# Topics

## Published Topics

| Name                            | Data Type                               | Description                                                                                                                      |
| ------------------------------- | --------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------- |
| `amplitude`                     | `sensor_msgs/msg/Image`                 | The normalized amplitude image                                                                                                   |
| `cloud`                         | `sensor_msgs/msg/PointCloud2`           | The point cloud data                                                                                                             |
| `confidence`                    | `sensor_msgs/msg/Image`                 | The confidence image                                                                                                             |
| `distance`                      | `sensor_msgs/msg/Image`                 | The radial distance image                                                                                                        |
| `rgb`                           | `sensor_msgs/msg/Image`                 | The RGB 2D image of the 2D imager                                                                                                |
| `extrinsics`                    | `ifm3d_ros2::msg::Extrinsics`           | The extrinsic calibration of the camera (camera to world)                                                                        |
| `intrinsic_calib`               | `ifm3d_ros2::msg::Intrinsics`           | The intrinsic calibration of the camera (optical system parameters)                                                              |
| `inverse_intrinsic_calibration` | `ifm3d_ros2::msg::InverseIntrinsics`    | The inverse intrinsic calibration of the camera                                                                                  |
| `camera_info`                   | `sensor_msgs::msg::CameraInfo`          | The camera info topic containing the distortion model. This topic is published if the `INTRINSIC_CALIB` is part of the buffer list for the 3D cameras, or if the `RGB_INFO` is part of the buffer list for the RGB cameras. |
| `tof_info`                      | `ifm3d_ros2::msg::TOFInfo`              | A topic gathering various information from the tof camera (see [TOFinfo.msg](../msg/TOFInfo.msg))                                |
| `rgb_info`                      | `ifm3d_ros2::msg::RGBInfo`              | A topic gathering various information from the rgb camera (see [RGBInfo.msg](../msg/RGBInfo.msg))                                |
| `diagnostics`                   | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostic messages pulled from the device every second                                                                          |

:::{note}
All the topics are published with QoS `ifm3d_ros2::LowLatencyQoS`.
:::

## Subscribed Topics

None.