User Manual

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1. SDK introduction ...................................................................................................................... - 4 -

2. Integrate SDK into IDE .............................................................................................................. - 4 -

2.1 Environment configuration and integration into the IDE under Linux platform ............. - 4 -

2.1.1 HPS3D160 device connection .............................................................................. - 4 -

2.1.2 Engineering environment configuration and integration .................................... - 5 -

2.1.3 Use SDK in user project ....................................................................................... - 6 -

2.2 Integrate SDK Lite into IDE ............................................................................................ - 11 -

2.2.1 Add head file search path .................................................................................. - 11 -

2.2.2Add SDK directory source code to project .......................................................... - 13 -

2.2.3 Port to the user’s platform ................................................................................ - 14 -

2.2.4 Use SDK in user’s project ................................................................................... - 14 -

2.2.5 Analyze measurement packets using the SDK ................................................... - 14 -

2.3 Integrate SDK to IDE under Windows platform ............................................................ - 17 -

2.3.1 Add xxx.dll dynamic link library and api.h head files to the project .................. - 17 -

2.3.2 SDK Use SDK in user’s project ............................................................................ - 17 -

2.4 Environment configuration under ROS platform and integration of SDK into IDE ........ - 21 -

2.4.1 Create a work space .......................................................................................... - 22 -

2.4.2 Create a ROS packet (Catkin packet) .................................................................. - 23 -

2.4.3 Create ROS message msg and service srv .......................................................... - 24 -

2.4.4 Create ROS Depth camera client node and server ............................................. - 28 -

3、Command function interface ............................................................................................... - 34 -

3.1 Set running mode ......................................................................................................... - 34 -

3.1.1 Sample code ...................................................................................................... - 34 -

3.2 Get/set device address ................................................................................................. - 35 -

3.2.1 Sample code ...................................................................................................... - 35 -

3.2.2 Running result ................................................................................................... - 35 -

3.3 Get device version information .................................................................................... - 35 -

3.3.1 Sample code ...................................................................................................... - 35 -

3.3.2 Running result ................................................................................................... - 35 -

3.4 Get/set data packet type .............................................................................................. - 36 -

3.4.1 Sample code ...................................................................................................... - 36 -

3.4.2 Running result ................................................................................................... - 36 -

3.5 Save/Clear/Reset factory setting .................................................................................. - 36 -

3.5.1 Sample code ...................................................................................................... - 36 -

3.6 Get the transfer type .................................................................................................... - 36 -

3.6.1 Sample code ...................................................................................................... - 36 -

3.6.2 Running result ................................................................................................... - 37 -

3.7 Get ROI group/get current ROI group ID ...................................................................... - 37 -

3.7.1 Sample code ...................................................................................................... - 37 -

3.7.2 Running result ................................................................................................... - 37 -

3.8 ROI relative settings ...................................................................................................... - 37 -

3.8.1 Sample code ...................................................................................................... - 37 -