modulation frequency.
* PON can be specified in BTAopen.
* Grabbing functionality for recording the data stream to a file.

==== Limitations ====
* BTAsetKeepAliveMsgInterval()not supported. The device does not need such a feature because it is connected via USB.
* BTAsetControlCrcEnabled() not suported. The device does not need such a feature because it is connected via USB.
* If the library starts a thread for getting frames and video mode is disabled, the lib tries to get frames (blockingly) and runs in a timeout. This also blocks register accesses.
* Only 10 P100 devices supported simultaneously.
* BTAstartDiscovery() is currently not implemented as intended by the specification. It blocks until there are no new devices to be found. BTAstopDiscovery() in this case is not needed and therefore not supported.
* BTA_FrameModeDistAmpColor not supported.
* P100 Firmware 1.0.0: Not possible to set a positive offset.
* P100 Firmware 1.0.0: Software trigger not supported.
* P100 Firmware 1.0.0: BTAsendReset not supported.
* P100 Firmware 1.0.0: BTArestoreDefaultConfig not supported.
* Be careful when setting a new frame mode either by using BTAsetFrameMode or by direct access to the calculation mode register.<br>  Allow the device at least 200ms (more to be on the safe side) to stabilize before calling BTAgetFrame. Take special care when your application is multi-threaded. If you do not wait the specified time the device might no longer respond correctly and in the worst case power cycling the device will be necessary.
* EXPERT USERS ONLY: If you want to change bits in the calculation mode register (0x0F) that affect which containers are produced by the device you have to set the frame mode to BTA_FrameModeCurrentConfig. Failing to do so will cause BTAgetFrame to return with the error code BTA_StatusUnexpectedDataFormat if the source data necessary for the currently set BTA_frameMode is not correct.

==== Known Issues ====
* BTAsetFrameRate with P100 Firmware 1.0.0: please disregard the printf of "OLD FIRMWARE" to stdout.

==== Virtual Registers ====
The following registers do not exist on the underlying hardware but are used in the ToF Api layer exclusively.
All registers contain 4 bytes of data.
{| class="wikitable" style="text-align: center"
 ! Register name
 ! Register address
 ! Description
|-
| Bilateral Filter Config 1 || 0x1E0 || bilateral filter on(=1)/off(=0)
|-
| Bilateral Filter Config 2 || 0x1E6 || bilateral filter window size; valid values: 3,5,7;
|}

==== Additional Information ====

Image Data Documentation

:Plausibility Flags

::The flag channel provides information about each pixel's reliability.

::{| class="wikitable" style="text-align: center"
 ! Flag name
 ! Flag value
 ! Description
|-
| FLAG_INVALID || 0x1 || The pixel is invalid (generic).
|-
| FLAG_SATURATED  || 0x2 || The calculated distance is not within a defined range.
|-
| FLAG_INCONSISTENT || 0x4 || The pixel’s raw data values are inconsistent with each other. <br>This can happen when there are very fast changes in the scene (motion artefacts).
|-
| FLAG_LOW_SIGNAL || 0x8 || The pixel's exposure was too low.
|-
| FLAG_SBI_ACTIVE ||0x10 ||
|}

=== Version 1.3.0 ===

Supported devices/modules in their hardware (HW) and firmware (FW) version combinations:

{| class="wikitable" style="text-align: center"
! Argos3D-P100
| FW v1.0.0
| FW v2.0.0
|-
| HW v1.0.0 || {{tcc|OK}} || {{tcc|OK}}
|-
| HW v2.0.0 || {{tcc|OK}} || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Tim-uP-19k-S3-Spartan-6-USB
| FW v2.0.0
|-
| HW v2.0.0 || {{tcc|OK}}
|}

==== Changes  ====
* Added new frame modes (see header files).
* BTA_FrameModeCurrentConfig now works as specified.
* Fixed Bug when assigning an invalid calibration file name in a BTA_Config.
* Fixed Bug in Bilateral filter.
* Changed timestamp in BTA_Frame from ms to us.
* BTAsetFrameMode only sets the necessary bits in register 0x0F and leaves the others untouched.
* Frame modes XZYAmp and XYZAmpFlags: unit of amplitudes is now BTA_UnitUnitLess (was BTA_UnitMeters).

