00001
00002 #ifndef CALIBRATION_MSGS_MESSAGE_CAMERAMEASUREMENT_H
00003 #define CALIBRATION_MSGS_MESSAGE_CAMERAMEASUREMENT_H
00004 #include <string>
00005 #include <vector>
00006 #include <ostream>
00007 #include "ros/serialization.h"
00008 #include "ros/builtin_message_traits.h"
00009 #include "ros/message_operations.h"
00010 #include "ros/message.h"
00011 #include "ros/time.h"
00012
00013 #include "std_msgs/Header.h"
00014 #include "calibration_msgs/ImagePoint.h"
00015 #include "sensor_msgs/CameraInfo.h"
00016 #include "sensor_msgs/Image.h"
00017 #include "sensor_msgs/Image.h"
00018 #include "calibration_msgs/CalibrationPattern.h"
00019
00020 namespace calibration_msgs
00021 {
00022 template <class ContainerAllocator>
00023 struct CameraMeasurement_ : public ros::Message
00024 {
00025 typedef CameraMeasurement_<ContainerAllocator> Type;
00026
00027 CameraMeasurement_()
00028 : header()
00029 , camera_id()
00030 , image_points()
00031 , cam_info()
00032 , verbose(false)
00033 , image()
00034 , image_rect()
00035 , features()
00036 {
00037 }
00038
00039 CameraMeasurement_(const ContainerAllocator& _alloc)
00040 : header(_alloc)
00041 , camera_id(_alloc)
00042 , image_points(_alloc)
00043 , cam_info(_alloc)
00044 , verbose(false)
00045 , image(_alloc)
00046 , image_rect(_alloc)
00047 , features(_alloc)
00048 {
00049 }
00050
00051 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00052 ::std_msgs::Header_<ContainerAllocator> header;
00053
00054 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _camera_id_type;
00055 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > camera_id;
00056
00057 typedef std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > _image_points_type;
00058 std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > image_points;
00059
00060 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _cam_info_type;
00061 ::sensor_msgs::CameraInfo_<ContainerAllocator> cam_info;
00062
00063 typedef uint8_t _verbose_type;
00064 uint8_t verbose;
00065
00066 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00067 ::sensor_msgs::Image_<ContainerAllocator> image;
00068
00069 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_rect_type;
00070 ::sensor_msgs::Image_<ContainerAllocator> image_rect;
00071
00072 typedef ::calibration_msgs::CalibrationPattern_<ContainerAllocator> _features_type;
00073 ::calibration_msgs::CalibrationPattern_<ContainerAllocator> features;
00074
00075
00076 ROS_DEPRECATED uint32_t get_image_points_size() const { return (uint32_t)image_points.size(); }
00077 ROS_DEPRECATED void set_image_points_size(uint32_t size) { image_points.resize((size_t)size); }
00078 ROS_DEPRECATED void get_image_points_vec(std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > & vec) const { vec = this->image_points; }
00079 ROS_DEPRECATED void set_image_points_vec(const std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > & vec) { this->image_points = vec; }
00080 private:
00081 static const char* __s_getDataType_() { return "calibration_msgs/CameraMeasurement"; }
00082 public:
00083 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00084
00085 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00086
00087 private:
00088 static const char* __s_getMD5Sum_() { return "82fd8e2ebaf7cfafd8e2a52b210c7523"; }
00089 public:
00090 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00091
00092 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00093
00094 private:
00095 static const char* __s_getMessageDefinition_() { return "Header header\n\
00096 string camera_id\n\
00097 ImagePoint[] image_points\n\
00098 sensor_msgs/CameraInfo cam_info\n\
00099 \n\
00100 # True -> The extra debugging fields are populated\n\
00101 bool verbose\n\
00102 \n\
00103 # Extra, partially processed data. Only needed for debugging\n\
00104 sensor_msgs/Image image\n\
00105 sensor_msgs/Image image_rect\n\
00106 calibration_msgs/CalibrationPattern features\n\
00107 \n\
00108 ================================================================================\n\
00109 MSG: std_msgs/Header\n\
00110 # Standard metadata for higher-level stamped data types.\n\
00111 # This is generally used to communicate timestamped data \n\
00112 # in a particular coordinate frame.\n\
00113 # \n\
00114 # sequence ID: consecutively increasing ID \n\
00115 uint32 seq\n\
00116 #Two-integer timestamp that is expressed as:\n\
00117 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00118 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00119 # time-handling sugar is provided by the client library\n\
00120 time stamp\n\
00121 #Frame this data is associated with\n\
00122 # 0: no frame\n\
00123 # 1: global frame\n\
00124 string frame_id\n\
00125 \n\
