An agnostic C++ wrapper for the C Astra SDK. This object is wrapped by RosDevice. More...

#include <Device.hpp>

Classes
struct	Configuration

struct	Frame

struct	ImageStreamMode
	Represents a potential stream configuration. More...

Public Types
typedef std::shared_ptr< Device >	Ptr

typedef std::shared_ptr< const Device >	ConstPtr

Public Member Functions
void	update ()

const Configuration &	getConfiguration () const noexcept

Configuration &	getConfiguration () noexcept

orbbec_camera_params	getCameraParameters () const

boost::optional< std::string >	getSerialNumber () const

boost::optional< std::uint32_t >	getChipId () const

boost::optional< astra_usb_info_t >	getColorUsbInfo () const

boost::optional< astra_usb_info_t >	getDepthUsbInfo () const

boost::optional< astra_usb_info_t >	getIrUsbInfo () const

boost::optional< std::vector< ImageStreamMode > >	getColorImageStreamModes () const

boost::optional< std::vector< ImageStreamMode > >	getDepthImageStreamModes () const

boost::optional< std::vector< ImageStreamMode > >	getIrImageStreamModes () const

Static Public Member Functions
static Ptr	open (const Configuration &configuration)

Detailed Description

An agnostic C++ wrapper for the C Astra SDK. This object is wrapped by RosDevice.

Member Function Documentation

◆ getCameraParameters()

orbbec_camera_params astra_ros::Device::getCameraParameters ( ) const

Returns: The color and depth camera intrinsics

◆ getChipId()

boost::optional<std::uint32_t> astra_ros::Device::getChipId ( ) const

Returns: The Orbbec device's Chip ID, or boost::none if the Device has no depth stream.

◆ getColorImageStreamModes()

boost::optional<std::vector<ImageStreamMode> > astra_ros::Device::getColorImageStreamModes ( ) const

Get the image modes supported by the color stream.

Returns: boost::none if the device wasn't configured with a color stream, a list of image modes otherwise.

◆ getColorUsbInfo()

boost::optional<astra_usb_info_t> astra_ros::Device::getColorUsbInfo ( ) const

Returns: The USB information for the depth camera, or boost::none if the Device has no color stream.

◆ getConfiguration() [1/2]

const Configuration& astra_ros::Device::getConfiguration ( ) const

inlinenoexcept

Returns: A constant reference to the configuration.

◆ getConfiguration() [2/2]

Configuration& astra_ros::Device::getConfiguration ( )

inlinenoexcept

Returns: A mutable reference to the configuration. Can be used to update parameters.

◆ getDepthImageStreamModes()

boost::optional<std::vector<ImageStreamMode> > astra_ros::Device::getDepthImageStreamModes ( ) const

Get the image modes supported by the depth stream.

Returns: boost::none if the device wasn't configured with a depth stream, a list of image modes otherwise.

◆ getDepthUsbInfo()

boost::optional<astra_usb_info_t> astra_ros::Device::getDepthUsbInfo ( ) const

Returns: The USB information for the depth camera, or boost::none if the Device has no depth stream.

◆ getIrImageStreamModes()

boost::optional<std::vector<ImageStreamMode> > astra_ros::Device::getIrImageStreamModes ( ) const

Get the image modes supported by the IR stream.

Returns: boost::none if the device isn't configured with a IR stream, a list of image modes otherwise.

◆ getIrUsbInfo()

boost::optional<astra_usb_info_t> astra_ros::Device::getIrUsbInfo ( ) const

Returns: The USB information for the IR camera, or boost::none if the Device has no IR stream.

◆ getSerialNumber()

boost::optional<std::string> astra_ros::Device::getSerialNumber ( ) const

Returns: The Orbbec device's serial number, or boost::none if the Device has no depth stream.

◆ open()

static Ptr astra_ros::Device::open ( const Configuration & configuration )

static

Open an Orbbec device

Parameters

configuration The Configuration to use for this device.

◆ update()

void astra_ros::Device::update ( )

If a new frame is available, process it and call the OnFrame handler as specified in the Configuration.

The documentation for this class was generated from the following file:

include/astra_ros/Device.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions