support metavision 5.x

README.md

@@ -9,7 +9,7 @@ If you are looking for more speed and features than the [official
 Prophesee ROS
 driver](https://github.com/prophesee-ai/prophesee_ros_wrapper) you
 have found the right repository. This driver can cope with the large amount of
-data produced by Prophesee's Gen3 and Gen4 sensors because it does
+data produced by Prophesee's Gen3 and later sensors because it does
 little more than getting the RAW (currently EVT3 format) events from
 the camera and publishing them in ROS
 [event_camera_msgs](https://github.com/ros-event-camera/event_camera_msgs)
@@ -33,8 +33,8 @@ Tested on the following platforms:
 
 - ROS Noetic (legacy, please transition to ROS2)
 - ROS2 Humble and Rolling (also compiles on other versions, see CI)
-- Ubuntu 20.04, 22.04, 24.04 LTS
-- Metavision SDK (OpenEB) 4.2.0, 4.6.2
+- Ubuntu 22.04, 24.04 LTS
+- Metavision SDK (OpenEB) 4.2.0, 4.6.2, 5.0.0
 
 
 Tested on the following hardware:
@@ -44,7 +44,7 @@ Tested on the following hardware:
 - [Prophesee EVK4 (Gen 4 sensor)](https://www.prophesee.ai/event-camera-evk4/)
 
 Explicitly not supported: any data in the old EVT2 format. The sensor
-must produce data in the EVT3 format or later.
+must produce data in the EVT3 format. The new EVT4 format is not yet supported.
 
 
 ## Installation from binaries

cmake/ROS1.cmake

@@ -42,13 +42,13 @@ if(NOT MetavisionSDK_FOUND)
   if(IS_DIRECTORY "${metavision_SOURCE_DIR}")
     set_property(DIRECTORY ${metavision_SOURCE_DIR} PROPERTY EXCLUDE_FROM_ALL YES)
   endif()
-
+  # Why is this variable not set automatically ???
+  set(MetavisionSDK_VERSION_MAJOR 4)
   set(MUST_INSTALL_METAVISION TRUE)
 else()
   message(STATUS "metavision SDK is installed, not building it")
 endif()
 
-
 #add_compile_options(-Wall -Wextra -pedantic -Werror)
 add_compile_options(-Wall -Wextra -Wpedantic)
 #add_compile_definitions(USING_ROS_1)
@@ -64,9 +64,7 @@ find_package(catkin REQUIRED COMPONENTS
 # MetavisionSDK is now found otherwise
 # find_package(MetavisionSDK COMPONENTS driver REQUIRED)
 
-if(MetavisionSDK_VERSION_MAJOR LESS 4)
-  add_definitions(-DUSING_METAVISION_3)
-endif()
+add_definitions(-DMETAVISION_VERSION=${MetavisionSDK_VERSION_MAJOR})
 
 generate_dynamic_reconfigure_options(
   cfg/MetaVisionDyn.cfg)

cmake/ROS2.cmake

@@ -28,12 +28,20 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE RelWithDebInfo)
 endif()
 
-find_package(MetavisionSDK COMPONENTS driver REQUIRED)
-
-if(MetavisionSDK_VERSION_MAJOR LESS 4)
-  add_definitions(-DUSING_METAVISION_3)
+# there is no "driver" component for MV 5.x, but the MV
+# cmake file requires a COMPONENTS argument
+find_package(MetavisionSDK COMPONENTS driver QUIET)
+
+if(${MetavisionSDK_VERSION_MAJOR} LESS 5)
+  set(MV_COMPONENTS driver)
+else()
+  set(MV_COMPONENTS base core stream)
 endif()
 
+# now that we know the MV version, require the components
+find_package(MetavisionSDK COMPONENTS ${MV_COMPONENTS} REQUIRED)
+add_definitions(-DMETAVISION_VERSION=${MetavisionSDK_VERSION_MAJOR})
+
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_auto REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
@@ -60,8 +68,11 @@ ament_auto_add_library(driver_ros2 SHARED
   src/bias_parameter.cpp
   src/driver_ros2.cpp)
 
