On Wed, Feb 2, 2011 at 5:33 PM, Homer Manalo <homer.manalo@roboteknik.com> wrote:

According to the documentation of DisparityImage.msg:

http://www.ros.org/doc/api/stereo_msgs/html/msg/DisparityImage.html

depth can be calculated by Z=fT/d, so far I can get the minimum distance:

        distance = data.f*data.T/data.max_disparity
    print "Minimum distance:", distance, "meters"

        Minimum distance: 0.430558934726 meters

How do you get d(disparity) here?

On Wed, Feb 2, 2011 at 11:37 AM, Homer Manalo <homer.manalo@roboteknik.com> wrote:

Ok, so I need to manually extract this? Or is there a command to show this up? Which one is it contained:

[sensor_msgs/PointCloud2]:
Header header
uint32 seq
time stamp
string frame_id
uint32 height
uint32 width
sensor_msgs/PointField[] fields
uint8 INT8=1
uint8 UINT8=2
uint8 INT16=3
uint8 UINT16=4
uint8 INT32=5
uint8 UINT32=6
uint8 FLOAT32=7
uint8 FLOAT64=8
string name
uint32 offset
uint8 datatype
uint32 count
bool is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense

[stereo_msgs/DisparityImage]:
Header header
uint32 seq
time stamp
string frame_id
sensor_msgs/Image image
Header header
    uint32 seq
    time stamp
    string frame_id
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
float32 f
float32 T
sensor_msgs/RegionOfInterest valid_window
uint32 x_offset
uint32 y_offset
uint32 height
uint32 width
float32 min_disparity
float32 max_disparity
float32 delta_d

Thanks,
Homer

On Wed, Feb 2, 2011 at 11:17 AM, Daniel Maturana <dimatura@gmail.com> wrote:

Both the the disparity and the points2 messages have the information
you need. Note that your camera should be calibrated.
best,

Daniel

On Tue, Feb 1, 2011 at 8:13 PM, Homer Manalo
<homer.manalo@roboteknik.com> wrote:
> I've actually used it for viewing disparity and rectifying images. What
> topic exactly are you referring to?
>
> Homer
>
> On Tue, Feb 1, 2011 at 11:43 PM, Daniel Maturana <dimatura@gmail.com> wrote:
>>
>> Try http://www.ros.org/wiki/stereo_image_proc.
>> Daniel
>>
>> On Tue, Feb 1, 2011 at 4:13 AM, Homer Manalo
>> <homer.manalo@roboteknik.com> wrote:
>> > Are there packages that convert stereo data into real world measurements
>> > -
>> > how far an object is from camera?
>> >
>> > Thanks,
>> > Homer
>> >
>> > _______________________________________________
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>> >
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