README.adoc

d435 component

Table of Contents

• Ports
  • frame (multiple out)
  • intrinsics (out)
  • extrinsics (out)
• Services
  • set_compression (attribute)
  • connect (activity)
  • disconnect (activity)
  • set_format (attribute)
  • set_fps (attribute)
  • set_size (attribute)
  • set_compression (attribute)
  • set_extrinsics (activity)
• Tasks
  • main

Ports

frame (multiple out)

Data structure struct ::or::sensor::frame frame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

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intrinsics (out)

Data structure struct ::or::sensor::intrinsics intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

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extrinsics (out)

Data structure struct ::or::sensor::extrinsics extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

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Services

set_compression (attribute)

Inputs short compression_rate (default "-1") Image compression (0-100) ; -1 to disable compression.

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connect (activity)

Inputs string<32> serial serial number of the desired D435

Throws exception ::d435::e_rs string<128> what exception ::d435::e_io string<128> what

Context In task main Updates port intrinsics (out)

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disconnect (activity)

Throws exception ::d435::e_rs string<128> what

Context In task main

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set_format (attribute)

Inputs string<8> format (default "RGB8") Pixel format (RGB8, RGBA8, Y16)

Throws exception ::d435::e_io string<128> what

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set_fps (attribute)

Inputs unsigned short frequency (default "30") Camera frequency (6, 15, 30, 60(up to 640x480))

Throws exception ::d435::e_io string<128> what

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set_size (attribute)

Inputs struct ::or_camera::info::size_s size: Video size (1920x1080, 1280x720, 960x540, 848x480, 640x480, 640x360, 424x240, 320x240) unsigned short w (default "1280") unsigned short h (default "720")

Throws exception ::d435::e_io string<128> what

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set_compression (attribute)

Inputs short compression_rate (default "-1") Image compression (0-100) ; -1 to disable compression.

Throws exception ::d435::e_io string<128> what

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set_extrinsics (activity)

Inputs sequence< float, 6 > ext_values

Context In task main Updates port extrinsics (out)

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Tasks

main

Context Free running Updates port frame (multiple out) Updates port extrinsics (out)

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