IrlockReport (UORB message)
IRLOCK_REPORT message data.
TOPICS: irlock_report
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| signature | uint16 | |||
| pos_x | float32 | tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis | ||
| pos_y | float32 | tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis | ||
| size_x | float32 | /** size of target along camera x-axis in units of tan(theta) **/ | ||
| size_y | float32 | /** size of target along camera y-axis in units of tan(theta) **/ |
Source Message
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c
# IRLOCK_REPORT message data
uint64 timestamp # time since system start (microseconds)
uint16 signature
# When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.
float32 pos_x # tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis
float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis
float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/
float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/