User Manual

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printf
("Simple Roi measure distance average:%d
\n",handle.MeasureData.simple_roi_data[0].distance_average);
break
;
case
FULL_ROI_PACKET :
printf
("Full Roi measure distance average:%d
\n",handle.MeasureData.full_roi_data[0].distance_average);
break
;
case
FULL_DEPTH_PACKET :
printf
("Full depth measure distance average:%d
\n",handle.MeasureData.full_depth_data->distance_average);
break
;
case
SIMPLE_DEPTH_PACKET :
printf
("simple depth measure distance average:%d
\n",handle.MeasureData.simple_depth_data->distance_average);
break
;
case
NULL_PACKET :
printf
("return packet is null\n");
break
;
default
:
printf
("system error\n");
break
;
}
}
2.4 Environment configuration under ROS platform and
integration of SDK into IDE
SDK ROS provides the application interface of HPS3D160 Depth camera. The generated 32-
bit/64-bit .so dynamic link library is suitable for ROS platform on Linux operating system. The .so
and api.h interfaces can be integrated into the user's project source code. Compile. The SDK is a
secondary development package that provides only the basic operational interface. You can get
the depth map and the complete ROI (sensitive area) data. If you need to convert to point cloud
data, you can enable the interface to convert the point cloud data before acquiring the data. This
document is based on the SDK with API version number 2018.12.10 V1.0.0.
SDK ROS is suitable for use on the Linux operating system ROS platform. Here Ubuntu 14.04
is taken as an example. Because the Linux operating system of Ubuntu 14.04 is installed, the
corresponding ROS version is installed as the distribution version indigo, and the 1.11.21 version is
installed here. Enter rosrun at the terminal and run the ROS bus to view the version of ROS running,
as shown below: