msg/DisparityImage Documentation

File: stereo_msgs/msg/DisparityImage.msg

# Separate header for compatibility with current TimeSynchronizer.

# Likely to be removed in a later release, use image.header instead.

std_msgs/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

std_msgs/msg/Header header
sensor_msgs/msg/Image image
float f
float t
sensor_msgs/msg/RegionOfInterest valid_window
float min_disparity
float max_disparity
float delta_d