==== Limitations ====
* BTAsetKeepAliveMsgInterval()not supported. The device does not need such a feature because it is connected via USB.
* BTAsetControlCrcEnabled() not suported. The device does not need such a feature because it is connected via USB.
* BTAsendReset(): The device does not support this feature at this time.
* BTArestoreDefaultConfig(): The device does not support this feature at this time.
* No queueing is implemented, thus BTAgetFrame initiates the retrieval of a frame (blocking). Using the frameArrived callback function lets the lib call BTAgetFrame() repeadedly in a separate thread.
* Only 10 P100 devices supported simultaneously.
* BTAstartDiscovery() is currently not implemented as intended by the specification. It blocks until there are no new devices to be found. BTAstopDiscovery() in this case is not needed and therefore not supported.
* BTA_FrameModeDistAmpColor not supported.
* P100 Firmware 1.0.0: Not possible to set a positive offset.
* P100 Firmware 1.0.0: Software trigger not supported.
* BTA_FrameModeIntensities: BTAsetFrameRate does not apply (actual value is about 4 times the value set).
* Be careful when setting a new frame mode either by using BTAsetFrameMode or by direct access to the calculation mode register.<br>  Allow the device at least 200ms (more to be on the safe side) to stabilize before calling BTAgetFrame. Take special care when your application is multi-threaded. If you do not wait the specified time the device might no longer respond correctly and in the worst case power cycling the device will be necessary.
* EXPERT USERS ONLY: If you want to change bits in the calculation mode register (0x0F) that affect which containers are produced by the device you have to set the frame mode to BTA_FrameModeCurrentConfig. Failing to do so will cause BTAgetFrame to return with the error code BTA_StatusUnexpectedDataFormat if the source data necessary for the currently set BTA_frameMode is not correct.

==== Known Issues ====
* BTAsetFrameRate with P100 Firmware 1.0.0: please disregard the printf of "OLD FIRMWARE" to stdout.

==== Virtual Registers ====
The following registers do not exist on the underlying hardware but are used in the ToF Api layer exclusively.
All registers contain 4 bytes of data.
{| class="wikitable" style="text-align: center"
 ! Register name
 ! Register address
 ! Description
|-
| Bilateral Filter Config 1 || 0x1E0 || bilateral filter on(=1)/off(=0)
|-
| Bilateral Filter Config 2 || 0x1E6 || bilateral filter window size; valid values: 3,5,7;
|}

=== Version 1.0.0 ===

Supported devices/modules in their hardware (HW) and firmware (FW) version combinations:

{| class="wikitable" style="text-align: center"
! Argos3D-P100
| FW v1.0.0
| FW v2.0.0
|-
| HW v1.0.0 || {{tcc|OK}} || {{tcc|OK}}
|-
| HW v2.0.0 || {{tcc|OK}} || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Tim-uP-19k-S3-Spartan-6-USB
| FW v2.0.0
|-
| HW v2.0.0 || {{tcc|OK}}
|}

==== Limitations ====
* BTAsetKeepAliveMsgInterval()not supported. The device does not need such a feature because it is connected via USB.
* BTAsetControlCrcEnabled() not suported. The device does not need such a feature because it is connected via USB.
* BTAsendReset(): The device does not support this feature at this time.
* BTArestoreDefaultConfig(): The device does not support this feature at this time.
* BTA_Frame: genericTemp is not valid
* Only BTA_FrameModeDistAmpFlags and BTA_FrameModeXYZ are supported.
* BTA_FrameModeCurrentConfig is treated as BTA_FrameModeDistAmpFlags.
* No queueing is implemented, thus BTAgetFrame initiates the retrieval of a frame (blocking). Using the frameArrived callback function lets the lib call BTAgetFrame() repeadedly in a separate thread.
* Only 10 P100 devices supported simultaneously.
* BTAstartDiscovery() is currently not implemented as intended by the specification. It blocks until there are no new devices to be found. BTAstopDiscovery() in this case is not needed and therefore not supported.

==== Known Issues ====
* When assigning an invalid calibration file name in a BTA_Config and calling BTAopen with this BTA_Config the device will return BTA_StatusInvalidParameter. The device will return BTA_StatusDeviceUnreachable to all subsequent calls of BTAopen until the calling application terminates.
*The bilateral filter does not work reliably. Do not use it.

