├── .clang-format ├── .devcontainer ├── Dockerfile-ROS1-Noetic ├── Dockerfile-ROS2-Humble ├── Dockerfile-ROS2-Jazzy ├── README.md ├── ros1-noetic-sdk-3.6 │ └── devcontainer.json ├── ros1-noetic-sdk-4.0 │ └── devcontainer.json ├── ros2-humble-sdk-3.6 │ └── devcontainer.json ├── ros2-humble-sdk-4.0 │ └── devcontainer.json ├── ros2-jazzy-sdk-3.6 │ └── devcontainer.json ├── ros2-jazzy-sdk-4.0 │ └── devcontainer.json └── scripts │ ├── run_test_ros1.sh │ ├── run_test_ros2.sh │ ├── setup_workspace_ros1.sh │ ├── setup_workspace_ros2.sh │ ├── source_overlay_ros1.sh │ └── source_overlay_ros2.sh ├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── Bug.md │ └── config.yml ├── scripts │ ├── install_external_dependencies.sh │ └── prepare_ros2_build.sh └── workflows │ └── build-and-test.yml ├── .gitignore ├── CONTRIBUTORS.md ├── LICENSE ├── README.md ├── docs └── ROS2.md ├── ensenso_camera ├── .gitignore ├── CMakeLists.txt ├── include │ └── ensenso_camera │ │ ├── calibration_pattern.h │ │ ├── camera.h │ │ ├── camera_node.h │ │ ├── conversion.h │ │ ├── image_utilities.h │ │ ├── mono_camera.h │ │ ├── mono_camera_node.h │ │ ├── nxlib_initialize_finalize.h │ │ ├── nxlib_version.h │ │ ├── parameters.h │ │ ├── point_cloud_utilities.h │ │ ├── pose_utilities.h │ │ ├── queued_action_server.h │ │ ├── ros2 │ │ ├── action_server.h │ │ ├── core.h │ │ ├── cv_bridge │ │ │ └── cv_bridge.h │ │ ├── diagnostic_msgs │ │ │ ├── diagnostic_array.h │ │ │ └── diagnostic_status.h │ │ ├── ensenso_msgs │ │ │ ├── access_tree.h │ │ │ ├── calibrate_hand_eye.h │ │ │ ├── calibrate_workspace.h │ │ │ ├── execute_command.h │ │ │ ├── fit_primitive.h │ │ │ ├── get_parameter.h │ │ │ ├── image_point.h │ │ │ ├── locate_pattern.h │ │ │ ├── locate_pattern_mono.h │ │ │ ├── mono_calibration_pattern.h │ │ │ ├── parameter.h │ │ │ ├── primitive.h │ │ │ ├── project_pattern.h │ │ │ ├── request_data.h │ │ │ ├── request_data_mono.h │ │ │ ├── set_parameter.h │ │ │ ├── stereo_calibration_pattern.h │ │ │ ├── telecentric_projection.h │ │ │ └── textured_point_cloud.h │ │ ├── geometry_msgs │ │ │ ├── point32.h │ │ │ ├── point_cloud2.h │ │ │ ├── pose.h │ │ │ ├── pose_stamped.h │ │ │ ├── transform.h │ │ │ └── transform_stamped.h │ │ ├── image_transport.h │ │ ├── logging.h │ │ ├── namespace.h │ │ ├── node.h │ │ ├── node_handle.h │ │ ├── node_wrapper.h │ │ ├── pcl.h │ │ ├── sensor_msgs │ │ │ ├── camera_info.h │ │ │ ├── distortion_models.h │ │ │ ├── image.h │ │ │ └── image_encodings.h │ │ ├── tf2.h │ │ ├── tf2_geometry_msgs │ │ │ └── tf2_geometry_msgs.h │ │ ├── time.h │ │ └── visualization_msgs │ │ │ ├── marker.h │ │ │ └── marker_array.h │ │ ├── stereo_camera.h │ │ ├── stereo_camera_helpers.h │ │ ├── stereo_camera_node.h │ │ ├── string_helper.h │ │ └── virtual_object_handler.h ├── launch │ ├── calibrate_hand_eye.launch │ ├── color_point_cloud.launch │ ├── ensenso_N_with_xacro.launch │ ├── ensenso_X_with_xacro.launch │ ├── file_camera.launch │ ├── file_camera_mono.launch │ ├── file_mono_stereo_nodelets.launch │ ├── mono_stereo_nodelets.launch │ ├── nodelet.launch │ ├── register_depth_image.launch │ └── texture_point_cloud.launch ├── nodelets.xml ├── package.xml ├── rosdoc.yaml ├── scripts │ ├── calibrate_handeye │ ├── color_point_cloud │ ├── fit_primitive │ ├── image_stream │ ├── image_stream_mono │ ├── pattern_marker │ ├── request_data │ ├── request_data_linked │ ├── request_data_mono │ └── set_origin ├── setup.py └── src │ ├── calibration_pattern.cpp │ ├── camera.cpp │ ├── camera_node.cpp │ ├── conversion.cpp │ ├── ensenso_camera │ ├── __init__.py │ └── ros2.py │ ├── ensenso_camera_mono_node.cpp │ ├── ensenso_camera_node.cpp │ ├── image_utilities.cpp │ ├── mono_camera.cpp │ ├── mono_camera_node.cpp │ ├── nxlib_initialize_finalize.cpp │ ├── pose_utilities.cpp │ ├── stereo_camera.cpp │ ├── stereo_camera_node.cpp │ ├── texture_point_cloud.cpp │ └── virtual_object_handler.cpp ├── ensenso_camera2 ├── CATKIN_IGNORE ├── CMakeLists.txt ├── ensenso_camera │ └── ros2_launch.py ├── ignore_ros2_package.xml ├── include │ └── ensenso_camera │ │ └── queued_action_server.h └── launch │ ├── README.md │ ├── ensenso_N_with_xacro.launch.py │ ├── ensenso_X_with_xacro.launch.py │ ├── mono_node.launch.py │ ├── mono_stereo_node.launch.py │ ├── stereo_node.launch.py │ └── texture_point_cloud.launch.py ├── ensenso_camera_msgs ├── .gitignore ├── CMakeLists.txt ├── action │ ├── AccessTree.action │ ├── CalibrateHandEye.action │ ├── CalibrateWorkspace.action │ ├── ExecuteCommand.action │ ├── FitPrimitive.action │ ├── GetParameter.action │ ├── LocatePattern.action │ ├── LocatePatternMono.action │ ├── ProjectPattern.action │ ├── RequestData.action │ ├── RequestDataMono.action │ ├── SetParameter.action │ ├── TelecentricProjection.action │ └── TexturedPointCloud.action ├── msg │ ├── ImagePoint.msg │ ├── MonoCalibrationPattern.msg │ ├── NxLibException.msg │ ├── Parameter.msg │ ├── Primitive.msg │ ├── RegionOfInterest.msg │ └── StereoCalibrationPattern.msg └── package.xml ├── ensenso_camera_msgs2 ├── CATKIN_IGNORE ├── CMakeLists.txt ├── action │ └── GetParameter.action └── ignore_ros2_package.xml ├── ensenso_camera_test ├── .gitignore ├── CMakeLists.txt ├── data │ ├── .gitignore │ ├── colorized_point_cloud │ │ ├── mono.zip │ │ └── stereo.zip │ ├── fit_primitive │ │ └── camera.zip │ ├── hand_eye_calibration │ │ ├── camera.zip │ │ ├── final_link.json │ │ ├── final_pattern_pose.json │ │ └── links │ │ │ ├── links_calibration_img_2016-12-12_16-46-19.json │ │ │ ├── links_calibration_img_2016-12-12_16-46-24.json │ │ │ ├── links_calibration_img_2016-12-12_16-46-31.json │ │ │ ├── links_calibration_img_2016-12-12_16-46-38.json │ │ │ ├── links_calibration_img_2016-12-12_16-46-43.json │ │ │ ├── links_calibration_img_2016-12-12_16-46-49.json │ │ │ ├── links_calibration_img_2016-12-12_16-46-56.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-03.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-09.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-15.