00126 ================================================================================\n\
00127 MSG: calibration_msgs/ImagePoint\n\
00128 float32 x\n\
00129 float32 y\n\
00130 \n\
00131 ================================================================================\n\
00132 MSG: sensor_msgs/CameraInfo\n\
00133 # This message defines meta information for a camera. It should be in a\n\
00134 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00135 # image topics named:\n\
00136 #\n\
00137 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00138 # image - monochrome, distorted\n\
00139 # image_color - color, distorted\n\
00140 # image_rect - monochrome, rectified\n\
00141 # image_rect_color - color, rectified\n\
00142 #\n\
00143 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00144 # for producing the four processed image topics from image_raw and\n\
00145 # camera_info. The meaning of the camera parameters are described in\n\
00146 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00147 #\n\
00148 # The image_geometry package provides a user-friendly interface to\n\
00149 # common operations using this meta information. If you want to, e.g.,\n\
00150 # project a 3d point into image coordinates, we strongly recommend\n\
00151 # using image_geometry.\n\
00152 #\n\
00153 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00154 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00155 # indicates an uncalibrated camera.\n\
00156 \n\
00157 #######################################################################\n\
00158 # Image acquisition info #\n\
00159 #######################################################################\n\
00160 \n\
00161 # Time of image acquisition, camera coordinate frame ID\n\
00162 Header header # Header timestamp should be acquisition time of image\n\
00163 # Header frame_id should be optical frame of camera\n\
00164 # origin of frame should be optical center of camera\n\
00165 # +x should point to the right in the image\n\
00166 # +y should point down in the image\n\
00167 # +z should point into the plane of the image\n\
00168 \n\
00169 \n\
00170 #######################################################################\n\
00171 # Calibration Parameters #\n\
00172 #######################################################################\n\
00173 # These are fixed during camera calibration. Their values will be the #\n\
00174 # same in all messages until the camera is recalibrated. Note that #\n\
00175 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00176 # #\n\
00177 # The internal parameters can be used to warp a raw (distorted) image #\n\
00178 # to: #\n\
00179 # 1. An undistorted image (requires D and K) #\n\
00180 # 2. A rectified image (requires D, K, R) #\n\
00181 # The projection matrix P projects 3D points into the rectified image.#\n\
00182 #######################################################################\n\
00183 \n\
00184 # The image dimensions with which the camera was calibrated. Normally\n\
00185 # this will be the full camera resolution in pixels.\n\
00186 uint32 height\n\
00187 uint32 width\n\
00188 \n\
00189 # The distortion model used. Supported models are listed in\n\
00190 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00191 # simple model of radial and tangential distortion - is sufficent.\n\
00192 string distortion_model\n\
00193 \n\
00194 # The distortion parameters, size depending on the distortion model.\n\
00195 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00196 float64[] D\n\
00197 \n\
00198 # Intrinsic camera matrix for the raw (distorted) images.\n\
00199 # [fx 0 cx]\n\
00200 # K = [ 0 fy cy]\n\
00201 # [ 0 0 1]\n\
00202 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00203 # coordinates using the focal lengths (fx, fy) and principal point\n\
00204 # (cx, cy).\n\
00205 float64[9] K # 3x3 row-major matrix\n\
00206 \n\
00207 # Rectification matrix (stereo cameras only)\n\
00208 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00209 # stereo image plane so that epipolar lines in both stereo images are\n\
00210 # parallel.\n\
00211 float64[9] R # 3x3 row-major matrix\n\
00212 \n\
00213 # Projection/camera matrix\n\
00214 # [fx' 0 cx' Tx]\n\
00215 # P = [ 0 fy' cy' Ty]\n\
00216 # [ 0 0 1 0]\n\
00217 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00218 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00219 # is the normal camera intrinsic matrix for the rectified image.\n\
00220 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00221 # coordinates using the focal lengths (fx', fy') and principal point\n\
00222 # (cx', cy') - these may differ from the values in K.\n\
00223 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00224 # also have R = the identity and P[1:3,1:3] = K.\n\
