Classes
class	BaseNodelet
class	F200Nodelet
class	R200Nodelet
class	SR300Nodelet
class	SyncNodelet
class	ZR300Nodelet
Typedefs
typedef std::pair< std::string, std::string >	stringpair
Functions
const std::map< std::string, std::string >	CAMERA_NAME_TO_VALIDATED_FIRMWARE (MAP_START_VALUES, MAP_START_VALUES+MAP_START_VALUES_SIZE)
Variables
const std::string	CAMERA_FORCE_POWER_SERVICE = "force_power"
const std::string	CAMERA_IS_POWERED_SERVICE = "is_powered"
const std::map< std::string, std::string >	CAMERA_NAME_TO_VALIDATED_FIRMWARE
const std::string	CAMERA_SET_POWER_SERVICE = "set_power"
const int	COLOR_FPS = 60
const int	COLOR_HEIGHT = 480
const std::string	COLOR_NAMESPACE = "color"
const std::string	COLOR_TOPIC = "image_raw"
const int	COLOR_WIDTH = 640
const std::string	DEFAULT_BASE_FRAME_ID = "camera_link"
const std::string	DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"
const std::string	DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"
const std::string	DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"
const std::string	DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"
const std::string	DEFAULT_FISHEYE_FRAME_ID = "camera_fisheye_frame"
const std::string	DEFAULT_FISHEYE_OPTICAL_FRAME_ID = "camera_fisheye_optical_frame"
const std::string	DEFAULT_IMU_FRAME_ID = "camera_imu_frame"
const std::string	DEFAULT_IMU_OPTICAL_FRAME_ID = "camera_imu_optical_frame"
const std::string	DEFAULT_IR2_FRAME_ID = "camera_ir2_frame"
const std::string	DEFAULT_IR2_OPTICAL_FRAME_ID = "camera_ir2_optical_frame"
const std::string	DEFAULT_IR_FRAME_ID = "camera_ir_frame"
const std::string	DEFAULT_IR_OPTICAL_FRAME_ID = "camera_ir_optical_frame"
const std::string	DEFAULT_MODE = "preset"
const int	DEPTH_FPS = 60
const int	DEPTH_HEIGHT = 360
const std::string	DEPTH_NAMESPACE = "depth"
const std::string	DEPTH_TOPIC = "image_raw"
const int	DEPTH_WIDTH = 480
const bool	ENABLE_COLOR = true
const bool	ENABLE_DEPTH = true
const bool	ENABLE_FISHEYE = true
const bool	ENABLE_IMU = true
const bool	ENABLE_IR = false
const bool	ENABLE_IR2 = false
const bool	ENABLE_PC = false
const bool	ENABLE_TF = true
const bool	ENABLE_TF_DYNAMIC = false
const int	EVENT_COUNT = 2
const std::string	F200_CAMERA_FW_VERSION = "2.60.0.0"
const float	F200_MAX_Z = 1.0f
const int	FISHEYE_FPS = 60
const int	FISHEYE_HEIGHT = 480
const std::string	FISHEYE_NAMESPACE = "fisheye"
const std::string	FISHEYE_TOPIC = "image_raw"
const int	FISHEYE_WIDTH = 640
const std::string	IMU_ACCEL = "IMU_ACCEL"
const std::string	IMU_GYRO = "IMU_GYRO"
const std::string	IMU_INFO_SERVICE = "get_imu_info"
const std::string	IMU_NAMESPACE = "imu"
const std::string	IMU_TOPIC = "data_raw"
const double	IMU_UNITS_TO_MSEC = 0.00003125
const std::string	IR2_NAMESPACE = "ir2"
const std::string	IR2_TOPIC = "image_raw"
const std::string	IR_NAMESPACE = "ir"
const std::string	IR_TOPIC = "image_raw"
const std::string	LR200_CAMERA_FW_VERSION = "2.0.71.18"
const stringpair	MAP_START_VALUES []
const int	MAP_START_VALUES_SIZE
const float	MILLIMETER_METERS = 0.001
const std::string	PC_TOPIC = "points"
const std::string	R200_CAMERA_FW_VERSION = "1.0.72.06"
const float	R200_MAX_Z = 10.0f
const double	ROTATION_IDENTITY [] = {1, 0, 0, 0, 1, 0, 0, 0, 1}
const std::string	SETTINGS_SERVICE = "get_settings"
const std::string	SR300_CAMERA_FW_VERSION = "3.10.10.0"
const float	SR300_MAX_Z = 1.5f
const int	STREAM_COUNT = 5
const std::string	STREAM_DESC [STREAM_COUNT] = {"Depth", "Color", "IR", "IR2", "Fisheye"}
const double	TF_PUBLICATION_RATE = 1.0
const std::string	ZR300_ADAPTER_FW_VERSION = "1.29.0.0"
const std::string	ZR300_CAMERA_FW_VERSION = "2.0.71.28"
const float	ZR300_MAX_Z = 10.0f
const std::string	ZR300_MOTION_MODULE_FW_VERSION = "1.25.0.0"

Typedef Documentation

typedef std::pair<std::string, std::string> realsense_camera::stringpair

Definition at line 131 of file constants.h.