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-21.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-27.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-33.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-39.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-45.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-50.json │ │ │ ├── links_calibration_img_2016-12-12_16-47-56.json │ │ │ ├── links_calibration_img_2016-12-12_16-48-02.json │ │ │ ├── links_calibration_img_2016-12-12_16-48-08.json │ │ │ ├── links_calibration_img_2016-12-12_16-48-13.json │ │ │ ├── links_calibration_img_2016-12-12_16-48-19.json │ │ │ └── links_calibration_img_2016-12-12_16-48-25.json │ ├── locate_multiple_patterns │ │ └── camera.zip │ ├── locate_pattern │ │ ├── camera.zip │ │ └── pattern_pose.json │ ├── locate_pattern_mono │ │ ├── camera.zip │ │ └── pattern_pose.json │ ├── mono_camera │ │ └── camera.zip │ ├── stereo_camera │ │ └── camera.zip │ ├── structured_light_camera │ │ └── camera.zip │ └── telecentric_projection │ │ └── camera.zip ├── package.xml ├── setup.py ├── src │ └── ensenso_camera_test │ │ ├── __init__.py │ │ ├── colorized_point_cloud.py │ │ ├── fit_primitive.py │ │ ├── hand_eye_calibration.py │ │ ├── helper.py │ │ ├── locate_multiple_patterns.py │ │ ├── locate_pattern.py │ │ ├── locate_pattern_mono.py │ │ ├── parameter.py │ │ ├── project_pattern.py │ │ ├── ros2_testing.py │ │ ├── scale_disparity_map.py │ │ ├── telecentric_projection.py │ │ └── workspace_calibration.py └── test │ ├── colorized_point_cloud.test │ ├── fit_primitive.test │ ├── hand_eye_calibration.test │ ├── locate_multiple_patterns.test │ ├── locate_pattern.test │ ├── locate_pattern_mono.test │ ├── parameter.test │ ├── project_pattern.test │ ├── request_data_mono.test │ ├── request_data_stereo.test │ ├── request_data_structured_light.test │ ├── scale_disparity_map.test │ ├── telecentric_projection.test │ ├── texture_point_cloud.test │ └── workspace_calibration.test ├── ensenso_camera_test2 ├── CATKIN_IGNORE ├── CMakeLists.txt ├── ensenso_camera_test │ ├── __init__.py │ ├── ros2_point_cloud2.py │ ├── ros2_testing_hz.py │ └── ros2_testing_launch.py ├── ignore_ros2_package.xml └── test │ ├── colorized_point_cloud.test.py │ ├── fit_primitive.test.py │ ├── hand_eye_calibration.test.py │ ├── hztest.request_data_mono.test.py │ ├── hztest.request_data_stereo.test.py │ ├── hztest.request_data_structured_light.test.py │ ├── hztest.texture_point_cloud.test.py │ ├── locate_multiple_patterns.test.py │ ├── locate_pattern.test.py │ ├── locate_pattern_mono.test.py │ ├── parameter.test.py │ ├── project_pattern.test.py │ ├── scale_disparity_map.test.py │ ├── telecentric_projection.test.py │ └── workspace_calibration.test.py ├── ensenso_description ├── CMakeLists.txt ├── ensenso.xacro ├── ensenso_Bx_Series.xacro ├── ensenso_CxL_Series.xacro ├── ensenso_CxM_Series.xacro ├── ensenso_CxS_Series.xacro ├── ensenso_N3x_Series.xacro ├── 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