00225 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00226 # position of the optical center of the second camera in the first\n\
00227 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00228 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00229 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00230 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00231 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00232 # the rectified image is given by:\n\
00233 # [u v w]' = P * [X Y Z 1]'\n\
00234 # x = u / w\n\
00235 # y = v / w\n\
00236 # This holds for both images of a stereo pair.\n\
00237 float64[12] P # 3x4 row-major matrix\n\
00238 \n\
00239 \n\
00240 #######################################################################\n\
00241 # Operational Parameters #\n\
00242 #######################################################################\n\
00243 # These define the image region actually captured by the camera #\n\
00244 # driver. Although they affect the geometry of the output image, they #\n\
00245 # may be changed freely without recalibrating the camera. #\n\
00246 #######################################################################\n\
00247 \n\
00248 # Binning refers here to any camera setting which combines rectangular\n\
00249 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00250 # resolution of the output image to\n\
00251 # (width / binning_x) x (height / binning_y).\n\
00252 # The default values binning_x = binning_y = 0 is considered the same\n\
00253 # as binning_x = binning_y = 1 (no subsampling).\n\
00254 uint32 binning_x\n\
00255 uint32 binning_y\n\
00256 \n\
00257 # Region of interest (subwindow of full camera resolution), given in\n\
00258 # full resolution (unbinned) image coordinates. A particular ROI\n\
00259 # always denotes the same window of pixels on the camera sensor,\n\
00260 # regardless of binning settings.\n\
00261 # The default setting of roi (all values 0) is considered the same as\n\
00262 # full resolution (roi.width = width, roi.height = height).\n\
00263 RegionOfInterest roi\n\
00264 \n\
00265 ================================================================================\n\
00266 MSG: sensor_msgs/RegionOfInterest\n\
00267 # This message is used to specify a region of interest within an image.\n\
00268 #\n\
00269 # When used to specify the ROI setting of the camera when the image was\n\
00270 # taken, the height and width fields should either match the height and\n\
00271 # width fields for the associated image; or height = width = 0\n\
00272 # indicates that the full resolution image was captured.\n\
00273 \n\
00274 uint32 x_offset # Leftmost pixel of the ROI\n\
00275 # (0 if the ROI includes the left edge of the image)\n\
00276 uint32 y_offset # Topmost pixel of the ROI\n\
00277 # (0 if the ROI includes the top edge of the image)\n\
00278 uint32 height # Height of ROI\n\
00279 uint32 width # Width of ROI\n\
00280 \n\
00281 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00282 # ROI in this message. Typically this should be False if the full image\n\
00283 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00284 # used).\n\
00285 bool do_rectify\n\
00286 \n\
00287 ================================================================================\n\
00288 MSG: sensor_msgs/Image\n\
00289 # This message contains an uncompressed image\n\
00290 # (0, 0) is at top-left corner of image\n\
00291 #\n\
00292 \n\
00293 Header header # Header timestamp should be acquisition time of image\n\
00294 # Header frame_id should be optical frame of camera\n\
00295 # origin of frame should be optical center of cameara\n\
00296 # +x should point to the right in the image\n\
00297 # +y should point down in the image\n\
00298 # +z should point into to plane of the image\n\
00299 # If the frame_id here and the frame_id of the CameraInfo\n\
00300 # message associated with the image conflict\n\
00301 # the behavior is undefined\n\
00302 \n\
00303 uint32 height # image height, that is, number of rows\n\
00304 uint32 width # image width, that is, number of columns\n\
00305 \n\
00306 # The legal values for encoding are in file src/image_encodings.cpp\n\
00307 # If you want to standardize a new string format, join\n\
00308 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00309 \n\
00310 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00311 # taken from the list of strings in src/image_encodings.cpp\n\
00312 \n\
00313 uint8 is_bigendian # is this data bigendian?\n\
00314 uint32 step # Full row length in bytes\n\
00315 uint8[] data # actual matrix data, size is (step * rows)\n\
00316 \n\
00317 ================================================================================\n\
00318 MSG: calibration_msgs/CalibrationPattern\n\
00319 Header header\n\
00320 geometry_msgs/Point32[] object_points\n\
00321 ImagePoint[] image_points\n\
00322 uint8 success\n\
00323 \n\
00324 ================================================================================\n\
00325 MSG: geometry_msgs/Point32\n\
00326 # This contains the position of a point in free space(with 32 bits of precision).\n\
00327 # It is recommeded to use Point wherever possible instead of Point32. \n\
00328 # \n\
00329 # This recommendation is to promote interoperability. \n\
00330 #\n\
00331 # This message is designed to take up less space when sending\n\
00332 # lots of points at once, as in the case of a PointCloud. \n\
00333 \n\
00334 float32 x\n\
00335 float32 y\n\
00336 float32 z\n\
00337 "; }
00338 public:
00339 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00340
00341 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00342
00343 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00344 {
00345 ros::serialization::OStream stream(write_ptr, 1000000000);
00346 ros::serialization::serialize(stream, header);
00347 ros::serialization::serialize(stream, camera_id);
00348 ros::serialization::serialize(stream, image_points);
00349 ros::serialization::serialize(stream, cam_info);
00350 ros::serialization::serialize(stream, verbose);
00351 ros::serialization::serialize(stream, image);
00352 ros::serialization::serialize(stream, image_rect);
00353 ros::serialization::serialize(stream, features);
00354 return stream.getData();
00355 }
00356
00357 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00358 {
00359 ros::serialization::IStream stream(read_ptr, 1000000000);
00360 ros::serialization::deserialize(stream, header);
00361 ros::serialization::deserialize(stream, camera_id);
00362 ros::serialization::deserialize(stream, image_points);
00363 ros::serialization::deserialize(stream, cam_info);
00364 ros::serialization::deserialize(stream, verbose);
00365 ros::serialization::deserialize(stream, image);
00366 ros::serialization::deserialize(stream, image_rect);
00367 ros::serialization::deserialize(stream, features);
00368 return stream.getData();
00369 }
00370
00371 ROS_DEPRECATED virtual uint32_t serializationLength() const
00372 {
00373 uint32_t size = 0;
00374 size += ros::serialization::serializationLength(header);
00375 size += ros::serialization::serializationLength(camera_id);
00376 size += ros::serialization::serializationLength(image_points);
00377 size += ros::serialization::serializationLength(cam_info);
00378 size += ros::serialization::serializationLength(verbose);
00379 size += ros::serialization::serializationLength(image);
00380 size += ros::serialization::serializationLength(image_rect);
00381 size += ros::serialization::serializationLength(features);
00382 return size;
00383 }
00384
00385 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > Ptr;
00386 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> const> ConstPtr;
00387 };
00388 typedef ::calibration_msgs::CameraMeasurement_<std::allocator<void> > CameraMeasurement;
00389
00390 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement> CameraMeasurementPtr;
00391 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement const> CameraMeasurementConstPtr;
00392
00393
00394 template<typename ContainerAllocator>
00395 std::ostream& operator<<(std::ostream& s, const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> & v)
00396 {
00397 ros::message_operations::Printer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::stream(s, "", v);
00398 return s;}
00399
00400 }
00401
00402 namespace ros
00403 {
00404 namespace message_traits
00405 {
00406 template<class ContainerAllocator>
00407 struct MD5Sum< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > {
00408 static const char* value()
00409 {
00410 return "82fd8e2ebaf7cfafd8e2a52b210c7523";
00411 }
00412
00413 static const char* value(const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> &) { return value(); }
00414 static const uint64_t static_value1 = 0x82fd8e2ebaf7cfafULL;
00415 static const uint64_t static_value2 = 0xd8e2a52b210c7523ULL;
00416 };
00417
00418 template<class ContainerAllocator>
00419 struct DataType< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > {
00420 static const char* value()
00421 {
00422 return "calibration_msgs/CameraMeasurement";
00423 }
00424
00425 static const char* value(const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> &) { return value(); }
00426 };
00427
00428 template<class ContainerAllocator>
00429 struct Definition< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > {
00430 static const char* value()
00431 {
