30 lines
1.1 KiB
Plaintext
30 lines
1.1 KiB
Plaintext
# Separate header for compatibility with current TimeSynchronizer.
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# Likely to be removed in a later release, use image.header instead.
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std_msgs/Header header
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# Floating point disparity image. The disparities are pre-adjusted for any
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# x-offset between the principal points of the two cameras (in the case
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# that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)
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sensor_msgs/Image image
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# Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.
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float32 f # Focal length, pixels
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float32 t # Baseline, world units
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# Subwindow of (potentially) valid disparity values.
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sensor_msgs/RegionOfInterest valid_window
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# The range of disparities searched.
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# In the disparity image, any disparity less than min_disparity is invalid.
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# The disparity search range defines the horopter, or 3D volume that the
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# stereo algorithm can "see". Points with Z outside of:
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# Z_min = fT / max_disparity
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# Z_max = fT / min_disparity
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# could not be found.
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float32 min_disparity
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float32 max_disparity
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# Smallest allowed disparity increment. The smallest achievable depth range
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# resolution is delta_Z = (Z^2/fT)*delta_d.
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float32 delta_d
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