==== Virtual Registers ====
The following registers do not exist on the underlying hardware but are used in the ToF Api layer exclusively.
All registers contain 4 bytes of data.
{| class="wikitable" style="text-align: center"
 ! Register name
 ! Register address
 ! Description
|-
| Bilateral Filter Config 1 || 0x1E0 || bilateral filter on(=1)/off(=0)
|-
| Bilateral Filter Config 2 || 0x1E6 || bilateral filter window size; valid values: 3,5,7;
|}

== BTA ETH Library ==

===Downloads===

{| class="wikitable" style="text-align: center"
| 
! Windows 32 bit
! Windows 64 bit
! Linux 64 bit
! ARM hardfloat
|-
! [[Bluetechnix 'Time of Flight' API#BtaEthLib Version 1.6.1|V1.6.1]]
| colspan="4" | [https://datasheets.becom-group.com/goto/BltTofApi/v1.6.1/Bluetechnix_ToF_Api_Eth_v1.6.1_Win_x86_x64_Lin_x64_Armhf.zip download]
|-
! [[Bluetechnix 'Time of Flight' API#BtaEthLib Version 1.3.0|V1.3.0]]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.3.0/Bluetechnix_ToF_Api_Eth_Win_x86_x64_v1.3.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.3.0/Bluetechnix_ToF_Api_Eth_Win_x86_x64_v1.3.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.3.0/Bluetechnix_ToF_Api_Eth_Lin_x64_v1.3.0.zip download]
| n/a
|-
! [[Bluetechnix 'Time of Flight' API#BtaEthLib Version 1.0.0|V1.0.0]]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_Eth_Win_x86_x64_v1.0.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_Eth_Win_x86_x64_v1.0.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_Eth_Lin_x64_v1.0.0.zip download]
| [https://datasheets.becom-group.com/goto/BltTofApi/v1.0.0/Bluetechnix_ToF_Api_Eth_Armhf_v1.0.0.zip download]
|-
|}

=== Version 1.6.1 ===

Supported devices/modules in their hardware (HW) and firmware (FW) version combinations:

{| class="wikitable" style="text-align: center"
! Sentis-ToF-M100
| FW v1.0.0
| FW v2.0.1
| FW v2.1.0
|-
| HW v0.0.0 || {{tcc|OK}} || {{tcc|OK}} || {{tcc|OK}}
|-
| HW v0.2.0 || {{tcc|OK}} || {{tcc|OK}} || {{tcc|OK}}
|-
| HW v1.0.0 || {{tcc|OK}} || {{tcc|OK}} || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Sentis-ToF-P510
| FW X-grade
|-
| HW X-grade || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Argos3D-P320
| FW X-grade
|-
| HW X-grade || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Argos3D-P310
| FW X-grade
|-
| HW X-grade || {{tcc|OK}}
|}

==== Changes  ====
* Added new frame modes (see header files).
* Getter and setter for modulation frequency.
* Grabbing functionality for recording the data stream to a file.
* BTArestoreDefaultConfig no longer sets default register values. Instead it erases that sections in flash. A reset/power cycle is required for the registers to be default.

==== Limitations ====
* BTAstartDiscovery() The functionality is currently  not implemented
* BTAstopDiscovery() The functionality is currently not implemented
* FrameModes DistAmpFlags, DistAmpColor, XYZAmpFlags and Intensities are not supported

=== Version 1.3.0 ===

No information available.

=== Version 1.0.0 ===

Supported devices/modules in their hardware (HW) and firmware (FW) version combinations:

{| class="wikitable" style="text-align: center"
! Sentis-ToF-M100
| FW v1.0.0
| FW v2.0.1
| FW v2.1.0
|-
| HW v0.0.0 || {{tcc|OK}} || {{tcc|OK}} || {{tcc|OK}}
|-
| HW v0.2.0 || {{tcc|OK}} || {{tcc|OK}} || {{tcc|OK}}
|-
| HW v1.0.0 || {{tcc|OK}} || {{tcc|OK}} || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Sentis-ToF-P510
| FW X-grade
|-
| HW X-grade || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Argos3D-P320
| FW X-grade
|-
| HW X-grade || {{tcc|OK}}
|}

{| class="wikitable" style="text-align: center"
! Argos3D-P310
| FW X-grade
|-
| HW X-grade || {{tcc|OK}}
|}

==== Limitations ====
* BTAstartDiscovery() The functionality is currently  not implemented
* BTAstopDiscovery() The functionality is currently not implemented
* BTA_FrameModeDistAmpFlags is not supported
* BTA_Frame: The integration time and modulation frequency are not supported (set to 0)
* BTA_Frame: genericTemp is not valid

==== Known Issues ====
* BTAgetDeviceInfo() triggers assertion when connected to an Argos3D-P510
* A TCP control connection without a UDP data connection can be established, but not the other way around
* Due to timing constraints, BTArestoreDefaultConfig() and BTAwriteCurrentConfigToNvm() do not work on Argos3D-P320 and Sentis-ToF-P510

== Reference Manual ==

* [[BltTofApi Quick Start Guide|Quick start guide]]
* [[BltTofApi Build instructions]]
* [[BltTofApi Error codes]]
* [[BltTofApi Events description]]