disparityImage QML Value Type

Separate header for compatibility with current TimeSynchronizer. More...

Properties

• deltaD : real
• f : real
• header : header
• image : image
• maxDisparity : real
• minDisparity : real
• t : real
• validWindow : regionOfInterest

Detailed Description

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

disparityImage is a structured value type usable in QML. It maps directly to the stereo_msgs::msg::DisparityImage ROS 2 message type.

Construct a disparityImage in QML by assigning a JavaScript object whose keys are its component properties, or by setting those properties individually.

See also DisparityImagePublisher and DisparityImageSubscriber.

Property Documentation

deltaD : real

Smallest allowed disparity increment. The smallest achievable depth range

resolution is delta_Z = (Z^2/fT)*delta_d.

f : real

Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.

header : header

image : image

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)

maxDisparity : real

minDisparity : real

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.

t : real

validWindow : regionOfInterest

Subwindow of (potentially) valid disparity values.