################################################################################ RELEASE NOTES ============== Basler blaze SDK Version: 2.1.0 Release date: 2020-09-07 Preceding release: 2.0.2.0 Products affected: blaze-101 (order number 107796), revisions 03 or above, firmware version 2.0 or above NEW FEATURES ------------ * Support for Basler blaze-101 revision 08 (firmware version 2.3). New parameters: - ZOffsetOriginToCameraFront - SensorPosition - SensorPixelWidth - SensorPixelHeight * Installer for Windows * .NET API and C# and Visual Basic samples * Added the ColorAndDepthFusion C++ sample that illustrates how to calibrate a Basler GigE color camera and fuse the color image into a colored point cloud. * Added the "Basler blaze SDK.md" document providing information about how to build applications using the blaze SDK. CHANGES -------- * Fixed some stability issues. * Updated the GenApi library. For Linux, the names of the GenApi shared libraries have changed. Depending on the build system you use, you might have to adapt your linker settings. Pass the following options to the linker: -lGenApi_gcc54_v3_1_Basler -lGCBase_gcc54_v3_1_Basler * For blaze-101 revision 08 or newer resp. firmware version 2.3 or newer, the Thermal Dift Correction feature is enabled by default. COMPATIBILITY/MIGRATION ------------------------ The Basler blaze SDK 2.0 is compatible with blaze-101 cameras with firmware versions 2.0 or above only. Note: Applications built using the Basler blaze SDK 2.0 can't access cameras with firmware versions before 2.0. These cameras have to be updated to firmware 2.0 or above when you migrate to the Basler blaze SDK 2.0. That means, when migrating from blaze SDK 1.0.13 or before, the firmware of blaze-101 cameras with hardware revision below 7 must be updated. Note: Depending on the Basler blaze SDK version an application is built with, an application can either operate cameras with firmware version 1.x only or firmware version 2.x only. Mixing 1.x cameras with 2.x cameras in the same application is not possible. A firmware field update package and update instructions can be downloaded from: https://www.baslerweb.com/baslermedia/blaze-getting-started/Firmware Firmware 2.0.0 introduced some breaking changes that require you to check and adapt your application code. Refer to the "Migration Guide" section below for details. MIGRATION GUIDE ---------------- The blaze-101 firmware 2.0 introduced some breaking changes. If you intend to update the camera firmware or to access blaze-101 cameras with revision 7 or above, you have to update and rebuild your application using the Basler blaze SDK 2.0 or above. * Renaming of camera parameters Some camera parameters have been renamed: Former Feature Name New Feature Name --------------------------------------------------------------- fx Scan3dFocalLength fy Scan3dFocalLength cx Scan3dPrincipalPointU cy Scan3dPrincipalPointV Please check your code for the former feature names and replace them with the new names instead. * Changed OperatingMode parameter and added FastMode parameter. Check your code whether it sets the OperatingMode parameter. If your code sets OperatingMode to "MidRange", change "MidRange" to "LongRange" instead. If your code sets OperatingMode to "LongRangeHQ", set OperatingMode to "LongRange" and FastMode to false. You should decide whether to enable FastMode. There is a trade-off between depth data accuracy and speed, i.e., frame rate. To achieve the highest accuracy, set FastMode to false. In order to maximize the frame rate or to reduce motion artifacts, set FastMode to true. The general recommendation is to operate the camera with FastMode disabled (which is the default configuration). FastMode should only be enabled if the frame rate is not sufficient or to reduce motion artifacts. * Removed CBlazeCamera::Coord3D::IsValid() method, a user-settable value identifying missing depth data. Starting with firmware version 2.0, the Scan3dInvalidDataValue camera parameter allows you to specify a value for identifying missing depth data. If there is no valid depth data for a certain sensor pixel, in range images the corresponding pixel will be set to the value specified here. In point clouds, all 3 coordinates of the corresponding point are set to this value. The default value for Scan3dInvalidDataValue is zero. In previous versions of the SDK, in case of missing depth information all 3 coordinates of a point in the point cloud were set to NaN. The