FrameCalibrationToROS with new firmware - wrong calibration extracted for ScannerMode

[bmegli]

See:

• https://github.com/Extend-Robotics/photoneo-cpp-examples/pull/1

With old firmware for scanner mode we would get 1680x1200 calibration

Now it looks like we are getting 1120x800 calibration (like in camera mode)

# Device: 0
#  Name:                    MotionCam-3D-SBT-079
#  Hardware Identification: SBT-079
#  Type:                    MotionCam-3D
#  Firmware version:        1.13.3
#  Variant:                 M+
#  IsFileCamera:            No
#  Feature-Alpha:           No
#  Feature-Color:           Yes
#  Status:                  Attached to PhoXi Control. Ready to connect

# Device: 1
#  Name:                    basic-example
#  Hardware Identification: InstalledExamples-basic-example
#  Type:                    PhoXi3DScan
#  Firmware version:        
#  Variant:                 
#  IsFileCamera:            Yes
#  Feature-Alpha:           No
#  Feature-Color:           No
#  Status:                  Not Attached to PhoXi Control. Ready to connect

# Device: 2
#  Name:                    color-example
#  Hardware Identification: InstalledExamples-color-example
#  Type:                    MotionCam-3D
#  Firmware version:        
#  Variant:                 
#  IsFileCamera:            Yes
#  Feature-Alpha:           No
#  Feature-Color:           Yes
#  Status:                  Not Attached to PhoXi Control. Ready to connect

# You have already PhoXi device opened in PhoXi Control, the API Example is connected to device: SBT-079

image_width: 1120
image_height: 800
camera_name: SBT-079
camera_matrix: 
  rows: 3
  cols: 3
  data: [1154.5, 0, 553.982, 0, 1154.49, 404.14, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients: 
  rows: 1
  cols: 5
  data: [-0.0927104, 0.176941, 0.000490251, 0.000218982, -0.0903808]
rectification_matrix: 
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix: 
  rows: 3
  cols: 4
  data: [1154.5, 0, 553.982, 0, 0, 1154.49, 404.14, 0, 0, 0, 1, 0]

[bmegli]

It looks like connecting with PhoXi control automatically changes back OperationMode to Camera

[bmegli]

The problems stems from User Profile overwriting current camera settings

Maybe above, maybe not, it just overwrites camera settings

[bmegli]

With newer PhoXiControl/firmware make sure profile is set on device and in PhoXiControl to

• to avoid PhoXiControl overriding calibration settings set from GeniCam