#ROSBAG V2.0 Echunk_count=6conn_count=index_pos=%op= )compression=noneop= size=**; conn=op="topic=/vrpn_client_node/aero1/pose/callerid=/vrpn_client_node latching=0'md5sum=d3812c3cbc69362b77dc0b19b345f8f5message_definition=# A Pose with reference coordinate frame and timestamp Header header Pose pose ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/Pose # A representation of pose in free space, composed of position and orientation. Point position Quaternion orientation ================================================================================ MSG: geometry_msgs/Point # This contains the position of a point in free space float64 x float64 y float64 z ================================================================================ MSG: geometry_msgs/Quaternion # This represents an orientation in free space in quaternion form. float64 x float64 y float64 z float64 w "topic=/vrpn_client_node/aero1/posetype=geometry_msgs/PoseStamped& conn=op= time=H%]wO5MH%].(H5world)@l?]v@AP?& conn=op= time=H%]O5MH%]PrI5world`m)@@L`5?SvKd@;9?& conn=op= time=H%]95MH%]5world`j)@Y8?v8GB?6 conn=op=topic=/camera/rgb/camera_info'callerid=/camera/camera_nodelet_manager latching=0'md5sum=c9a58c1b0b154e0e6da7578cb991d214)message_definition=# This message defines meta information for a camera. It should be in a # camera namespace on topic "camera_info" and accompanied by up to five # image topics named: # # image_raw - raw data from the camera driver, possibly Bayer encoded # image - monochrome, distorted # image_color - color, distorted # image_rect - monochrome, rectified # image_rect_color - color, rectified # # The image_pipeline contains packages (image_proc, stereo_image_proc) # for producing the four processed image topics from image_raw and # camera_info. The meaning of the camera parameters are described in # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo. # # The image_geometry package provides a user-friendly interface to # common operations using this meta information. If you want to, e.g., # project a 3d point into image coordinates, we strongly recommend # using image_geometry. # # If the camera is uncalibrated, the matrices D, K, R, P should be left # zeroed out. In particular, clients may assume that K[0] == 0.0 # indicates an uncalibrated camera. ####################################################################### # Image acquisition info # ####################################################################### # Time of image acquisition, camera coordinate frame ID Header header # Header timestamp should be acquisition time of image # Header frame_id should be optical frame of camera # origin of frame should be optical center of camera # +x should point to the right in the image # +y should point down in the image # +z should point into the plane of the image ####################################################################### # Calibration Parameters # ####################################################################### # These are fixed during camera calibration. Their values will be the # # same in all messages until the camera is recalibrated. Note that # # self-calibrating systems may "recalibrate" frequently. # # # # The internal parameters can be used to warp a raw (distorted) image # # to: # # 1. An undistorted image (requires D and K) # # 2. A rectified image (requires D, K, R) # # The projection matrix P projects 3D points into the rectified image.