Public Member Functions
bool	Config (o3d3xx::Config::Request &req, o3d3xx::Config::Response &res)
bool	Dump (o3d3xx::Dump::Request &req, o3d3xx::Dump::Response &res)
bool	GetVersion (o3d3xx::GetVersion::Request &req, o3d3xx::GetVersion::Response &res)
	O3D3xxNode ()
bool	Rm (o3d3xx::Rm::Request &req, o3d3xx::Rm::Response &res)
void	Run ()
bool	Trigger (o3d3xx::Trigger::Request &req, o3d3xx::Trigger::Response &res)
Private Attributes
image_transport::Publisher	amplitude_pub_
bool	assume_sw_triggered_
o3d3xx::Camera::Ptr	cam_
ros::Publisher	cloud_pub_
image_transport::Publisher	conf_pub_
ros::ServiceServer	config_srv_
image_transport::Publisher	depth_pub_
image_transport::Publisher	depth_viz_pub_
ros::ServiceServer	dump_srv_
ros::Publisher	extrinsics_pub_
o3d3xx::FrameGrabber::Ptr	fg_
std::mutex	fg_mutex_
std::string	frame_id_
image_transport::Publisher	good_bad_pub_
std::string	optical_frame_id_
bool	publish_viz_images_
image_transport::Publisher	raw_amplitude_pub_
ros::ServiceServer	rm_srv_
std::uint16_t	schema_mask_
std::unique_ptr < ros::AsyncSpinner >	spinner_
int	timeout_millis_
double	timeout_tolerance_secs_
ros::ServiceServer	trigger_srv_
ros::Publisher	uvec_pub_
ros::ServiceServer	version_srv_
image_transport::Publisher	xyz_image_pub_

Detailed Description

Definition at line 43 of file o3d3xx_node.cpp.

Constructor & Destructor Documentation

O3D3xxNode::O3D3xxNode ( ) [inline]

Definition at line 46 of file o3d3xx_node.cpp.

Member Function Documentation

bool O3D3xxNode::Config	(	o3d3xx::Config::Request &	req,
		o3d3xx::Config::Response &	res
	)		`[inline]`

Implements the `Config' service.

The `Config' service will read the input JSON configuration data and mutate the camera's settings to match that of the configuration described by the JSON file. Syntactically, the JSON should look like the JSON that is produced by `Dump'. However, you need not specify every parameter. You can specify only the parameters you wish to change with the only caveat being that you need to specify the parameter as fully qualified from the top-level root of the JSON tree.

Definition at line 407 of file o3d3xx_node.cpp.

bool O3D3xxNode::Dump	(	o3d3xx::Dump::Request &	req,
		o3d3xx::Dump::Response &	res
	)		`[inline]`

Implements the `Dump' service.

The `Dump' service will dump the current camera configuration to a JSON string. This JSON string is suitable for editing and using to reconfigure the camera via the `Config' service.

Definition at line 377 of file o3d3xx_node.cpp.

bool O3D3xxNode::GetVersion	(	o3d3xx::GetVersion::Request &	req,
		o3d3xx::GetVersion::Response &	res
	)		`[inline]`

Implements the `GetVersion' service.

The `GetVersion' service will return the version string of the underlying libo3d3xx library.

Definition at line 331 of file o3d3xx_node.cpp.

bool O3D3xxNode::Rm	(	o3d3xx::Rm::Request &	req,
		o3d3xx::Rm::Response &	res
	)		`[inline]`

Implements the `Rm' service.

The `Rm' service is used to remove an application from the camera. This service restricts removing the current active application.

Definition at line 439 of file o3d3xx_node.cpp.

void O3D3xxNode::Run ( ) [inline]

Main publishing loop

Definition at line 152 of file o3d3xx_node.cpp.

bool O3D3xxNode::Trigger	(	o3d3xx::Trigger::Request &	req,
		o3d3xx::Trigger::Response &	res
	)		`[inline]`

Implements the `Trigger' service.

For cameras whose active application is set to software triggering as opposed to free-running, this service send the trigger for image acquisition to the camera.

Definition at line 352 of file o3d3xx_node.cpp.