constants.h
Go to the documentation of this file.
1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2018 Intel Corporation. All Rights Reserved
3 
4 #pragma once
5 
6 #include <string>
7 
8 #define REALSENSE_ROS_MAJOR_VERSION 2
9 #define REALSENSE_ROS_MINOR_VERSION 2
10 #define REALSENSE_ROS_PATCH_VERSION 22
11 
12 #define STRINGIFY(arg) #arg
13 #define VAR_ARG_STRING(arg) STRINGIFY(arg)
14 /* Return version in "X.Y.Z" format */
15 #define REALSENSE_ROS_VERSION_STR (VAR_ARG_STRING(REALSENSE_ROS_MAJOR_VERSION.REALSENSE_ROS_MINOR_VERSION.REALSENSE_ROS_PATCH_VERSION))
16 
17 namespace realsense2_camera
18 {
19  const uint16_t SR300_PID = 0x0aa5; // SR300
20  const uint16_t SR300v2_PID = 0x0B48; // SR305
21  const uint16_t RS400_PID = 0x0ad1; // PSR
22  const uint16_t RS410_PID = 0x0ad2; // ASR
23  const uint16_t RS415_PID = 0x0ad3; // ASRC
24  const uint16_t RS430_PID = 0x0ad4; // AWG
25  const uint16_t RS430_MM_PID = 0x0ad5; // AWGT
26  const uint16_t RS_USB2_PID = 0x0ad6; // USB2
27  const uint16_t RS420_PID = 0x0af6; // PWG
28  const uint16_t RS420_MM_PID = 0x0afe; // PWGT
29  const uint16_t RS410_MM_PID = 0x0aff; // ASR
30  const uint16_t RS400_MM_PID = 0x0b00; // PSR
31  const uint16_t RS430_MM_RGB_PID = 0x0b01; // AWGCT
32  const uint16_t RS460_PID = 0x0b03; // DS5U
33  const uint16_t RS435_RGB_PID = 0x0b07; // AWGC
34  const uint16_t RS435i_RGB_PID = 0x0B3A; // AWGC_MM
35  const uint16_t RS465_PID = 0x0b4d; // D465
36  const uint16_t RS416_RGB_PID = 0x0B52; // F416 RGB
37  const uint16_t RS405_PID = 0x0b0c; // DS5U
38  const uint16_t RS455_PID = 0x0B5C; // D455
39  const uint16_t RS_T265_PID = 0x0b37; //
40  const uint16_t RS_L515_PID_PRE_PRQ = 0x0B3D; //
41  const uint16_t RS_L515_PID = 0x0B64; //
42 
43 
44  const bool ALIGN_DEPTH = false;
45  const bool POINTCLOUD = false;
46  const bool ALLOW_NO_TEXTURE_POINTS = false;
47  const bool ORDERED_POINTCLOUD = false;
48  const bool SYNC_FRAMES = false;
49 
50  const bool PUBLISH_TF = true;
51  const double TF_PUBLISH_RATE = 0; // Static transform
52 
53  const int IMAGE_WIDTH = 640;
54  const int IMAGE_HEIGHT = 480;
55  const int IMAGE_FPS = 30;
56 
57  const int IMU_FPS = 0;
58 
59 
60  const bool ENABLE_DEPTH = true;
61  const bool ENABLE_INFRA1 = true;
62  const bool ENABLE_INFRA2 = true;
63  const bool ENABLE_COLOR = true;
64  const bool ENABLE_FISHEYE = true;
65  const bool ENABLE_IMU = true;
66  const bool HOLD_BACK_IMU_FOR_FRAMES = false;
67  const bool PUBLISH_ODOM_TF = true;
68 
69 
70  const std::string DEFAULT_BASE_FRAME_ID = "camera_link";
71  const std::string DEFAULT_ODOM_FRAME_ID = "odom_frame";
72  const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame";
73  const std::string DEFAULT_INFRA1_FRAME_ID = "camera_infra1_frame";
74  const std::string DEFAULT_INFRA2_FRAME_ID = "camera_infra2_frame";
75  const std::string DEFAULT_COLOR_FRAME_ID = "camera_color_frame";
76  const std::string DEFAULT_FISHEYE_FRAME_ID = "camera_fisheye_frame";
77  const std::string DEFAULT_IMU_FRAME_ID = "camera_imu_frame";
78 
79  const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame";
80  const std::string DEFAULT_INFRA1_OPTICAL_FRAME_ID = "camera_infra1_optical_frame";
81  const std::string DEFAULT_INFRA2_OPTICAL_FRAME_ID = "camera_infra2_optical_frame";
82  const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_color_optical_frame";
83  const std::string DEFAULT_FISHEYE_OPTICAL_FRAME_ID = "camera_fisheye_optical_frame";
84  const std::string DEFAULT_ACCEL_OPTICAL_FRAME_ID = "camera_accel_optical_frame";
85  const std::string DEFAULT_GYRO_OPTICAL_FRAME_ID = "camera_gyro_optical_frame";
86  const std::string DEFAULT_IMU_OPTICAL_FRAME_ID = "camera_imu_optical_frame";
87 
88  const std::string DEFAULT_ALIGNED_DEPTH_TO_COLOR_FRAME_ID = "camera_aligned_depth_to_color_frame";
89  const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA1_FRAME_ID = "camera_aligned_depth_to_infra1_frame";
90  const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA2_FRAME_ID = "camera_aligned_depth_to_infra2_frame";
91  const std::string DEFAULT_ALIGNED_DEPTH_TO_FISHEYE_FRAME_ID = "camera_aligned_depth_to_fisheye_frame";
92 
93  const std::string DEFAULT_UNITE_IMU_METHOD = "";
94  const std::string DEFAULT_FILTERS = "";
95  const std::string DEFAULT_TOPIC_ODOM_IN = "";
96 
97  const float ROS_DEPTH_SCALE = 0.001;
