@@ -36,7 +36,7 @@ extern "C"
3636 * image_raw - raw data from the camera driver, possibly Bayer encoded
3737 * image - monochrome, distorted
3838 * image_color - color, distorted
39- * image_rect - monochrome, rectified
39+ * image_rect - monochrome, rectified
4040 * image_rect_color - color, rectified
4141 *
4242 * The image_pipeline contains packages (image_proc, stereo_image_proc)
@@ -55,7 +55,7 @@ extern "C"
5555 */
5656typedef struct sensor_msgs__msg__CameraInfo
5757{
58- /// Image acquisition info #
58+ /// Image acquisition info #
5959 ///
6060 /// Time of image acquisition, camera coordinate frame ID
6161 /// Header timestamp should be acquisition time of image
@@ -65,7 +65,7 @@ typedef struct sensor_msgs__msg__CameraInfo
6565 /// +y should point down in the image
6666 /// +z should point into the plane of the image
6767 std_msgs__msg__Header header ;
68- /// Calibration Parameters #
68+ /// Calibration Parameters #
6969 ///
7070 /// These are fixed during camera calibration. Their values will be the #
7171 /// same in all messages until the camera is recalibrated. Note that #
@@ -74,7 +74,7 @@ typedef struct sensor_msgs__msg__CameraInfo
7474 /// The internal parameters can be used to warp a raw (distorted) image #
7575 /// to: #
7676 /// 1. An undistorted image (requires D and K) #
77- /// 2. A rectified image (requires D, K, R) #
77+ /// 2. A rectified image (requires D, K, R) #
7878 /// The projection matrix P projects 3D points into the rectified image.#
7979 ///
8080 /// The image dimensions with which the camera was calibrated.
@@ -89,7 +89,7 @@ typedef struct sensor_msgs__msg__CameraInfo
8989 /// For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
9090 rosidl_runtime_c__double__Sequence d ;
9191 /// Intrinsic camera matrix for the raw (distorted) images.
92- /// [fx 0 cx]
92+ /// [fx 0 cx]
9393 /// K = [ 0 fy cy]
9494 /// [ 0 0 1]
9595 /// Projects 3D points in the camera coordinate frame to 2D pixel
@@ -108,47 +108,47 @@ typedef struct sensor_msgs__msg__CameraInfo
108108 /// P = [ 0 fy' cy' Ty]
109109 /// [ 0 0 1 0]
110110 /// By convention, this matrix specifies the intrinsic (camera) matrix
111- /// of the processed (rectified) image. That is, the left 3x3 portion
111+ /// of the processed (rectified) image. That is, the left 3x3 portion
112112 /// is the normal camera intrinsic matrix for the rectified image.
113113 /// It projects 3D points in the camera coordinate frame to 2D pixel
114- /// coordinates using the focal lengths (fx', fy') and principal point
114+ /// coordinates using the focal lengths (fx', fy') and principal point
115115 /// (cx', cy') - these may differ from the values in K.
116116 /// For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
117- /// also have R = the identity and P[1:3,1:3] = K.
117+ /// also have R = the identity and P[1:3,1:3] = K.
118118 /// For a stereo pair, the fourth column [Tx Ty 0]' is related to the
119119 /// position of the optical center of the second camera in the first
120- /// camera's frame. We assume Tz = 0 so both cameras are in the same
121- /// stereo image plane. The first camera always has Tx = Ty = 0. For
122- /// the right (second) camera of a horizontal stereo pair, Ty = 0 and
123- /// Tx = -fx' * B, where B is the baseline between the cameras.
120+ /// camera's frame. We assume Tz = 0 so both cameras are in the same
121+ /// stereo image plane. The first camera always has Tx = Ty = 0. For
122+ /// the right (second) camera of a horizontal stereo pair, Ty = 0 and
123+ /// Tx = -fx' * B, where B is the baseline between the cameras.
124124 /// Given a 3D point [X Y Z]', the projection (x, y) of the point onto
125- /// the rectified image is given by:
125+ /// the rectified image is given by:
126126 /// [u v w]' = P * [X Y Z 1]'
127- /// x = u / w
127+ /// x = u / w
128128 /// y = v / w
129- /// This holds for both images of a stereo pair.
129+ /// This holds for both images of a stereo pair.
130130 /// 3x4 row-major matrix
131131 double p [12 ];
132- /// Operational Parameters #
132+ /// Operational Parameters #
133133 ///
134134 /// These define the image region actually captured by the camera #
135135 /// driver. Although they affect the geometry of the output image, they #
136136 /// may be changed freely without recalibrating the camera. #
137137 ///
138138 /// Binning refers here to any camera setting which combines rectangular
139- /// neighborhoods of pixels into larger "super-pixels." It reduces the
139+ /// neighborhoods of pixels into larger "super-pixels." It reduces the
140140 /// resolution of the output image to
141141 /// (width / binning_x) x (height / binning_y).
142142 /// The default values binning_x = binning_y = 0 is considered the same
143- /// as binning_x = binning_y = 1 (no subsampling).
143+ /// as binning_x = binning_y = 1 (no subsampling).
144144 uint32_t binning_x ;
145145 uint32_t binning_y ;
146146 /// Region of interest (subwindow of full camera resolution), given in
147- /// full resolution (unbinned) image coordinates. A particular ROI
147+ /// full resolution (unbinned) image coordinates. A particular ROI
148148 /// always denotes the same window of pixels on the camera sensor,
149- /// regardless of binning settings.
149+ /// regardless of binning settings.
150150 /// The default setting of roi (all values 0) is considered the same as
151- /// full resolution (roi.width = width, roi.height = height).
151+ /// full resolution (roi.width = width, roi.height = height).
152152 sensor_msgs__msg__RegionOfInterest roi ;
153153} sensor_msgs__msg__CameraInfo ;
154154
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