+set(MV_COMPONENTS_QUAL ${MV_COMPONENTS})
+list(TRANSFORM MV_COMPONENTS_QUAL PREPEND "MetavisionSDK::")
+
 target_include_directories(driver_ros2 PRIVATE include)
-target_link_libraries(driver_ros2 MetavisionSDK::driver)
+target_link_libraries(driver_ros2  ${MV_COMPONENTS_QUAL})
 
 rclcpp_components_register_nodes(driver_ros2 "metavision_driver::DriverROS2")
 

include/metavision_driver/callback_handler.h

@@ -16,7 +16,11 @@
 #ifndef METAVISION_DRIVER__CALLBACK_HANDLER_H_
 #define METAVISION_DRIVER__CALLBACK_HANDLER_H_
 
+#if METAVISION_VERSION < 5
 #include <metavision/sdk/driver/camera.h>
+#else
+#include <metavision/sdk/stream/camera.h>
+#endif
 
 namespace metavision_driver
 {

include/metavision_driver/metavision_wrapper.h

@@ -16,7 +16,11 @@
 #ifndef METAVISION_DRIVER__METAVISION_WRAPPER_H_
 #define METAVISION_DRIVER__METAVISION_WRAPPER_H_
 
+#if METAVISION_VERSION < 5
 #include <metavision/sdk/driver/camera.h>
+#else
+#include <metavision/sdk/stream/camera.h>
+#endif
 
 #include <chrono>
 #include <condition_variable>

src/metavision_wrapper.cpp

@@ -17,7 +17,7 @@
 
 #include "metavision_driver/logging.h"
 
-#ifdef USING_METAVISION_3
+#if METAVISION_VERSION < 4
 #include <metavision/hal/facilities/i_device_control.h>
 #include <metavision/hal/facilities/i_erc.h>
 #else
@@ -28,8 +28,11 @@
 #include <metavision/hal/facilities/i_event_trail_filter_module.h>
 #include <metavision/hal/facilities/i_hw_identification.h>
 #include <metavision/hal/facilities/i_hw_register.h>
+#include <metavision/hal/facilities/i_ll_biases.h>
 #include <metavision/hal/facilities/i_plugin_software_info.h>
+#include <metavision/hal/facilities/i_roi.h>
 #include <metavision/hal/facilities/i_trigger_in.h>
+#include <metavision/hal/facilities/i_trigger_out.h>
 
 #include <chrono>
 #include <map>
@@ -46,14 +49,15 @@
 
 namespace metavision_driver
 {
-#ifdef USING_METAVISION_3
+#if METAVISION_VERSION < 4
 using CameraSynchronization = Metavision::I_DeviceControl;
 using Window = Metavision::Roi::Rectangle;
 using ErcModule = Metavision::I_Erc;
 #else
 using CameraSynchronization = Metavision::I_CameraSynchronization;
-using Window = Metavision::Roi::Window;
 using ErcModule = Metavision::I_ErcModule;
+using Window = Metavision::I_ROI::Window;
+
 static const std::map<std::string, Metavision::I_TriggerIn::Channel> channelMap = {
   {"external", Metavision::I_TriggerIn::Channel::Main},
   {"aux", Metavision::I_TriggerIn::Channel::Aux},
@@ -87,9 +91,8 @@ MetavisionWrapper::~MetavisionWrapper() { stop(); }
 
 int MetavisionWrapper::getBias(const std::string & name)
 {
-  const Metavision::Biases biases = cam_.biases();
-  Metavision::I_LL_Biases * hw_biases = biases.get_facility();
-  const auto pmap = hw_biases->get_all_biases();
+  const auto biases = cam_.get_device().get_facility<Metavision::I_LL_Biases>();
+  const auto pmap = biases->get_all_biases();
   auto it = pmap.find(name);
   if (it == pmap.end()) {
     LOG_ERROR_NAMED("unknown bias parameter: " << name);
@@ -100,9 +103,8 @@ int MetavisionWrapper::getBias(const std::string & name)
 