# ####################################################################### # The image dimensions with which the camera was calibrated. Normally # this will be the full camera resolution in pixels. uint32 height uint32 width # The distortion model used. Supported models are listed in # sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a # simple model of radial and tangential distortion - is sufficient. string distortion_model # The distortion parameters, size depending on the distortion model. # For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3). float64[] D # Intrinsic camera matrix for the raw (distorted) images. # [fx 0 cx] # K = [ 0 fy cy] # [ 0 0 1] # Projects 3D points in the camera coordinate frame to 2D pixel # coordinates using the focal lengths (fx, fy) and principal point # (cx, cy). float64[9] K # 3x3 row-major matrix # Rectification matrix (stereo cameras only) # A rotation matrix aligning the camera coordinate system to the ideal # stereo image plane so that epipolar lines in both stereo images are # parallel. float64[9] R # 3x3 row-major matrix # Projection/camera matrix # [fx' 0 cx' Tx] # P = [ 0 fy' cy' Ty] # [ 0 0 1 0] # By convention, this matrix specifies the intrinsic (camera) matrix # of the processed (rectified) image. That is, the left 3x3 portion # is the normal camera intrinsic matrix for the rectified image. # It projects 3D points in the camera coordinate frame to 2D pixel # coordinates using the focal lengths (fx', fy') and principal point # (cx', cy') - these may differ from the values in K. # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will # also have R = the identity and P[1:3,1:3] = K. # For a stereo pair, the fourth column [Tx Ty 0]' is related to the # position of the optical center of the second camera in the first # camera's frame. We assume Tz = 0 so both cameras are in the same # stereo image plane. The first camera always has Tx = Ty = 0. For # the right (second) camera of a horizontal stereo pair, Ty = 0 and # Tx = -fx' * B, where B is the baseline between the cameras. # Given a 3D point [X Y Z]', the projection (x, y) of the point onto # the rectified image is given by: # [u v w]' = P * [X Y Z 1]' # x = u / w # y = v / w # This holds for both images of a stereo pair. float64[12] P # 3x4 row-major matrix ####################################################################### # Operational Parameters # ####################################################################### # These define the image region actually captured by the camera # # driver. Although they affect the geometry of the output image, they # # may be changed freely without recalibrating the camera. # ####################################################################### # Binning refers here to any camera setting which combines rectangular # neighborhoods of pixels into larger "super-pixels." It reduces the # resolution of the output image to # (width / binning_x) x (height / binning_y). # The default values binning_x = binning_y = 0 is considered the same # as binning_x = binning_y = 1 (no subsampling). uint32 binning_x uint32 binning_y # Region of interest (subwindow of full camera resolution), given in # full resolution (unbinned) image coordinates. A particular ROI # always denotes the same window of pixels on the camera sensor, # regardless of binning settings. # The default setting of roi (all values 0) is considered the same as # full resolution (roi.width = width, roi.height = height). RegionOfInterest roi ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: sensor_msgs/RegionOfInterest # This message is used to specify a region of interest within an image. # # When used to specify the ROI setting of the camera when the image was # taken, the height and width fields should either match the height and # width fields for the associated image; or height = width = 0 # indicates that the full resolution image was captured. uint32 x_offset # Leftmost pixel of the ROI # (0 if the ROI includes the left edge of the image) uint32 y_offset # Topmost pixel of the ROI # (0 if the ROI includes the top edge of the image) uint32 height # Height of ROI uint32 width # Width of ROI # True if a distinct rectified ROI should be calculated from the "raw" # ROI in this message. Typically this should be False if the full image # is captured (ROI not used), and True if a subwindow is captured (ROI # used). bool do_rectify topic=/camera/rgb/camera_infotype=sensor_msgs/CameraInfo& conn=op= time=H%]W5rH%]5camera_rgb_optical_frame plumb_bob@tٱ?