00001
00002 #ifndef OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTIONGOAL_H
00003 #define OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTIONGOAL_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "std_msgs/Header.h"
00018 #include "actionlib_msgs/GoalID.h"
00019 #include "object_recognition_gui/ObjectRecognitionGuiGoal.h"
00020
00021 namespace object_recognition_gui
00022 {
00023 template <class ContainerAllocator>
00024 struct ObjectRecognitionGuiActionGoal_ {
00025 typedef ObjectRecognitionGuiActionGoal_<ContainerAllocator> Type;
00026
00027 ObjectRecognitionGuiActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 ObjectRecognitionGuiActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> _goal_type;
00048 ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "object_recognition_gui/ObjectRecognitionGuiActionGoal"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "e9351c4dd7bd646f1f371db4c7fd13af"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 Header header\n\
00069 actionlib_msgs/GoalID goal_id\n\
00070 ObjectRecognitionGuiGoal goal\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: object_recognition_gui/ObjectRecognitionGuiGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 \n\
00107 #the original sensor data (depth/disparity image)\n\
00108 sensor_msgs/Image image\n\
00109 sensor_msgs/CameraInfo camera_info\n\
00110 \n\
00111 #list of mesh/pose hypotheses for each recognized point cluster\n\
00112 ModelHypothesisList[] model_hypotheses\n\
00113 \n\
00114 ================================================================================\n\
00115 MSG: sensor_msgs/Image\n\
00116 # This message contains an uncompressed image\n\
00117 # (0, 0) is at top-left corner of image\n\
00118 #\n\
00119 \n\
00120 Header header # Header timestamp should be acquisition time of image\n\
00121 # Header frame_id should be optical frame of camera\n\
00122 # origin of frame should be optical center of cameara\n\
00123 # +x should point to the right in the image\n\
00124 # +y should point down in the image\n\
00125 # +z should point into to plane of the image\n\
00126 # If the frame_id here and the frame_id of the CameraInfo\n\
00127 # message associated with the image conflict\n\
00128 # the behavior is undefined\n\
00129 \n\
00130 uint32 height # image height, that is, number of rows\n\
00131 uint32 width # image width, that is, number of columns\n\
00132 \n\
00133 # The legal values for encoding are in file src/image_encodings.cpp\n\
00134 # If you want to standardize a new string format, join\n\
00135 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00136 \n\
00137 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00138 # taken from the list of strings in src/image_encodings.cpp\n\
00139 \n\
00140 uint8 is_bigendian # is this data bigendian?\n\
00141 uint32 step # Full row length in bytes\n\
00142 uint8[] data # actual matrix data, size is (step * rows)\n\
00143 \n\
00144 ================================================================================\n\
00145 MSG: sensor_msgs/CameraInfo\n\
00146 # This message defines meta information for a camera. It should be in a\n\
00147 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00148 # image topics named:\n\
00149 #\n\
00150 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00151 # image - monochrome, distorted\n\
00152 # image_color - color, distorted\n\
00153 # image_rect - monochrome, rectified\n\
00154 # image_rect_color - color, rectified\n\
00155 #\n\
00156 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00157 # for producing the four processed image topics from image_raw and\n\
00158 # camera_info. The meaning of the camera parameters are described in\n\
00159 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00160 #\n\
00161 # The image_geometry package provides a user-friendly interface to\n\
00162 # common operations using this meta information. If you want to, e.g.,\n\
00163 # project a 3d point into image coordinates, we strongly recommend\n\
00164 # using image_geometry.\n\
00165 #\n\
00166 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00167 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00168 # indicates an uncalibrated camera.\n\
00169 \n\
00170 #######################################################################\n\
00171 # Image acquisition info #\n\
00172 #######################################################################\n\
00173 \n\
