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