stereo_msgs_msg

type CDisparityImage = C.stereo_msgs__msg__DisparityImage

type CDisparityImage__Sequence = C.stereo_msgs__msg__DisparityImage__Sequence

type DisparityImage struct {
	Header       std_msgs_msg.Header              `yaml:"header"`        // Separate header for compatibility with current TimeSynchronizer.Likely to be removed in a later release, use image.header instead.
	Image        sensor_msgs_msg.Image            `yaml:"image"`         // Floating point disparity image. The disparities are pre-adjusted for anyx-offset between the principal points of the two cameras (in the casethat they are verged). That is: d = x_l - x_r - (cx_l - cx_r)
	F            float32                          `yaml:"f"`             // Focal length, pixels. Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.
	T            float32                          `yaml:"t"`             // Baseline, world units. Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.
	ValidWindow  sensor_msgs_msg.RegionOfInterest `yaml:"valid_window"`  // Subwindow of (potentially) valid disparity values.
	MinDisparity float32                          `yaml:"min_disparity"` // 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 thestereo algorithm can "see". Points with Z outside of:Z_min = fT / max_disparityZ_max = fT / min_disparitycould not be found.
	MaxDisparity float32                          `yaml:"max_disparity"` // 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 thestereo algorithm can "see". Points with Z outside of:Z_min = fT / max_disparityZ_max = fT / min_disparitycould not be found.
	DeltaD       float32                          `yaml:"delta_d"`       // Smallest allowed disparity increment. The smallest achievable depth rangeresolution is delta_Z = (Z^2/fT)*delta_d.
}