``G?-g?;J@t@`w@Jn@????;J@t@`w@Jn@?8 conn=op=topic=/camera/depth/camera_info'callerid=/camera/camera_nodelet_manager latching=0'md5sum=c9a58c1b0b154e0e6da7578cb991d214)message_definition=# This message defines meta information for a camera. It should be in a # camera namespace on topic "camera_info" and accompanied by up to five # image topics named: # # image_raw - raw data from the camera driver, possibly Bayer encoded # image - monochrome, distorted # image_color - color, distorted # image_rect - monochrome, rectified # image_rect_color - color, rectified # # The image_pipeline contains packages (image_proc, stereo_image_proc) # for producing the four processed image topics from image_raw and # camera_info. The meaning of the camera parameters are described in # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo. # # The image_geometry package provides a user-friendly interface to # common operations using this meta information. If you want to, e.g., # project a 3d point into image coordinates, we strongly recommend # using image_geometry. # # If the camera is uncalibrated, the matrices D, K, R, P should be left # zeroed out. In particular, clients may assume that K[0] == 0.0 # indicates an uncalibrated camera. ####################################################################### # Image acquisition info # ####################################################################### # Time of image acquisition, camera coordinate frame ID Header header # Header timestamp should be acquisition time of image # Header frame_id should be optical frame of camera # origin of frame should be optical center of camera # +x should point to the right in the image # +y should point down in the image # +z should point into the plane of the image ####################################################################### # Calibration Parameters # ####################################################################### # These are fixed during camera calibration. Their values will be the # # same in all messages until the camera is recalibrated. Note that # # self-calibrating systems may "recalibrate" frequently. # # # # The internal parameters can be used to warp a raw (distorted) image # # to: # # 1. An undistorted image (requires D and K) # # 2. A rectified image (requires D, K, R) # # The projection matrix P projects 3D points into the rectified image.# ####################################################################### # The image dimensions with which the camera was calibrated. Normally # this will be the full camera resolution in pixels. uint32 height uint32 width # The distortion model used. Supported models are listed in # sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a # simple model of radial and tangential distortion - is sufficient. string distortion_model # The distortion parameters, size depending on the distortion model. # For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3). float64[] D # Intrinsic camera matrix for the raw (distorted) images. # [fx 0 cx] # K = [ 0 fy cy] # [ 0 0 1] # Projects 3D points in the camera coordinate frame to 2D pixel # coordinates using the focal lengths (fx, fy) and principal point # (cx, cy). float64[9] K # 3x3 row-major matrix # Rectification matrix (stereo cameras only) # A rotation matrix aligning the camera coordinate system to the ideal # stereo image plane so that epipolar lines in both stereo images are # parallel. float64[9] R # 3x3 row-major matrix # Projection/camera matrix # [fx' 0 cx' Tx] # P = [ 0 fy' cy' Ty] # [ 0 0 1 0] # By convention, this matrix specifies the intrinsic (camera) matrix # of the processed (rectified) image. That is, the left 3x3 portion # is the normal camera intrinsic matrix for the rectified image. # It projects 3D points in the camera coordinate frame to 2D pixel # coordinates using the focal lengths (fx', fy') and principal point # (cx', cy') - these may differ from the values in K. # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will # also have R = the identity and P[1:3,1:3] = K. # For a stereo pair, the fourth column [Tx Ty 0]' is related to the # position of the optical center of the second camera in the first # camera's frame. We assume Tz = 0 so both cameras are in the same # stereo image plane. The first camera always has Tx = Ty = 0. For # the right (second) camera of a horizontal stereo pair, Ty = 0 and # Tx = -fx' * B, where B is the baseline between the cameras. # Given a 3D point [X Y Z]', the projection (x, y) of the point onto # the rectified image is given by: # [u v w]' = P * [X Y Z 1]' # x = u / w # y = v / w # This holds for both images of a stereo pair. float64[12] P # 3x4 row-major matrix ####################################################################### # Operational Parameters # ####################################################################### # These define the image region actually captured by the camera # # driver. Although they affect the geometry of the output image, they # # may be changed freely without recalibrating the camera. # ####################################################################### # Binning refers here to any camera setting which combines rectangular # neighborhoods of pixels into larger "super-pixels." It reduces the # resolution of the output image to # (width / binning_x) x (height / binning_y). # The default values binning_x = binning_y = 0 is considered the same # as binning_x = binning_y = 1 (no subsampling). uint32 binning_x uint32 binning_y # Region of interest (subwindow of full camera resolution), given in # full resolution (unbinned) image coordinates. A particular ROI # always denotes the same window of pixels on the camera sensor, # regardless of binning settings. # The default setting of roi (all values 0) is considered the same as # full resolution (roi.width = width, roi.height = height). RegionOfInterest roi ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: sensor_msgs/RegionOfInterest # This message is used to specify a region of interest within an image. # # When used to specify the ROI setting of the camera when the image was # taken, the height and width fields should either match the height and # width fields for the associated image; or height = width = 0 # indicates that the full resolution image was captured. uint32 x_offset # Leftmost pixel of the ROI # (0 if the ROI includes the left edge of the image) uint32 y_offset # Topmost pixel of the ROI # (0 if the ROI includes the top edge of the image) uint32 height # Height of ROI uint32 width # Width of ROI # True if a distinct rectified ROI should be calculated from the "raw" # ROI in this message. Typically this should be False if the full image # is captured (ROI not used), and True if a subwindow is captured (ROI # used). bool do_rectify topic=/camera/depth/camera_infotype=sensor_msgs/CameraInfo& conn=op= time=H%]5tH%]5camera_depth_optical_frameh plumb_bob|@@(o@|@pf@????|@@(o@!|@pf@`5"??"U:?& conn=op= time=H%]1(5MH%] 5world k)@@`L?@v@6L?& conn=op= time=H%]C|6MH%]8x6worldj)@ZH?`v烇8 C?& conn=op= time=H%]k}6MH%]Py6world j)@QE? 7v`~q9m>?& conn=op= time=H%]U}6MH%]y6worldl)@ P;?+vp@9@?& conn=op= time=H%]7MH%] 7worldo)@N ,?=vg@: ??& conn=op= time=H%]l7MH%]3 7worldk)@Q"?@v[@<{8?& conn=op= time=H%]7M H%]W7worldn)@M? v Q= |6?& conn=op= time=H%]>7M H%]*p7world`j)@I? NWv Q? K0?& conn=op= time=H%]7rH%]K7camera_rgb_optical_frame plumb_bob@tٱ?``G?-g?;J@t@`w@Jn@????;J@t@`w@Jn@?& conn=op= time=H%]d7tH%]K7camera_depth_optical_frameh plumb_bob|@@(o@|@pf@????