Function Documentation

const std::map<std::string, std::string> realsense_camera::CAMERA_NAME_TO_VALIDATED_FIRMWARE	(	MAP_START_VALUES	,
		MAP_START_VALUES+	MAP_START_VALUES_SIZE
	)

Variable Documentation

const std::string realsense_camera::CAMERA_FORCE_POWER_SERVICE = "force_power"

Definition at line 81 of file constants.h.

const std::string realsense_camera::CAMERA_IS_POWERED_SERVICE = "is_powered"

Definition at line 79 of file constants.h.

const std::map<std::string, std::string> realsense_camera::CAMERA_NAME_TO_VALIDATED_FIRMWARE

const std::string realsense_camera::CAMERA_SET_POWER_SERVICE = "set_power"

Definition at line 80 of file constants.h.

const int realsense_camera::COLOR_FPS = 60

Definition at line 51 of file constants.h.

const int realsense_camera::COLOR_HEIGHT = 480

Definition at line 47 of file constants.h.

const std::string realsense_camera::COLOR_NAMESPACE = "color"

Definition at line 74 of file constants.h.

const std::string realsense_camera::COLOR_TOPIC = "image_raw"

Definition at line 75 of file constants.h.

const int realsense_camera::COLOR_WIDTH = 640

Definition at line 46 of file constants.h.

const std::string realsense_camera::DEFAULT_BASE_FRAME_ID = "camera_link"

Definition at line 64 of file constants.h.

const std::string realsense_camera::DEFAULT_COLOR_FRAME_ID = "camera_rgb_frame"

Definition at line 66 of file constants.h.

const std::string realsense_camera::DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_rgb_optical_frame"

Definition at line 69 of file constants.h.

const std::string realsense_camera::DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"

Definition at line 65 of file constants.h.

const std::string realsense_camera::DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"

Definition at line 68 of file constants.h.

const std::string realsense_camera::DEFAULT_FISHEYE_FRAME_ID = "camera_fisheye_frame"

Definition at line 119 of file constants.h.

const std::string realsense_camera::DEFAULT_FISHEYE_OPTICAL_FRAME_ID = "camera_fisheye_optical_frame"

Definition at line 121 of file constants.h.

const std::string realsense_camera::DEFAULT_IMU_FRAME_ID = "camera_imu_frame"

Definition at line 120 of file constants.h.

const std::string realsense_camera::DEFAULT_IMU_OPTICAL_FRAME_ID = "camera_imu_optical_frame"

Definition at line 122 of file constants.h.

const std::string realsense_camera::DEFAULT_IR2_FRAME_ID = "camera_ir2_frame"

Definition at line 90 of file constants.h.

const std::string realsense_camera::DEFAULT_IR2_OPTICAL_FRAME_ID = "camera_ir2_optical_frame"

Definition at line 91 of file constants.h.

const std::string realsense_camera::DEFAULT_IR_FRAME_ID = "camera_ir_frame"

Definition at line 67 of file constants.h.

const std::string realsense_camera::DEFAULT_IR_OPTICAL_FRAME_ID = "camera_ir_optical_frame"

Definition at line 70 of file constants.h.

const std::string realsense_camera::DEFAULT_MODE = "preset"

Definition at line 63 of file constants.h.

const int realsense_camera::DEPTH_FPS = 60

Definition at line 50 of file constants.h.

const int realsense_camera::DEPTH_HEIGHT = 360

Definition at line 45 of file constants.h.

const std::string realsense_camera::DEPTH_NAMESPACE = "depth"

Definition at line 71 of file constants.h.

const std::string realsense_camera::DEPTH_TOPIC = "image_raw"

Definition at line 72 of file constants.h.

const int realsense_camera::DEPTH_WIDTH = 480

Definition at line 44 of file constants.h.

const bool realsense_camera::ENABLE_COLOR = true

Definition at line 54 of file constants.h.

const bool realsense_camera::ENABLE_DEPTH = true

Definition at line 53 of file constants.h.

const bool realsense_camera::ENABLE_FISHEYE = true

Definition at line 57 of file constants.h.

const bool realsense_camera::ENABLE_IMU = true

Definition at line 58 of file constants.h.

const bool realsense_camera::ENABLE_IR = false

Definition at line 55 of file constants.h.

const bool realsense_camera::ENABLE_IR2 = false

Definition at line 56 of file constants.h.

const bool realsense_camera::ENABLE_PC = false

Definition at line 59 of file constants.h.

const bool realsense_camera::ENABLE_TF = true

Definition at line 60 of file constants.h.

const bool realsense_camera::ENABLE_TF_DYNAMIC = false

Definition at line 61 of file constants.h.

const int realsense_camera::EVENT_COUNT = 2

Definition at line 83 of file constants.h.