CBlazeCamera::Coord3D::IsValid() convenience method allowed you to check for NaNs. Since the value used for indicating missing depth data is configurable and defaults to zero, this convenience function has been removed. You have to change your code accordingly. Refer to the ConvertPointCloud2DepthMap sample included in this SDK for an example how the check can be performed. KNOWN LIMITATIONS ------------------ General: * A programmer's guide and an API documentation are not available yet. Linux: * The Basler blaze Viewer is not available for Linux yet. ################################################################################ Version: 2.0.2.0 Release date: 2020-07-16 Preceding release: 2.0.1.0 Products affected: blaze-101 (order number 107796), revisions 03 or above, firmware version 2.0 or above CHANGES -------- - Fixed issue where stopping image acquisition could cause a delay. COMPATIBILITY/MIGRATION ------------------------ The Basler blaze SDK 2.0 is compatible with blaze-101 cameras with firmware versions 2.0 or above only. Note: Applications built using the Basler blaze SDK 2.0 can't access cameras with firmware versions before 2.0. These cameras have to be updated to firmware 2.0 or above when you migrate to the Basler blaze SDK 2.0. That means, when migrating from blaze SDK 1.0.13 or before, the firmware of blaze-101 cameras with hardware revision below 7 must be updated. Note: Depending on the Basler blaze SDK version an application is built with, an application can either operate cameras with firmware version 1.x only or firmware version 2.x only. Mixing 1.x cameras with 2.x cameras in the same application is not possible. A firmware field update package and update instructions can be downloaded from: https://www.baslerweb.com/baslermedia/blaze-getting-started/Firmware KNOWN LIMITATIONS ------------------ General: * A user's manual and an API documentation are not yet available. Linux: * The Basler blaze Viewer is not available for Linux yet. ################################################################################ Version: 2.0.1.0 Release date: 2020-07-10 Preceding release: 2.0.0.1 Products affected: blaze-101 (order number 107796), revisions 03 or above, firmware version 2.0 or above CHANGES -------- - Fixed partially incomplete sample code snippets displayed in the blaze Viewer's documentation window. - Fixed a bug in the blaze Viewer preventing users from changing some integer parameters. - The blaze SDK 2.0.0.1 contained outdated firmware release notes. - Moved the CMake find module for the Basler blaze SDK. The find module is now located in the lib/cmake subfolder. - Reworked some comments in the C++ samples. Added README.txt for the samples. - Optimized bandwidth usage in the color_and_depth.py sample. The color camera is triggered first to allow it to start transferring image data while the blaze camera is still internally processing the acquired data. - Added document providing information how to migrate from Basler tof640-20gm cameras to Basler blaze-101 cameras. ################################################################################ Version: 2.0.0.1 Release date: 2020-06-24 Preceding release: 1.0.13 Products affected: blaze-101 (order number 107796), revision 03 or above, firmware version 2.0 or above CHANGES -------- - Improved GenICam GenTL compatibility. The Basler GenTL producer for blaze-101 cameras passes the GenTL 1.5 certification test suite. - Using the ComponentSelector and PixelFormat camera parameters, depth data can be either sent as 3D point clouds (PixelFormat=Coord3D_ABC32f) or 2D range images (PixelFormat=Coord3D_C16). The PixelFormat Coord3D_ABC32f is the default pixel format for depth data. - Missing depth information is no longer indicated as a triple of NaN values in point clouds. Instead, by default, the coordinate values of points without depth information are set to zero. The value used for marking missing depth information can be set with the Scan3dInvalidDataValue camera parameter. Note: This is a breaking change and you will most likely have to adapt your application code. Refer to the Migration Guide section below for more details. - Removed CBlazeCamera::Coord3D::IsValid() method. Refer to the Migration Guide section below how to check whether there is valid depth data for a point in a point cloud. - Added Python samples that illustrate basic camera usage and how to operate a blaze-101 camera together with a Basler ace GigE color camera. - Added C++ samples, e.g. the