00174 # Time of image acquisition, camera coordinate frame ID\n\
00175 Header header # Header timestamp should be acquisition time of image\n\
00176 # Header frame_id should be optical frame of camera\n\
00177 # origin of frame should be optical center of camera\n\
00178 # +x should point to the right in the image\n\
00179 # +y should point down in the image\n\
00180 # +z should point into the plane of the image\n\
00181 \n\
00182 \n\
00183 #######################################################################\n\
00184 # Calibration Parameters #\n\
00185 #######################################################################\n\
00186 # These are fixed during camera calibration. Their values will be the #\n\
00187 # same in all messages until the camera is recalibrated. Note that #\n\
00188 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00189 # #\n\
00190 # The internal parameters can be used to warp a raw (distorted) image #\n\
00191 # to: #\n\
00192 # 1. An undistorted image (requires D and K) #\n\
00193 # 2. A rectified image (requires D, K, R) #\n\
00194 # The projection matrix P projects 3D points into the rectified image.#\n\
00195 #######################################################################\n\
00196 \n\
00197 # The image dimensions with which the camera was calibrated. Normally\n\
00198 # this will be the full camera resolution in pixels.\n\
00199 uint32 height\n\
00200 uint32 width\n\
00201 \n\
00202 # The distortion model used. Supported models are listed in\n\
00203 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00204 # simple model of radial and tangential distortion - is sufficent.\n\
00205 string distortion_model\n\
00206 \n\
00207 # The distortion parameters, size depending on the distortion model.\n\
00208 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00209 float64[] D\n\
00210 \n\
00211 # Intrinsic camera matrix for the raw (distorted) images.\n\
00212 # [fx 0 cx]\n\
00213 # K = [ 0 fy cy]\n\
00214 # [ 0 0 1]\n\
00215 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00216 # coordinates using the focal lengths (fx, fy) and principal point\n\
00217 # (cx, cy).\n\
00218 float64[9] K # 3x3 row-major matrix\n\
00219 \n\
00220 # Rectification matrix (stereo cameras only)\n\
00221 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00222 # stereo image plane so that epipolar lines in both stereo images are\n\
00223 # parallel.\n\
00224 float64[9] R # 3x3 row-major matrix\n\
00225 \n\
00226 # Projection/camera matrix\n\
00227 # [fx' 0 cx' Tx]\n\
00228 # P = [ 0 fy' cy' Ty]\n\
00229 # [ 0 0 1 0]\n\
00230 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00231 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00232 # is the normal camera intrinsic matrix for the rectified image.\n\
00233 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00234 # coordinates using the focal lengths (fx', fy') and principal point\n\
00235 # (cx', cy') - these may differ from the values in K.\n\
00236 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00237 # also have R = the identity and P[1:3,1:3] = K.\n\
00238 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00239 # position of the optical center of the second camera in the first\n\
00240 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00241 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00242 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00243 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00244 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00245 # the rectified image is given by:\n\
00246 # [u v w]' = P * [X Y Z 1]'\n\
00247 # x = u / w\n\
00248 # y = v / w\n\
00249 # This holds for both images of a stereo pair.\n\
00250 float64[12] P # 3x4 row-major matrix\n\
00251 \n\
00252 \n\
00253 #######################################################################\n\
00254 # Operational Parameters #\n\
00255 #######################################################################\n\
00256 # These define the image region actually captured by the camera #\n\
00257 # driver. Although they affect the geometry of the output image, they #\n\
00258 # may be changed freely without recalibrating the camera. #\n\
00259 #######################################################################\n\
00260 \n\
00261 # Binning refers here to any camera setting which combines rectangular\n\
00262 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00263 # resolution of the output image to\n\
00264 # (width / binning_x) x (height / binning_y).\n\