const std::string realsense_camera::F200_CAMERA_FW_VERSION = "2.60.0.0"

Definition at line 104 of file constants.h.

const float realsense_camera::F200_MAX_Z = 1.0f

Definition at line 103 of file constants.h.

const int realsense_camera::FISHEYE_FPS = 60

Definition at line 52 of file constants.h.

const int realsense_camera::FISHEYE_HEIGHT = 480

Definition at line 49 of file constants.h.

const std::string realsense_camera::FISHEYE_NAMESPACE = "fisheye"

Definition at line 114 of file constants.h.

const std::string realsense_camera::FISHEYE_TOPIC = "image_raw"

Definition at line 115 of file constants.h.

const int realsense_camera::FISHEYE_WIDTH = 640

Definition at line 48 of file constants.h.

const std::string realsense_camera::IMU_ACCEL = "IMU_ACCEL"

Definition at line 123 of file constants.h.

const std::string realsense_camera::IMU_GYRO = "IMU_GYRO"

Definition at line 124 of file constants.h.

const std::string realsense_camera::IMU_INFO_SERVICE = "get_imu_info"

Definition at line 118 of file constants.h.

const std::string realsense_camera::IMU_NAMESPACE = "imu"

Definition at line 116 of file constants.h.

const std::string realsense_camera::IMU_TOPIC = "data_raw"

Definition at line 117 of file constants.h.

const double realsense_camera::IMU_UNITS_TO_MSEC = 0.00003125

Definition at line 125 of file constants.h.

const std::string realsense_camera::IR2_NAMESPACE = "ir2"

Definition at line 88 of file constants.h.

const std::string realsense_camera::IR2_TOPIC = "image_raw"

Definition at line 89 of file constants.h.

const std::string realsense_camera::IR_NAMESPACE = "ir"

Definition at line 76 of file constants.h.

const std::string realsense_camera::IR_TOPIC = "image_raw"

Definition at line 77 of file constants.h.

const std::string realsense_camera::LR200_CAMERA_FW_VERSION = "2.0.71.18"

Definition at line 100 of file constants.h.

const stringpair realsense_camera::MAP_START_VALUES[]

Initial value:

    {
      stringpair("Intel RealSense R200_camera", R200_CAMERA_FW_VERSION),
      stringpair("Intel RealSense F200_camera", F200_CAMERA_FW_VERSION),
      stringpair("Intel RealSense SR300_camera", SR300_CAMERA_FW_VERSION),
      stringpair("Intel RealSense ZR300_camera", ZR300_CAMERA_FW_VERSION),
      stringpair("Intel RealSense ZR300_adapter", ZR300_ADAPTER_FW_VERSION),
      stringpair("Intel RealSense ZR300_motion_module", ZR300_MOTION_MODULE_FW_VERSION),
      stringpair("Intel RealSense LR200_camera", LR200_CAMERA_FW_VERSION)
    }

Definition at line 132 of file constants.h.

const int realsense_camera::MAP_START_VALUES_SIZE

Initial value:

 sizeof(MAP_START_VALUES) /
          sizeof(MAP_START_VALUES[0])

Definition at line 143 of file constants.h.

const float realsense_camera::MILLIMETER_METERS = 0.001

Definition at line 85 of file constants.h.

const std::string realsense_camera::PC_TOPIC = "points"

Definition at line 73 of file constants.h.

const std::string realsense_camera::R200_CAMERA_FW_VERSION = "1.0.72.06"

Definition at line 98 of file constants.h.

const float realsense_camera::R200_MAX_Z = 10.0f

Definition at line 97 of file constants.h.

const double realsense_camera::ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1}

Definition at line 84 of file constants.h.

const std::string realsense_camera::SETTINGS_SERVICE = "get_settings"

Definition at line 78 of file constants.h.

const std::string realsense_camera::SR300_CAMERA_FW_VERSION = "3.10.10.0"

Definition at line 109 of file constants.h.

const float realsense_camera::SR300_MAX_Z = 1.5f

Definition at line 108 of file constants.h.

const int realsense_camera::STREAM_COUNT = 5

Definition at line 43 of file constants.h.

const std::string realsense_camera::STREAM_DESC[STREAM_COUNT] = {"Depth", "Color", "IR", "IR2", "Fisheye"}

Definition at line 82 of file constants.h.

const double realsense_camera::TF_PUBLICATION_RATE = 1.0

Definition at line 62 of file constants.h.

const std::string realsense_camera::ZR300_ADAPTER_FW_VERSION = "1.29.0.0"

Definition at line 127 of file constants.h.

const std::string realsense_camera::ZR300_CAMERA_FW_VERSION = "2.0.71.28"

Definition at line 126 of file constants.h.

const float realsense_camera::ZR300_MAX_Z = 10.0f

Definition at line 113 of file constants.h.

const std::string realsense_camera::ZR300_MOTION_MODULE_FW_VERSION = "1.25.0.0"

Definition at line 128 of file constants.h.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation