54 lines
2 KiB
Text
54 lines
2 KiB
Text
// generated from rosidl_adapter/resource/msg.idl.em
|
|
// with input from stereo_msgs/msg/DisparityImage.msg
|
|
// generated code does not contain a copyright notice
|
|
|
|
#include "sensor_msgs/msg/Image.idl"
|
|
#include "sensor_msgs/msg/RegionOfInterest.idl"
|
|
#include "std_msgs/msg/Header.idl"
|
|
|
|
module stereo_msgs {
|
|
module msg {
|
|
@verbatim (language="comment", text=
|
|
"Separate header for compatibility with current TimeSynchronizer." "\n"
|
|
"Likely to be removed in a later release, use image.header instead.")
|
|
struct DisparityImage {
|
|
std_msgs::msg::Header header;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Floating point disparity image. The disparities are pre-adjusted for any" "\n"
|
|
"x-offset between the principal points of the two cameras (in the case" "\n"
|
|
"that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)")
|
|
sensor_msgs::msg::Image image;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Stereo geometry. For disparity d, the depth from the camera is Z = fT/d." "\n"
|
|
"Focal length, pixels")
|
|
float f;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Baseline, world units")
|
|
float t;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Subwindow of (potentially) valid disparity values.")
|
|
sensor_msgs::msg::RegionOfInterest valid_window;
|
|
|
|
@verbatim (language="comment", text=
|
|
"The range of disparities searched." "\n"
|
|
"In the disparity image, any disparity less than min_disparity is invalid." "\n"
|
|
"The disparity search range defines the horopter, or 3D volume that the" "\n"
|
|
"stereo algorithm can \"see\". Points with Z outside of:" "\n"
|
|
" Z_min = fT / max_disparity" "\n"
|
|
" Z_max = fT / min_disparity" "\n"
|
|
"could not be found.")
|
|
float min_disparity;
|
|
|
|
float max_disparity;
|
|
|
|
@verbatim (language="comment", text=
|
|
"Smallest allowed disparity increment. The smallest achievable depth range" "\n"
|
|
"resolution is delta_Z = (Z^2/fT)*delta_d.")
|
|
float delta_d;
|
|
};
|
|
};
|
|
};
|