00265 # The default values binning_x = binning_y = 0 is considered the same\n\
00266 # as binning_x = binning_y = 1 (no subsampling).\n\
00267 uint32 binning_x\n\
00268 uint32 binning_y\n\
00269 \n\
00270 # Region of interest (subwindow of full camera resolution), given in\n\
00271 # full resolution (unbinned) image coordinates. A particular ROI\n\
00272 # always denotes the same window of pixels on the camera sensor,\n\
00273 # regardless of binning settings.\n\
00274 # The default setting of roi (all values 0) is considered the same as\n\
00275 # full resolution (roi.width = width, roi.height = height).\n\
00276 RegionOfInterest roi\n\
00277 \n\
00278 ================================================================================\n\
00279 MSG: sensor_msgs/RegionOfInterest\n\
00280 # This message is used to specify a region of interest within an image.\n\
00281 #\n\
00282 # When used to specify the ROI setting of the camera when the image was\n\
00283 # taken, the height and width fields should either match the height and\n\
00284 # width fields for the associated image; or height = width = 0\n\
00285 # indicates that the full resolution image was captured.\n\
00286 \n\
00287 uint32 x_offset # Leftmost pixel of the ROI\n\
00288 # (0 if the ROI includes the left edge of the image)\n\
00289 uint32 y_offset # Topmost pixel of the ROI\n\
00290 # (0 if the ROI includes the top edge of the image)\n\
00291 uint32 height # Height of ROI\n\
00292 uint32 width # Width of ROI\n\
00293 \n\
00294 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00295 # ROI in this message. Typically this should be False if the full image\n\
00296 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00297 # used).\n\
00298 bool do_rectify\n\
00299 \n\
00300 ================================================================================\n\
00301 MSG: object_recognition_gui/ModelHypothesisList\n\
00302 ModelHypothesis[] hypotheses\n\
00303 \n\
00304 #initial guess if this can be a correct recognition result at all\n\
00305 bool accept\n\
00306 ================================================================================\n\
00307 MSG: object_recognition_gui/ModelHypothesis\n\
00308 #describes a hypothesis about a recognized object (mesh+pose)\n\
00309 \n\
00310 arm_navigation_msgs/Shape mesh\n\
00311 geometry_msgs/PoseStamped pose\n\
00312 \n\
00313 ================================================================================\n\
00314 MSG: arm_navigation_msgs/Shape\n\
00315 byte SPHERE=0\n\
00316 byte BOX=1\n\
00317 byte CYLINDER=2\n\
00318 byte MESH=3\n\
00319 \n\
00320 byte type\n\
00321 \n\
00322 \n\
00323 #### define sphere, box, cylinder ####\n\
00324 # the origin of each shape is considered at the shape's center\n\
00325 \n\
00326 # for sphere\n\
00327 # radius := dimensions[0]\n\
00328 \n\
00329 # for cylinder\n\
00330 # radius := dimensions[0]\n\
00331 # length := dimensions[1]\n\
00332 # the length is along the Z axis\n\
00333 \n\
00334 # for box\n\
00335 # size_x := dimensions[0]\n\
00336 # size_y := dimensions[1]\n\
00337 # size_z := dimensions[2]\n\
00338 float64[] dimensions\n\
00339 \n\
00340 \n\
00341 #### define mesh ####\n\
00342 \n\
00343 # list of triangles; triangle k is defined by tre vertices located\n\
00344 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00345 int32[] triangles\n\
00346 geometry_msgs/Point[] vertices\n\
00347 \n\
00348 ================================================================================\n\
00349 MSG: geometry_msgs/Point\n\
00350 # This contains the position of a point in free space\n\
00351 float64 x\n\
00352 float64 y\n\
00353 float64 z\n\
00354 \n\
00355 ================================================================================\n\
00356 MSG: geometry_msgs/PoseStamped\n\
00357 # A Pose with reference coordinate frame and timestamp\n\
00358 Header header\n\
00359 Pose pose\n\
00360 \n\
00361 ================================================================================\n\
00362 MSG: geometry_msgs/Pose\n\
00363 # A representation of pose in free space, composed of postion and orientation. \n\
00364 Point position\n\
00365 Quaternion orientation\n\
00366 \n\
00367 ================================================================================\n\
00368 MSG: geometry_msgs/Quaternion\n\
00369 # This represents an orientation in free space in quaternion form.\n\
00370 \n\
00371 float64 x\n\
00372 float64 y\n\
00373 float64 z\n\