 bool MetavisionWrapper::hasBias(const std::string & name)
 {
-  Metavision::Biases & biases = cam_.biases();
-  Metavision::I_LL_Biases * hw_biases = biases.get_facility();
-  const auto pmap = hw_biases->get_all_biases();
+  const auto biases = cam_.get_device().get_facility<Metavision::I_LL_Biases>();
+  const auto pmap = biases->get_all_biases();
   auto it = pmap.find(name);
   return (it != pmap.end());
 }
@@ -114,15 +116,14 @@ int MetavisionWrapper::setBias(const std::string & name, int val)
     LOG_WARN_NAMED("ignoring change to parameter: " << name);
     return (val);
   }
-  Metavision::Biases & biases = cam_.biases();
-  Metavision::I_LL_Biases * hw_biases = biases.get_facility();
-  const int prev = hw_biases->get(name);
+  const auto biases = cam_.get_device().get_facility<Metavision::I_LL_Biases>();
+  const int prev = biases->get(name);
   if (val != prev) {
-    if (!hw_biases->set(name, val)) {
+    if (!biases->set(name, val)) {
       LOG_WARN_NAMED("cannot set parameter " << name << " to " << val);
     }
   }
-  const int now = hw_biases->get(name);  // read back what actually took hold
+  const int now = biases->get(name);  // read back what actually took hold
   LOG_INFO_NAMED("changed  " << name << " from " << prev << " to " << val << " adj to: " << now);
   return (now);
 }
@@ -214,7 +215,7 @@ void MetavisionWrapper::applyROI(const std::vector<int> & roi)
         y_max_ = std::max(static_cast<uint16_t>(rect.y + rect.height), y_max_);
 #endif
       }
-      cam_.roi().set(rects);
+      cam_.get_device().get_facility<Metavision::I_ROI>()->set_windows(rects);
     }
   } else {
 #ifdef CHECK_IF_OUTSIDE_ROI
@@ -356,17 +357,20 @@ bool MetavisionWrapper::initializeCamera()
     LOG_INFO_NAMED("sensor name: " << sinfo.name_);
     if (!biasFile_.empty()) {
       try {
+#if METAVISION_VERSION < 5
         cam_.biases().set_from_file(biasFile_);
+#else
+        cam_.get_device().get_facility<Metavision::I_LL_Biases>()->load_from_file(biasFile_);
+#endif
         LOG_INFO_NAMED("using bias file: " << biasFile_);
       } catch (const Metavision::CameraException & e) {
         LOG_WARN_NAMED("reading bias file failed with error: " << e.what());
         LOG_WARN_NAMED("continuing with default biases!");
       }
     } else if (fromFile_.empty()) {  // only load biases when not playing from file!
       LOG_INFO_NAMED("no bias file provided, using camera defaults:");
-      const Metavision::Biases biases = cam_.biases();
-      Metavision::I_LL_Biases * hw_biases = biases.get_facility();
-      const auto pmap = hw_biases->get_all_biases();
+      const auto biases = cam_.get_device().get_facility<Metavision::I_LL_Biases>();
+      const auto pmap = biases->get_all_biases();
       for (const auto & bp : pmap) {
         LOG_INFO_NAMED("found bias param: " << bp.first << " " << bp.second);
       }
@@ -375,8 +379,13 @@ bool MetavisionWrapper::initializeCamera()
     serialNumber_ = cam_.get_camera_configuration().serial_number;
     LOG_INFO_NAMED("camera serial number: " << serialNumber_);
     const auto & g = cam_.geometry();
+#if METAVISION_VERSION < 5
     width_ = g.width();
     height_ = g.height();
+#else
+    width_ = g.get_width();
+    height_ = g.get_height();
+#endif
     LOG_INFO_NAMED("sensor geometry: " << width_ << " x " << height_);
     if (fromFile_.empty()) {
       applySyncMode(syncMode_);
@@ -503,7 +512,11 @@ bool MetavisionWrapper::saveBiases()
     return (false);
   } else {
     try {
+#if METAVISION_VERSION < 5
       cam_.biases().save_to_file(biasFile_);
+#else
+      cam_.get_device().get_facility<Metavision::I_LL_Biases>()->save_to_file(biasFile_);
+#endif
       LOG_INFO_NAMED("biases written to file: " << biasFile_);
     } catch (const Metavision::CameraException & e) {
       LOG_WARN_NAMED("failed to write bias file: " << e.what());