t265 component

Table of Contents

• Ports
  • frame (multiple out)
  • intrinsics (out)
  • extrinsics (out)
• Services
  • connect (activity)
  • disconnect (activity)
  • set_compression (attribute)
  • set_extrinsics (activity)
• Tasks
  • main

Ports

frame (multiple out)

Data structure struct ::or::sensor::frame frame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

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intrinsics (out)

Data structure struct ::or::sensor::intrinsics intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

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extrinsics (out)

Data structure struct ::or::sensor::extrinsics extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

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Services

connect (activity)

Inputs string<32> serial serial number of the desired T265 unsigned short id (default "1") id of desired camera (1: left, 2: right) unsigned short size (default "500") pixel size of the desired undistorted image float fov (default "2") Field of view of the undistorted image in radian

Throws exception ::t265::e_rs string<128> what exception ::t265::e_io string<128> what

Context In task main Updates port intrinsics (out)

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disconnect (activity)

Throws exception ::t265::e_rs string<128> what

Context In task main

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set_compression (attribute)

Inputs short compression_rate (default "-1") Image compression (0-100) ; -1 to disable compression.

Throws exception ::t265::e_io string<128> what

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set_extrinsics (activity)

Inputs sequence< float, 6 > ext_values

Context In task main Updates port extrinsics (out)

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Tasks

main

Context Free running Updates port frame (multiple out) Updates port extrinsics (out)

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