00374 float64 w\n\
00375 \n\
00376 "; }
00377 public:
00378 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00379
00380 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00381
00382 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00383 {
00384 ros::serialization::OStream stream(write_ptr, 1000000000);
00385 ros::serialization::serialize(stream, header);
00386 ros::serialization::serialize(stream, goal_id);
00387 ros::serialization::serialize(stream, goal);
00388 return stream.getData();
00389 }
00390
00391 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00392 {
00393 ros::serialization::IStream stream(read_ptr, 1000000000);
00394 ros::serialization::deserialize(stream, header);
00395 ros::serialization::deserialize(stream, goal_id);
00396 ros::serialization::deserialize(stream, goal);
00397 return stream.getData();
00398 }
00399
00400 ROS_DEPRECATED virtual uint32_t serializationLength() const
00401 {
00402 uint32_t size = 0;
00403 size += ros::serialization::serializationLength(header);
00404 size += ros::serialization::serializationLength(goal_id);
00405 size += ros::serialization::serializationLength(goal);
00406 return size;
00407 }
00408
00409 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> > Ptr;
00410 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> const> ConstPtr;
00411 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00412 };
00413 typedef ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<std::allocator<void> > ObjectRecognitionGuiActionGoal;
00414
00415 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiActionGoal> ObjectRecognitionGuiActionGoalPtr;
00416 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiActionGoal const> ObjectRecognitionGuiActionGoalConstPtr;
00417
00418
00419 template<typename ContainerAllocator>
00420 std::ostream& operator<<(std::ostream& s, const ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> & v)
00421 {
00422 ros::message_operations::Printer< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> >::stream(s, "", v);
00423 return s;}
00424
00425 }
00426
00427 namespace ros
00428 {
00429 namespace message_traits
00430 {
00431 template<class ContainerAllocator> struct IsMessage< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> > : public TrueType {};
00432 template<class ContainerAllocator> struct IsMessage< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> const> : public TrueType {};
00433 template<class ContainerAllocator>
00434 struct MD5Sum< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> > {
00435 static const char* value()
00436 {
00437 return "e9351c4dd7bd646f1f371db4c7fd13af";
00438 }
00439
00440 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> &) { return value(); }
00441 static const uint64_t static_value1 = 0xe9351c4dd7bd646fULL;
00442 static const uint64_t static_value2 = 0x1f371db4c7fd13afULL;
00443 };
00444
00445 template<class ContainerAllocator>
00446 struct DataType< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> > {
00447 static const char* value()
00448 {
00449 return "object_recognition_gui/ObjectRecognitionGuiActionGoal";
00450 }
00451
00452 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> &) { return value(); }
00453 };
00454
00455 template<class ContainerAllocator>
00456 struct Definition< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> > {
00457 static const char* value()
00458 {
00459 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00460 \n\
00461 Header header\n\
00462 actionlib_msgs/GoalID goal_id\n\
00463 ObjectRecognitionGuiGoal goal\n\
00464 \n\
00465 ================================================================================\n\
00466 MSG: std_msgs/Header\n\
00467 # Standard metadata for higher-level stamped data types.\n\
00468 # This is generally used to communicate timestamped data \n\
00469 # in a particular coordinate frame.\n\
00470 # \n\
00471 # sequence ID: consecutively increasing ID \n\
00472 uint32 seq\n\
00473 #Two-integer timestamp that is expressed as:\n\
00474 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00475 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00476 # time-handling sugar is provided by the client library\n\
00477 time stamp\n\
00478 #Frame this data is associated with\n\
00479 # 0: no frame\n\
00480 # 1: global frame\n\
00481 string frame_id\n\
00482 \n\
00483 ================================================================================\n\
00484 MSG: actionlib_msgs/GoalID\n\
