/usr/share/stereo_msgs/msg/DisparityImage.msg is in ros-stereo-msgs 1.12.5-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 | # Separate header for compatibility with current TimeSynchronizer.
# Likely to be removed in a later release, use image.header instead.
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
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