00432 return "Header header\n\
00433 string camera_id\n\
00434 ImagePoint[] image_points\n\
00435 sensor_msgs/CameraInfo cam_info\n\
00436 \n\
00437 # True -> The extra debugging fields are populated\n\
00438 bool verbose\n\
00439 \n\
00440 # Extra, partially processed data. Only needed for debugging\n\
00441 sensor_msgs/Image image\n\
00442 sensor_msgs/Image image_rect\n\
00443 calibration_msgs/CalibrationPattern features\n\
00444 \n\
00445 ================================================================================\n\
00446 MSG: std_msgs/Header\n\
00447 # Standard metadata for higher-level stamped data types.\n\
00448 # This is generally used to communicate timestamped data \n\
00449 # in a particular coordinate frame.\n\
00450 # \n\
00451 # sequence ID: consecutively increasing ID \n\
00452 uint32 seq\n\
00453 #Two-integer timestamp that is expressed as:\n\
00454 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00455 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00456 # time-handling sugar is provided by the client library\n\
00457 time stamp\n\
00458 #Frame this data is associated with\n\
00459 # 0: no frame\n\
00460 # 1: global frame\n\
00461 string frame_id\n\
00462 \n\
00463 ================================================================================\n\
00464 MSG: calibration_msgs/ImagePoint\n\
00465 float32 x\n\
00466 float32 y\n\
00467 \n\
00468 ================================================================================\n\
00469 MSG: sensor_msgs/CameraInfo\n\
00470 # This message defines meta information for a camera. It should be in a\n\
00471 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00472 # image topics named:\n\
00473 #\n\
00474 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00475 # image - monochrome, distorted\n\
00476 # image_color - color, distorted\n\
00477 # image_rect - monochrome, rectified\n\
00478 # image_rect_color - color, rectified\n\
00479 #\n\
00480 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00481 # for producing the four processed image topics from image_raw and\n\
00482 # camera_info. The meaning of the camera parameters are described in\n\
00483 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00484 #\n\
00485 # The image_geometry package provides a user-friendly interface to\n\
00486 # common operations using this meta information. If you want to, e.g.,\n\
00487 # project a 3d point into image coordinates, we strongly recommend\n\
00488 # using image_geometry.\n\
00489 #\n\
00490 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00491 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00492 # indicates an uncalibrated camera.\n\
00493 \n\
00494 #######################################################################\n\
00495 # Image acquisition info #\n\
00496 #######################################################################\n\
00497 \n\
00498 # Time of image acquisition, camera coordinate frame ID\n\
00499 Header header # Header timestamp should be acquisition time of image\n\
00500 # Header frame_id should be optical frame of camera\n\
00501 # origin of frame should be optical center of camera\n\
00502 # +x should point to the right in the image\n\
00503 # +y should point down in the image\n\
00504 # +z should point into the plane of the image\n\
00505 \n\
00506 \n\
00507 #######################################################################\n\
00508 # Calibration Parameters #\n\
00509 #######################################################################\n\
00510 # These are fixed during camera calibration. Their values will be the #\n\
00511 # same in all messages until the camera is recalibrated. Note that #\n\
00512 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00513 # #\n\
00514 # The internal parameters can be used to warp a raw (distorted) image #\n\
00515 # to: #\n\
00516 # 1. An undistorted image (requires D and K) #\n\
00517 # 2. A rectified image (requires D, K, R) #\n\
00518 # The projection matrix P projects 3D points into the rectified image.#\n\
00519 #######################################################################\n\
00520 \n\
00521 # The image dimensions with which the camera was calibrated. Normally\n\
00522 # this will be the full camera resolution in pixels.\n\
00523 uint32 height\n\
00524 uint32 width\n\
00525 \n\
00526 # The distortion model used. Supported models are listed in\n\
00527 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00528 # simple model of radial and tangential distortion - is sufficent.\n\
00529 string distortion_model\n\
00530 \n\
00531 # The distortion parameters, size depending on the distortion model.\n\
00532 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00533 float64[] D\n\
00534 \n\
00535 # Intrinsic camera matrix for the raw (distorted) images.\n\
00536 # [fx 0 cx]\n\
00537 # K = [ 0 fy cy]\n\
00538 # [ 0 0 1]\n\
00539 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00540 # coordinates using the focal lengths (fx, fy) and principal point\n\
00541 # (cx, cy).\n\
00542 float64[9] K # 3x3 row-major matrix\n\
00543 \n\
00544 # Rectification matrix (stereo cameras only)\n\
00545 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00546 # stereo image plane so that epipolar lines in both stereo images are\n\
00547 # parallel.\n\
00548 float64[9] R # 3x3 row-major matrix\n\
00549 \n\
00550 # Projection/camera matrix\n\
00551 # [fx' 0 cx' Tx]\n\
00552 # P = [ 0 fy' cy' Ty]\n\
00553 # [ 0 0 1 0]\n\
00554 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00555 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00556 # is the normal camera intrinsic matrix for the rectified image.\n\
00557 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00558 # coordinates using the focal lengths (fx', fy') and principal point\n\
00559 # (cx', cy') - these may differ from the values in K.\n\
00560 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00561 # also have R = the identity and P[1:3,1:3] = K.\n\
00562 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00563 # position of the optical center of the second camera in the first\n\
00564 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00565 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00566 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00567 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00568 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00569 # the rectified image is given by:\n\
00570 # [u v w]' = P * [X Y Z 1]'\n\
00571 # x = u / w\n\
00572 # y = v / w\n\
00573 # This holds for both images of a stereo pair.\n\
00574 float64[12] P # 3x4 row-major matrix\n\
00575 \n\
00576 \n\
00577 #######################################################################\n\
00578 # Operational Parameters #\n\
00579 #######################################################################\n\
00580 # These define the image region actually captured by the camera #\n\
00581 # driver. Although they affect the geometry of the output image, they #\n\
00582 # may be changed freely without recalibrating the camera. #\n\
00583 #######################################################################\n\
00584 \n\
00585 # Binning refers here to any camera setting which combines rectangular\n\
00586 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00587 # resolution of the output image to\n\
00588 # (width / binning_x) x (height / binning_y).\n\
00589 # The default values binning_x = binning_y = 0 is considered the same\n\
00590 # as binning_x = binning_y = 1 (no subsampling).\n\
00591 uint32 binning_x\n\
00592 uint32 binning_y\n\
00593 \n\
00594 # Region of interest (subwindow of full camera resolution), given in\n\
00595 # full resolution (unbinned) image coordinates. A particular ROI\n\
00596 # always denotes the same window of pixels on the camera sensor,\n\
00597 # regardless of binning settings.\n\
00598 # The default setting of roi (all values 0) is considered the same as\n\
00599 # full resolution (roi.width = width, roi.height = height).\n\
00600 RegionOfInterest roi\n\
00601 \n\
00602 ================================================================================\n\
00603 MSG: sensor_msgs/RegionOfInterest\n\
00604 # This message is used to specify a region of interest within an image.\n\
00605 #\n\
00606 # When used to specify the ROI setting of the camera when the image was\n\
00607 # taken, the height and width fields should either match the height and\n\
00608 # width fields for the associated image; or height = width = 0\n\
00609 # indicates that the full resolution image was captured.\n\
00610 \n\
00611 uint32 x_offset # Leftmost pixel of the ROI\n\
00612 # (0 if the ROI includes the left edge of the image)\n\
00613 uint32 y_offset # Topmost pixel of the ROI\n\
00614 # (0 if the ROI includes the top edge of the image)\n\
00615 uint32 height # Height of ROI\n\
00616 uint32 width # Width of ROI\n\
00617 \n\
00618 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00619 # ROI in this message. Typically this should be False if the full image\n\
00620 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00621 # used).\n\
00622 bool do_rectify\n\
00623 \n\
00624 ================================================================================\n\
00625 MSG: sensor_msgs/Image\n\
00626 # This message contains an uncompressed image\n\
00627 # (0, 0) is at top-left corner of image\n\
00628 #\n\
00629 \n\