00485 # The stamp should store the time at which this goal was requested.\n\
00486 # It is used by an action server when it tries to preempt all\n\
00487 # goals that were requested before a certain time\n\
00488 time stamp\n\
00489 \n\
00490 # The id provides a way to associate feedback and\n\
00491 # result message with specific goal requests. The id\n\
00492 # specified must be unique.\n\
00493 string id\n\
00494 \n\
00495 \n\
00496 ================================================================================\n\
00497 MSG: object_recognition_gui/ObjectRecognitionGuiGoal\n\
00498 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00499 \n\
00500 #the original sensor data (depth/disparity image)\n\
00501 sensor_msgs/Image image\n\
00502 sensor_msgs/CameraInfo camera_info\n\
00503 \n\
00504 #list of mesh/pose hypotheses for each recognized point cluster\n\
00505 ModelHypothesisList[] model_hypotheses\n\
00506 \n\
00507 ================================================================================\n\
00508 MSG: sensor_msgs/Image\n\
00509 # This message contains an uncompressed image\n\
00510 # (0, 0) is at top-left corner of image\n\
00511 #\n\
00512 \n\
00513 Header header # Header timestamp should be acquisition time of image\n\
00514 # Header frame_id should be optical frame of camera\n\
00515 # origin of frame should be optical center of cameara\n\
00516 # +x should point to the right in the image\n\
00517 # +y should point down in the image\n\
00518 # +z should point into to plane of the image\n\
00519 # If the frame_id here and the frame_id of the CameraInfo\n\
00520 # message associated with the image conflict\n\
00521 # the behavior is undefined\n\
00522 \n\
00523 uint32 height # image height, that is, number of rows\n\
00524 uint32 width # image width, that is, number of columns\n\
00525 \n\
00526 # The legal values for encoding are in file src/image_encodings.cpp\n\
00527 # If you want to standardize a new string format, join\n\
00528 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00529 \n\
00530 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00531 # taken from the list of strings in src/image_encodings.cpp\n\
00532 \n\
00533 uint8 is_bigendian # is this data bigendian?\n\
00534 uint32 step # Full row length in bytes\n\
00535 uint8[] data # actual matrix data, size is (step * rows)\n\
00536 \n\
00537 ================================================================================\n\
00538 MSG: sensor_msgs/CameraInfo\n\
00539 # This message defines meta information for a camera. It should be in a\n\
00540 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00541 # image topics named:\n\
00542 #\n\
00543 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00544 # image - monochrome, distorted\n\
00545 # image_color - color, distorted\n\
00546 # image_rect - monochrome, rectified\n\
00547 # image_rect_color - color, rectified\n\
00548 #\n\
00549 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00550 # for producing the four processed image topics from image_raw and\n\
00551 # camera_info. The meaning of the camera parameters are described in\n\
00552 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00553 #\n\
00554 # The image_geometry package provides a user-friendly interface to\n\
00555 # common operations using this meta information. If you want to, e.g.,\n\
00556 # project a 3d point into image coordinates, we strongly recommend\n\
00557 # using image_geometry.\n\
00558 #\n\
00559 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00560 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00561 # indicates an uncalibrated camera.\n\
00562 \n\
00563 #######################################################################\n\
00564 # Image acquisition info #\n\
00565 #######################################################################\n\
00566 \n\
00567 # Time of image acquisition, camera coordinate frame ID\n\
00568 Header header # Header timestamp should be acquisition time of image\n\
00569 # Header frame_id should be optical frame of camera\n\
00570 # origin of frame should be optical center of camera\n\
00571 # +x should point to the right in the image\n\
00572 # +y should point down in the image\n\
00573 # +z should point into the plane of the image\n\
00574 \n\
00575 \n\
00576 #######################################################################\n\
00577 # Calibration Parameters #\n\
00578 #######################################################################\n\