|@@(o@!|@pf@`5"??"U:?& conn=op= time=H%](o>8M H%]98world@o)@K 8?|2ve>3?& conn=op= time=H%]C>8M H%]i:8worldm)@@I ? vX@? 1?& conn=op= time=H%]@ 8MH%]8worldk)@K)?`v_?1?& conn=op= time=H%]H^8MH%] N8world )@@(? ,p Cso`?& conn=op= time=H%]8MH%]`8world`)@`'??t[ֆN '?& conn=op= time=H%]dr9MH%]"n9worldr)@@E?/@u(E)*?& conn=op= time=H%]r9MH%]So9world`l)@J`?rYu2C,?& conn=op= time=H%]Li9tH%]z9camera_depth_optical_frameh plumb_bob|@@(o@|@pf@????|@@(o@!|@pf@`5"??"U:?& conn=op= time=H%]a9rH%]z9camera_rgb_optical_frame plumb_bob@tٱ?``G?-g?;J@t@`w@Jn@????;J@t@`w@Jn@?& conn=op= time=H%]Tj:MH%]99world`)@5? u`qh•?& conn=op= time=H%] :MH%]:world`)@@`?%t~@]?& conn=op= time=H%]:MH%]:world)@ p?+t@VI?& conn=op= time=H%]5:MH%]Ĝ:world)@ d?Ps:x@?& conn=op= time=H%] W:MH%]:world)@p?@r@ ?& conn=op= time=H%]7A;MH%]6;world@)@?n~ XՔ?& conn=op= time=H%]0$B;MH%]#6;world)@j?aZYeE?& conn=op= time=H%]$tH%]6camera_depth_optical_frameh plumb_bob|@@(o@|@pf@????|@@(o@!|@pf@`5"??"U:?& conn=op= time=H%];rH%]6camera_rgb_optical_frame plumb_bob@tٱ?``G?-g?;J@t@`w@Jn@????;J@t@`w@Jn@?& conn=op= time=H%]7?MH%]FB;world)@ J?ZQ50?& conn=op= time=H%]&?MH%]F<world)@ġ? h ij?& conn=op= time=H%]MH%]?worldr)@@ 1? k@֘?& conn=op= time=H%]TMH%]world)@@`?Cka?3 conn=op=topic=/camera/depth/points 'callerid=/camera/camera_nodelet_manager latching=0'md5sum=1158d486dd51d683ce2f1be655c3c181message_definition=# This message holds a collection of N-dimensional points, which may # contain additional information such as normals, intensity, etc. The # point data is stored as a binary blob, its layout described by the # contents of the "fields" array. # The point cloud data may be organized 2d (image-like) or 1d # (unordered). Point clouds organized as 2d images may be produced by # camera depth sensors such as stereo or time-of-flight. # Time of sensor data acquisition, and the coordinate frame ID (for 3d # points). Header header # 2D structure of the point cloud. If the cloud is unordered, height is # 1 and width is the length of the point cloud. uint32 height uint32 width # Describes the channels and their layout in the binary data blob. PointField[] fields bool is_bigendian # Is this data bigendian? uint32 point_step # Length of a point in bytes uint32 row_step # Length of a row in bytes uint8[] data # Actual point data, size is (row_step*height) bool is_dense # True if there are no invalid points ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: sensor_msgs/PointField # This message holds the description of one point entry in the # PointCloud2 message format. 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 # Name of field uint32 offset # Offset from start of point struct uint8 datatype # Datatype enumeration, see above uint32 count # How many elements in the field topic=/camera/depth/pointstype=sensor_msgs/PointCloud2& conn=op= time=H%]n0*H%]6camera_depth_optical_framehxyz0*Z,_a@m(}_Nb@?սAxNb @ʽ&x @AxNb @q|&x @*T{6^"@6}#@ٓ>HأH@d>XlG@D>g@5F@ܛ>ˡE@W>zD@!A>mC@g>֕A@>c%A@Id>֕A@>֕A@@O?Q|@R?YSQ@+T?Sa@ȾV?IU @a홿H@W>F@dP>N@5F@͞>UWE@3>UWE@=>b㕿B@>q-B@۲>뎔%A@>nr@@@O?P|@R?SRף@+T?cRa@ȾV?uT @ X?oT6^ @6pV @4Zv@g3haC@8!&[l@^Z@^Z@z<1m}i%@wa"F@D>@5F@dP>@5F@͞>ϖWE@3>ϖWE@>mC@>mC@c>mC@>j B@u>j B@>*A@V @ 5WO @4zXv@H4^@FY@[zXv@,KZl@@z=C}gf&@Y>FF@W>FF@dP>֖@5F@>֖@5F@>FF@뙥>PWE@}>zD@1>SC@>F><œ-B@>䒿%A@ӗأH@%G>WH@->WH@`>疿lG@>kF@>9zD@}>9zD@c>=mC@>-B@/>%A@>%A@h>SA@8.S?P @U?=Q @WW?8GR @X?fR43 @ \?Tj @A6^m@DMXw@DYNb@ w$@OQv#@Qv#@I =| (@>ce;@E7>dL7I@`>f lG@>!F@뙥>LCWE@>LCWE@c>hemC@aA>vSC@Id>A@/>:%A@h>A@aV?'S @3W?KSj @uW?DR @Y?KSj @;[?'S @]?PUi @`7_i@d5ZL_}?@K3%]Y9@= ;Ww@D;Ww@X8]XNb@ luZ$@OXRu#@=\|(@1%>闿oK@>#I@>vL7I@?>'أH@&>G/lG@>ؓˡE@>iWE@aA>SC@>B@>ӐA@>>B-B@i>SC@X?,R @LY?,R @1[?lSO @I\?Si @_?U@Z7|`y@)6`@%LVc@3DX@3I _s#@Rr"#@r"#@>䘿iM@,$>FK@0>8"#I@>8"#I@'>:أH@>F>k-B@>ﴑmC@1W?DRi @X?DRi @=0Z?DRi @f\?S@5@^?xSv@e`? 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