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add info about extrinsic msg format in Extrinsics.msg and README.md #2693

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Apr 13, 2023
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add info about extrinsic msg format in Extrinsics.msg and README.md #2693

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14 changes: 13 additions & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -336,14 +336,26 @@ The `/diagnostics` topic includes information regarding the device temperatures
```
administrator@perclnx466 ~/ros2_humble $ ros2 topic echo /camera/extrinsics/depth_to_color
rotation:
...
- 0.9999583959579468
- 0.008895332925021648
- -0.0020127370953559875
- -0.008895229548215866
- 0.9999604225158691
- 6.045500049367547e-05
- 0.0020131953060626984
- -4.254872692399658e-05
- 0.9999979734420776
translation:
- 0.01485931035131216
- 0.0010161789832636714
- 0.0005317096947692335
---
```

- Extrinsic msg is made up of two parts:
- float64[9] rotation (Column - major 3x3 rotation matrix)
- float64[3] translation (Three-element translation vector, in meters)

<hr>

<h3 id="topics">
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5 changes: 3 additions & 2 deletions realsense2_camera_msgs/msg/Extrinsics.msg
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@@ -1,2 +1,3 @@
float64[9] rotation
float64[3] translation
# Cross-stream extrinsics: encodes the topology describing how the different devices are oriented
float64[9] rotation # Column - major 3x3 rotation matrix
float64[3] translation # Three-element translation vector, in meters