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7.5 双目相机

7.5.1 双目相机​

  1. 鱼眼相机接口
  • 默认提供话题如下：
/sensor/camera/fisheye_left/image/info: sensor_msgs/msg/CameraInfo

/sensor/camera/fisheye_left/image/raw: shm_msgs/msg/Image2m

/sensor/camera/fisheye_left/sn: sensor_task_msgs/msg/SensorSN

/sensor/camera/fisheye_right/image/info: sensor_msgs/msg/CameraInfo

/sensor/camera/fisheye_right/image/raw: shm_msgs/msg/Image2m

/sensor/camera/fisheye_right/sn: sensor_task_msgs/msg/SensorSN
  • 示例
  • 话题名称：/sensor/camera/fisheye_left/image/raw
  • 话题类型：shm_msgs::msg::Image2m
  • 数据格式：
shm_msgs::msg::Image2m
shm_msgs/Header header # 消息头
uint32 height # 图像高度
uint32 width # 图像宽度
shm_msgs/String encoding # 像素编码
uint8 is_bigendian # 是否为大端序
uint32 step # 行的总字节长度
uint8[2097152] data # 实际矩阵数据
uint32 DATA_MAX_SIZE=2097152
  • 默认提供话题如下：
/sensor/camera/stereo/depth/info: sensor_msgs/msg/CameraInfo

/sensor/camera/stereo_left/image/info: sensor_msgs/msg/CameraInfo

/sensor/camera/stereo_left/image/raw: shm_msgs/msg/Image2m

/sensor/camera/stereo_left/sn: sensor_task_msgs/msg/SensorSN

/sensor/camera/stereo_right/image/info: sensor_msgs/msg/CameraInfo

/sensor/camera/stereo_right/image/raw: shm_msgs/msg/Image2m

/sensor/camera/stereo_right/sn: sensor_task_msgs/msg/SensorSN
  • 示例
  • 话题名称：/sensor/camera/stereo_left/image/raw
  • 话题类型：shm_msgs::msg::Image2m
  • 数据格式：
shm_msgs::msg::Image2m
shm_msgs/Header header # 消息头
uint32 height # 图像高度
uint32 width # 图像宽度
shm_msgs/String encoding # 像素编码
uint8 is_bigendian # 是否为大端序
uint32 step # 行的总字节长度
uint8[2097152] data # 实际矩阵数据
uint32 DATA_MAX_SIZE=2097152