ColorAndDepth C++ sample that illustrates how to operate a blaze-101 camera together with a Basler ace GigE color camera. - Improved and optimized the MVTec Halcon sample. - Fixed bug causing the blaze Viewer to crash when saving depth information using radial distances. - The blaze Viewer accepts 'NaN' (Not a Number) as input value for the Scan3dInvalidDataValue parameter. - The blaze Viewer displays confidence maps. - The blaze Viewer doesn't display timeout error messages when the TriggerMode camera parameter is enabled. KNOWN LIMITATIONS ------------------ General: * A user's manual and an API documentation are not yet available. Linux: * The Basler blaze Viewer is not available for Linux yet. ################################################################################ Version: 1.0.13.1 Release date: 2020-01-20 Release type: beta (incomplete functionality) Preceding release: 1.0.11 COMPATIBILITY/MIGRATION ------------------------ The Basler blaze SDK 1.0.13.1 is compatible with blaze-101 cameras with firmware versions 1.0.13 up to 1.0.15. blaze-101 cameras with hardware revision 5 or above are shipped with firmware version 1.0.13 or above. For revision 3 and 4 blaze-101 cameras, a field update is available. The update package and update instructions can be downloaded from: https://www.baslerweb.com/baslermedia/blaze-getting-started/Firmware Use the following login credentials: User name: blaze Password: b4sl3ersw Cameras with firmware version 1.0.12 or below won't be detected and can't be accessed by tools shipped with the SDK 1.0.13.1 or by software built using the blaze SDK 1.0.13.1. When migrating to blaze SDK 1.0.13.1, the firmware of cameras with hardware revision 3 or 4 must be updated. blaze-101 cameras with hardware revision 5 or above and blaze-101 cameras with firmware version 1.0.13 or above can't be operated with applications built with a blaze SDK older than 1.0.13.1. You have to migrate to blaze SDK 1.0.13.1 or above if you want to access these cameras. CHANGES -------- - The value range and scaling of the ConfidenceThreshold parameter has been reduced from 0–65535 to 0–255. To achieve the same result as with previous firmware versions, former threshold values have to be divided by 8. - The camera's IP configuration can be changed from DHCP/LLA to static IP addresses. Use the blaze IP Configurator tool included in the Basler blaze SDK to adjust the camera's IP configuration. On Windows systems, the IP Configurator is located in the Tools folder. On Linux systems, the tool is located in the /opt/Basler_blaze/bin folder. - There is a DeviceReset parameter to reboot the camera device. - The camera implements a heartbeat mechanism according to the GigE Vision standard. If an application unexpectedly crashes or the connection between host and camera is lost, the camera stops acquisition after a timeout period has expired. The default timeout is 3 seconds. KNOWN LIMITATIONS ------------------ General: * The camera hasn't reached feature complete yet. The naming of parameters isn't final and is subject to change. * A user's manual isn't available yet. * The API doesn't allow switching between range map and point cloud yet. It will always deliver the point cloud. If a range map is required, as a workaround, the point cloud can be converted in the user's application. The ConvertPointCloud2DepthMap sample, which is included in the SDK, demonstrates how to do this. Linux: * The Basler blaze Viewer is not available for Linux yet. ################################################################################ Version: 1.0.11 Release date: 2019-09-27 Release type: beta (incomplete functionality) Preceding release: n/a KNOWN LIMITATIONS ------------------ General: * The camera hasn't reached feature complete yet. The naming of parameters isn't final and is subject to change. * Manual IP address assignment isn't possible yet. * A user's manual isn't available yet. * The API doesn't allow switching between range map and point cloud yet. It will always deliver the point cloud. If a range map is required, as a workaround, the point cloud can be converted in the user's application. The ConvertPointCloud2DepthMap sample, which is included in the SDK, demonstrates how to do this. Linux: * The Basler blaze Viewer is not available for Linux yet. COMPATIBILITY INFORMATION -------------------------- This version of the software is compatible with these camera models/revisions: - blaze-101 with firmware version 1.0.11