[Personalrobots-commit] SF.net SVN: personalrobots:[23368] pkg/trunk/stacks/imaging_pipeline/ stereo_msgs/msg/DisparityImage.msg

[<kur...@us...>]

Revision: 23368
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23368&view=rev
Author:   kurtkonolige
Date:     2009-08-31 07:50:12 +0000 (Mon, 31 Aug 2009)

Log Message:
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forgot this message

Added Paths:
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    pkg/trunk/stacks/imaging_pipeline/stereo_msgs/msg/DisparityImage.msg

Added: pkg/trunk/stacks/imaging_pipeline/stereo_msgs/msg/DisparityImage.msg
===================================================================
--- pkg/trunk/stacks/imaging_pipeline/stereo_msgs/msg/DisparityImage.msg	                        (rev 0)
+++ pkg/trunk/stacks/imaging_pipeline/stereo_msgs/msg/DisparityImage.msg	2009-08-31 07:50:12 UTC (rev 23368)
@@ -0,0 +1,38 @@
+# This message contains an uncompressed disparity (16-bit) image
+# (0, 0) is at top-left corner of image
+#
+
+Header header        # Header timestamp should be acquisition time of image
+                     # Header frame_id should be optical frame of camera
+                     # origin of frame should be optical center of cameara
+                     # +x should point to the right in the image
+                     # +y should point down in the image
+                     # +z should point into to plane of the image
+                     # If the frame_id here and the frame_id of the CameraInfo
+                     # message associated with the image conflict
+                     # the behavior is undefined
+
+uint32 height         # image height, that is, number of rows
+uint32 width          # image width, that is, number of columns
+
+# specifics for disparity
+# dpp is the interpolation factor, e.g., dpp=16 means each disparity increment
+#   is 1/16 of a pixel
+uint32 dpp
+
+# maximum search range for disparities, in pixels
+uint32 num_disp
+
+# subwindow of valid stereo values
+uint32 im_Dtop
+uint32 im_Dleft
+uint32 im_Dwidth
+uint32 im_Dheight
+
+# The legal values for encoding are in file src/image_encodings.cpp
+# Should be 16bit monochrome
+string encoding       # Encoding of pixels -- channel meaning, ordering, size
+                      # taken from the list of strings in src/image_encodings.cpp
+uint8 is_bigendian    # is this data bigendian?
+uint32 step           # Full row length in bytes
+uint8[] data          # actual matrix data, size is (step * rows)


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