File: rgbd_assembler/RgbdAssembly.srv
# empty request, as the node listens for incoming sensor messages on its own
---
# The point cloud reconstructed from narrow stereo,
# containing rgb information from wide field and
# pixel coordinates of narrow stereo in wide field
sensor_msgs/PointCloud2 point_cloud
# narrow stereo image
sensor_msgs/Image image
# narrow stereo disparity image
stereo_msgs/DisparityImage disparity_image
# narrow stereo camera information
sensor_msgs/CameraInfo camera_info
# Whether the assembly has succeeded or failed
int32 OTHER_ERROR = 1
int32 SUCCESS = 2
int32 result
Expanded Definition
int32 OTHER_ERROR=1
int32 SUCCESS=2
sensor_msgs/PointCloud2 point_cloud
Header header
uint32 seq
time stamp
string frame_id
uint32 height
uint32 width
sensor_msgs/PointField[] fields
uint8 INT8=1
uint8 UINT8=2
uint8 INT16=3
uint8 UINT16=4
uint8 INT32=5
uint8 UINT32=6
uint8 FLOAT32=7
uint8 FLOAT64=8
string name
uint32 offset
uint8 datatype
uint32 count
bool is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense
sensor_msgs/Image image
Header header
uint32 seq
time stamp
string frame_id
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
stereo_msgs/DisparityImage disparity_image
Header header
uint32 seq
time stamp
string frame_id
sensor_msgs/Image image
Header header
uint32 seq
time stamp
string frame_id
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
float32 f
float32 T
sensor_msgs/RegionOfInterest valid_window
uint32 x_offset
uint32 y_offset
uint32 height
uint32 width
bool do_rectify
float32 min_disparity
float32 max_disparity
float32 delta_d
sensor_msgs/CameraInfo camera_info
Header header
uint32 seq
time stamp
string frame_id
uint32 height
uint32 width
string distortion_model
float64[] D
float64[9] K
float64[9] R
float64[12] P
uint32 binning_x
uint32 binning_y
sensor_msgs/RegionOfInterest roi
uint32 x_offset
uint32 y_offset
uint32 height
uint32 width
bool do_rectify
int32 result