![]() ![]() ~/pose/filtered/status: the status of the GNSS fused pose ( custom message).~/pose/filtered: the GNSS fused pose of the robot.~/path_odom: Sequence of camera odometry poses in Map frame.~/path_map: Sequence of camera poses in Map frame.~/odom/status: the status of the odometry from the positional tracking module ( custom message).~/odom: Absolute 3D position and orientation relative to the Odometry frame (pure visual odometry for ZED, visual-inertial odometry for ZED Mini).~/pose_with_covariance: Camera pose referred to Map frame with covariance.~/pose/status: the status of the positional tracking module ( custom message).~/pose: Absolute 3D position and orientation relative to the Map frame (Sensor Fusion algorithm + SLAM).~/temperature/right: temperature measured near the right CMOS sensor (only ZED 2 and ZED 2i).~/temperature/left: temperature measured near the left CMOS sensor (only ZED 2 and ZED 2i).~/temperature/imu: temperature measured by the IMU sensor.~/atm_press: atmospheric pressure (only ZED 2 and ZED 2i).~/imu/mag: Raw magnetometer data (only ZED 2 and ZED 2i).~/imu/data_raw: Accelerometer and gyroscope data in Earth frame.~/imu/data: Accelerometer, gyroscope, and orientation data in Earth frame. ![]() ~/left_cam_imu_transform: Transform from the left camera sensor to the IMU sensor.~/disparity/disparity_image: Disparity image.~/confidence/confidence_map: Confidence image (doubleing point values).~/point_cloud/cloud_registered: Registered color point cloud.~/depth/depth_info: minimum and maximum depth information ( custom message).~/depth/depth_registered: Depth map image registered on left image.~/depth/camera_info: Depth camera calibration data.Calibration data are available in the topics: ~/left_raw/camera_info and ~/right_raw/camera_info. ~/stereo_raw/image_raw_color: side-by-side left/right unrectified stereo pair.Calibration data are available in the topics: ~/left/camera_info and ~/right/camera_info. ~/stereo/image_rect_color: side-by-side left/right rectified stereo pair.~/right_raw/image_rect_gray: Right camera gray unrectified image.~/right_raw/image_rect_color: Right camera color unrectified image.~/right_raw/camera_info: Right camera raw calibration data.~/right/image_rect_gray: Right camera gray rectified image. ![]()
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