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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="realsense2dev" type="realsense2"> | ||
| <group name="SETTINGS"> | ||
| <param name="depthResolution"> (640 480) </param> | ||
| <param name="rgbResolution"> (640 480) </param> | ||
| <param name="framerate"> 30 </param> | ||
| <param name="enableEmitter"> true</param> | ||
| <param name="needAlignment"> true</param> | ||
| <param name="alignmentFrame"> RGB</param> | ||
| </group> | ||
| <group name="HW_DESCRIPTION"> | ||
| <param name="clipPlanes"> (0.2 10.0)</param> | ||
| </group> | ||
| <!-- <group name="QUANT_PARAM"> --> | ||
| <!-- <param name="depth_quant">2</param> --> | ||
| <!-- </group> --> | ||
| </device> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <robot name="iCubGenova11RealSense" build="2" portprefix="/icub" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
| <devices> | ||
| <xi:include href="./camera/realsense.xml" /> | ||
| <xi:include href="./wrappers/camera/realsense-nws_yarp.xml" /> | ||
| </devices> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="RGBDWrapperyarp" type="rgbdSensor_nws_yarp"> | ||
| <param name="period"> 0.033 </param> | ||
| <param name="name"> /depthCamera </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="subdevicergbd"> realsense2dev </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> |