realsense component

Table of Contents

• Ports
  • frame (multiple out)
  • intrinsics (out)
  • extrinsics (out)
  • pc (multiple out)
  • accel (out)
  • gyro (out)
  • odom (out)
• Services
  • connect_d435 (activity)
  • disconnect_d435 (activity)
  • setup_stream_t265 (function)
  • setup_stream_d435 (function)
  • list_devices (activity)
  • set_jpeg (attribute)
  • set_undistortion (activity)
  • set_format (attribute)
  • set_fps (attribute)
  • set_size (attribute)
  • set_registration (attribute)
  • set_depth_range (attribute)
  • set_extrinsics (activity)
• Tasks
  • main
  • visual
  • inertial
  • depth

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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pc (multiple out)

Data structure struct ::or::sensor::pc pc struct ::or::time::ts ts long sec long nsec unsigned long length sequence< struct ::or::sensor::pos > points float x float y float z optional< sequence< struct ::or::sensor::color > > colors octet r octet g octet b

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accel (out)

Data structure struct ::or_pose_estimator::state accel struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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gyro (out)

Data structure struct ::or_pose_estimator::state gyro struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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odom (out)

Data structure struct ::or_pose_estimator::state odom struct ::or::time::ts ts long sec long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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Services

connect_d435 (activity)

Inputs string<32> serial Serial number of the device

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

Context In task main Updates port intrinsics (out)

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disconnect_d435 (activity)

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

Context In task main

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setup_stream_t265 (function)

Inputs boolean fisheye (default "0") boolean odometry (default "0") boolean accelerometer (default "0") boolean gyroscope (default "0")

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setup_stream_d435 (function)

Inputs boolean color (default "0") boolean depth (default "0") boolean infrared (default "0") boolean accelerometer (default "0") boolean gyroscope (default "0")

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list_devices (activity)

Outputs sequence< string > serial List of serial of available devices.

Context In task main

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set_jpeg (attribute)

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

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

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set_undistortion (activity)

Inputs unsigned short size (default "500") Pixel size of the desired undistorted image; 0 to disable float fov (default "2") Field of view of the undistorted image in radian

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

Context In task visual Updates port intrinsics (out)

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set_format (attribute)

Inputs string<8> format (default "RGB8") Pixel format (YUYV, RGB8, RGBA8, BGR8, BGRA8, Y16)

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

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set_fps (attribute)

Inputs unsigned short frequency (default "30") Camera frequency (6, 15, 30, 60)

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

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set_registration (attribute)

Inputs boolean registration (default "0") Enable or disable point cloud registration

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set_depth_range (attribute)

Inputs float min (default "0.1") Minimum depth (in meter) for normalization when computing 2D depth image float max (default "3") Maximum depth (in meter) for normalization when computing 2D depth image

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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 intrinsics (out) Updates port extrinsics (out) Updates port pc (multiple out)

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visual

Context Free running Updates port frame (multiple out)

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inertial

Context Free running Updates port accel (out) Updates port gyro (out) Updates port odom (out)

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depth

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

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