00630 Header header # Header timestamp should be acquisition time of image\n\
00631 # Header frame_id should be optical frame of camera\n\
00632 # origin of frame should be optical center of cameara\n\
00633 # +x should point to the right in the image\n\
00634 # +y should point down in the image\n\
00635 # +z should point into to plane of the image\n\
00636 # If the frame_id here and the frame_id of the CameraInfo\n\
00637 # message associated with the image conflict\n\
00638 # the behavior is undefined\n\
00639 \n\
00640 uint32 height # image height, that is, number of rows\n\
00641 uint32 width # image width, that is, number of columns\n\
00642 \n\
00643 # The legal values for encoding are in file src/image_encodings.cpp\n\
00644 # If you want to standardize a new string format, join\n\
00645 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00646 \n\
00647 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00648 # taken from the list of strings in src/image_encodings.cpp\n\
00649 \n\
00650 uint8 is_bigendian # is this data bigendian?\n\
00651 uint32 step # Full row length in bytes\n\
00652 uint8[] data # actual matrix data, size is (step * rows)\n\
00653 \n\
00654 ================================================================================\n\
00655 MSG: calibration_msgs/CalibrationPattern\n\
00656 Header header\n\
00657 geometry_msgs/Point32[] object_points\n\
00658 ImagePoint[] image_points\n\
00659 uint8 success\n\
00660 \n\
00661 ================================================================================\n\
00662 MSG: geometry_msgs/Point32\n\
00663 # This contains the position of a point in free space(with 32 bits of precision).\n\
00664 # It is recommeded to use Point wherever possible instead of Point32. \n\
00665 # \n\
00666 # This recommendation is to promote interoperability. \n\
00667 #\n\
00668 # This message is designed to take up less space when sending\n\
00669 # lots of points at once, as in the case of a PointCloud. \n\
00670 \n\
00671 float32 x\n\
00672 float32 y\n\
00673 float32 z\n\
00674 ";
00675 }
00676
00677 static const char* value(const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> &) { return value(); }
00678 };
00679
00680 template<class ContainerAllocator> struct HasHeader< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > : public TrueType {};
00681 template<class ContainerAllocator> struct HasHeader< const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > : public TrueType {};
00682 }
00683 }
00684
00685 namespace ros
00686 {
00687 namespace serialization
00688 {
00689
00690 template<class ContainerAllocator> struct Serializer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >
00691 {
00692 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00693 {
00694 stream.next(m.header);
00695 stream.next(m.camera_id);
00696 stream.next(m.image_points);
00697 stream.next(m.cam_info);
00698 stream.next(m.verbose);
00699 stream.next(m.image);
00700 stream.next(m.image_rect);
00701 stream.next(m.features);
00702 }
00703
00704 ROS_DECLARE_ALLINONE_SERIALIZER;
00705 };
00706 }
00707 }
00708
00709 namespace ros
00710 {
00711 namespace message_operations
00712 {
00713
00714 template<class ContainerAllocator>
00715 struct Printer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >
00716 {
00717 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> & v)
00718 {
00719 s << indent << "header: ";
00720 s << std::endl;
00721 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00722 s << indent << "camera_id: ";
00723 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.camera_id);
00724 s << indent << "image_points[]" << std::endl;
00725 for (size_t i = 0; i < v.image_points.size(); ++i)
00726 {
00727 s << indent << " image_points[" << i << "]: ";
00728 s << std::endl;
00729 s << indent;
00730 Printer< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::stream(s, indent + " ", v.image_points[i]);
00731 }
00732 s << indent << "cam_info: ";
00733 s << std::endl;
00734 Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >::stream(s, indent + " ", v.cam_info);
00735 s << indent << "verbose: ";
00736 Printer<uint8_t>::stream(s, indent + " ", v.verbose);
00737 s << indent << "image: ";
00738 s << std::endl;
00739 Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + " ", v.image);
00740 s << indent << "image_rect: ";
00741 s << std::endl;
00742 Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + " ", v.image_rect);
00743 s << indent << "features: ";
00744 s << std::endl;
00745 Printer< ::calibration_msgs::CalibrationPattern_<ContainerAllocator> >::stream(s, indent + " ", v.features);
00746 }
00747 };
00748
00749
00750 }
00751 }
00752
00753 #endif // CALIBRATION_MSGS_MESSAGE_CAMERAMEASUREMENT_H
00754