UnifiedCameraData
Message type: fourier_msgs/msg/UnifiedCameraData
Description
Combines synchronized RGB data, point-cloud data, and the interpolated robot pose.
Fields
| Field | Type | Description |
|---|---|---|
header | std_msgs/Header | Standard ROS 2 header using the camera timestamp and frame. |
camera_name | string | Camera identifier. |
rgb_image | sensor_msgs/Image | RGB image data. |
point_cloud | sensor_msgs/PointCloud2 | Raw point-cloud data. |
robot_pose | geometry_msgs/Pose | Robot pose interpolated at the camera timestamp. |
Examples
Example 1
Msg
# UnifiedCameraData.msg
# Message containing fused camera data and robot pose
std_msgs/Header header
# header.stamp: Use the camera-data timestamp
# header.frame_id: Point-cloud frame, usually camera_01_color_optical_frame
# Camera name used to distinguish multiple cameras
string camera_name
# RGB image data
sensor_msgs/Image rgb_image
# Raw point-cloud data
sensor_msgs/PointCloud2 point_cloud
# Robot pose interpolated at the sensor timestamp
geometry_msgs/Pose robot_pose
Field Details
header (std_msgs/Header)
The message header contains timestamp and coordinate-frame information.
stamp: Camera acquisition timestamp, shared by the RGB image and point cloud.frame_id: Point-cloud coordinate frame read from the point-cloud header, usuallycamera_01_color_optical_frame.
camera_name (string)
Identifies the camera in a multi-camera system, for example camera_01 or camera_02.
rgb_image (sensor_msgs/Image)
Color-image data containing the image dimensions, encoding (usually rgb8 or bgr8), and pixel data.
point_cloud (sensor_msgs/PointCloud2)
The complete, unfiltered depth point cloud. It remains in the camera coordinate frame and contains XYZ coordinates.
robot_pose (geometry_msgs/Pose)
The robot pose interpolated at the camera timestamp. It contains position in meters and quaternion orientation as (x, y, z, w).
Related Topics
Inputs:
/camera_01/color/image_raw: RGB image source/camera_01/depth/points: point-cloud source/robot_pose: robot-pose source
Outputs:
/camera_01/fused_data: this message type/camera_01/filtered_pointcloud: filtered point cloud