98  using stream_index_pair = std::pair<rs2_stream, int>;
99 } // namespace realsense2_camera
const std::string DEFAULT_COLOR_FRAME_ID
Definition: constants.h:75
const uint16_t RS400_MM_PID
Definition: constants.h:30
const std::string DEFAULT_BASE_FRAME_ID
Definition: constants.h:70
const bool ENABLE_INFRA2
Definition: constants.h:62
const std::string DEFAULT_IMU_FRAME_ID
Definition: constants.h:77
const bool ALIGN_DEPTH
Definition: constants.h:44
const std::string DEFAULT_ODOM_FRAME_ID
Definition: constants.h:71
const std::string DEFAULT_IMU_OPTICAL_FRAME_ID
Definition: constants.h:86
const uint16_t RS430_MM_RGB_PID
Definition: constants.h:31
const uint16_t RS_L515_PID_PRE_PRQ
Definition: constants.h:40
const bool PUBLISH_ODOM_TF
Definition: constants.h:67
const std::string DEFAULT_GYRO_OPTICAL_FRAME_ID
Definition: constants.h:85
const std::string DEFAULT_ALIGNED_DEPTH_TO_COLOR_FRAME_ID
Definition: constants.h:88
const std::string DEFAULT_INFRA2_FRAME_ID
Definition: constants.h:74
const std::string DEFAULT_UNITE_IMU_METHOD
Definition: constants.h:93
const uint16_t RS_T265_PID
Definition: constants.h:39
const uint16_t RS410_MM_PID
Definition: constants.h:29
const bool ENABLE_COLOR
Definition: constants.h:63
unsigned short uint16_t
const uint16_t RS415_PID
Definition: constants.h:23
const uint16_t RS_USB2_PID
Definition: constants.h:26
const uint16_t RS430_PID
Definition: constants.h:24
const uint16_t RS460_PID
Definition: constants.h:32
const uint16_t RS465_PID
Definition: constants.h:35
std::pair< rs2_stream, int > stream_index_pair
Definition: constants.h:98
const bool PUBLISH_TF
Definition: constants.h:50
const uint16_t RS420_MM_PID
Definition: constants.h:28
const uint16_t RS420_PID
Definition: constants.h:27
const std::string DEFAULT_ALIGNED_DEPTH_TO_FISHEYE_FRAME_ID
Definition: constants.h:91
const uint16_t SR300v2_PID
Definition: constants.h:20
const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID
Definition: constants.h:82
const uint16_t RS430_MM_PID
Definition: constants.h:25
const std::string DEFAULT_ACCEL_OPTICAL_FRAME_ID
Definition: constants.h:84
const uint16_t RS416_RGB_PID
Definition: constants.h:36
const uint16_t RS435_RGB_PID
Definition: constants.h:33
const int IMU_FPS
Definition: constants.h:57
const std::string DEFAULT_DEPTH_FRAME_ID
Definition: constants.h:72
const std::string DEFAULT_TOPIC_ODOM_IN
Definition: constants.h:95
const uint16_t RS_L515_PID
Definition: constants.h:41
const bool ALLOW_NO_TEXTURE_POINTS
Definition: constants.h:46
const std::string DEFAULT_FISHEYE_OPTICAL_FRAME_ID
Definition: constants.h:83
const uint16_t RS455_PID
Definition: constants.h:38
const bool POINTCLOUD
Definition: constants.h:45
const int IMAGE_FPS
Definition: constants.h:55
const int IMAGE_WIDTH
Definition: constants.h:53
const bool ENABLE_INFRA1
Definition: constants.h:61
const std::string DEFAULT_FISHEYE_FRAME_ID
Definition: constants.h:76
const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID
Definition: constants.h:79
const std::string DEFAULT_INFRA1_FRAME_ID
Definition: constants.h:73
const bool SYNC_FRAMES
Definition: constants.h:48
const uint16_t RS405_PID
Definition: constants.h:37
const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA1_FRAME_ID
Definition: constants.h:89
const double TF_PUBLISH_RATE
Definition: constants.h:51
const std::string DEFAULT_INFRA1_OPTICAL_FRAME_ID
Definition: constants.h:80
const bool ORDERED_POINTCLOUD
Definition: constants.h:47
const std::string DEFAULT_INFRA2_OPTICAL_FRAME_ID
Definition: constants.h:81
const bool HOLD_BACK_IMU_FOR_FRAMES
Definition: constants.h:66
const uint16_t RS435i_RGB_PID
Definition: constants.h:34
const uint16_t RS400_PID
Definition: constants.h:21
const bool ENABLE_DEPTH
Definition: constants.h:60
const uint16_t RS410_PID
Definition: constants.h:22
const float ROS_DEPTH_SCALE
Definition: constants.h:97
const bool ENABLE_IMU
Definition: constants.h:65
const bool ENABLE_FISHEYE
Definition: constants.h:64
const int IMAGE_HEIGHT
Definition: constants.h:54
const std::string DEFAULT_FILTERS
Definition: constants.h:94
const uint16_t SR300_PID
Definition: constants.h:19
const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA2_FRAME_ID
Definition: constants.h:90


realsense2_camera
Author(s): Sergey Dorodnicov , Doron Hirshberg
autogenerated on Fri Feb 19 2021 03:32:17