1 #include <zivid_camera/Capture.h> 2 #include <zivid_camera/CaptureAssistantSuggestSettings.h> 3 #include <sensor_msgs/Image.h> 4 #include <sensor_msgs/PointCloud2.h> 12 throw std::runtime_error{ "\"" #cmd "\" failed!" }; \ 19 constexpr
auto ca_suggest_settings_service_name =
"/zivid_camera/capture_assistant/suggest_settings";
21 void capture_assistant_suggest_settings()
23 zivid_camera::CaptureAssistantSuggestSettings cass;
25 cass.request.ambient_light_frequency =
26 zivid_camera::CaptureAssistantSuggestSettings::Request::AMBIENT_LIGHT_FREQUENCY_NONE;
29 <<
" with max capture time = " << cass.request.max_capture_time <<
" sec");
36 zivid_camera::Capture capture;
40 void on_points(
const sensor_msgs::PointCloud2ConstPtr&)
45 void on_image_color(
const sensor_msgs::ImageConstPtr&)
52 int main(
int argc,
char** argv)
54 ros::init(argc, argv,
"sample_capture_assistant_cpp");
57 ROS_INFO(
"Starting sample_capture_assistant.cpp");
64 auto points_sub = n.
subscribe(
"/zivid_camera/points/xyzrgba", 1, on_points);
65 auto image_color_sub = n.
subscribe(
"/zivid_camera/color/image_color", 1, on_image_color);
67 capture_assistant_suggest_settings();
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
bool call(const std::string &service_name, MReq &req, MRes &res)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
int main(int argc, char **argv)
#define ROS_INFO_STREAM(args)
ROSCPP_DECL void waitForShutdown()
ROSCPP_DECL bool waitForService(const std::string &service_name, int32_t timeout)