00579 # These are fixed during camera calibration. Their values will be the #\n\
00580 # same in all messages until the camera is recalibrated. Note that #\n\
00581 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00582 # #\n\
00583 # The internal parameters can be used to warp a raw (distorted) image #\n\
00584 # to: #\n\
00585 # 1. An undistorted image (requires D and K) #\n\
00586 # 2. A rectified image (requires D, K, R) #\n\
00587 # The projection matrix P projects 3D points into the rectified image.#\n\
00588 #######################################################################\n\
00589 \n\
00590 # The image dimensions with which the camera was calibrated. Normally\n\
00591 # this will be the full camera resolution in pixels.\n\
00592 uint32 height\n\
00593 uint32 width\n\
00594 \n\
00595 # The distortion model used. Supported models are listed in\n\
00596 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00597 # simple model of radial and tangential distortion - is sufficent.\n\
00598 string distortion_model\n\
00599 \n\
00600 # The distortion parameters, size depending on the distortion model.\n\
00601 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00602 float64[] D\n\
00603 \n\
00604 # Intrinsic camera matrix for the raw (distorted) images.\n\
00605 # [fx 0 cx]\n\
00606 # K = [ 0 fy cy]\n\
00607 # [ 0 0 1]\n\
00608 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00609 # coordinates using the focal lengths (fx, fy) and principal point\n\
00610 # (cx, cy).\n\
00611 float64[9] K # 3x3 row-major matrix\n\
00612 \n\
00613 # Rectification matrix (stereo cameras only)\n\
00614 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00615 # stereo image plane so that epipolar lines in both stereo images are\n\
00616 # parallel.\n\
00617 float64[9] R # 3x3 row-major matrix\n\
00618 \n\
00619 # Projection/camera matrix\n\
00620 # [fx' 0 cx' Tx]\n\
00621 # P = [ 0 fy' cy' Ty]\n\
00622 # [ 0 0 1 0]\n\
00623 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00624 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00625 # is the normal camera intrinsic matrix for the rectified image.\n\
00626 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00627 # coordinates using the focal lengths (fx', fy') and principal point\n\
00628 # (cx', cy') - these may differ from the values in K.\n\
00629 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00630 # also have R = the identity and P[1:3,1:3] = K.\n\
00631 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00632 # position of the optical center of the second camera in the first\n\
00633 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00634 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00635 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00636 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00637 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00638 # the rectified image is given by:\n\
00639 # [u v w]' = P * [X Y Z 1]'\n\
00640 # x = u / w\n\
00641 # y = v / w\n\
00642 # This holds for both images of a stereo pair.\n\
00643 float64[12] P # 3x4 row-major matrix\n\
00644 \n\
00645 \n\
00646 #######################################################################\n\
00647 # Operational Parameters #\n\
00648 #######################################################################\n\
00649 # These define the image region actually captured by the camera #\n\
00650 # driver. Although they affect the geometry of the output image, they #\n\
00651 # may be changed freely without recalibrating the camera. #\n\
00652 #######################################################################\n\
00653 \n\
00654 # Binning refers here to any camera setting which combines rectangular\n\
00655 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00656 # resolution of the output image to\n\
00657 # (width / binning_x) x (height / binning_y).\n\
00658 # The default values binning_x = binning_y = 0 is considered the same\n\
00659 # as binning_x = binning_y = 1 (no subsampling).\n\
00660 uint32 binning_x\n\
00661 uint32 binning_y\n\
00662 \n\
00663 # Region of interest (subwindow of full camera resolution), given in\n\
00664 # full resolution (unbinned) image coordinates. A particular ROI\n\
00665 # always denotes the same window of pixels on the camera sensor,\n\
00666 # regardless of binning settings.\n\
00667 # The default setting of roi (all values 0) is considered the same as\n\
00668 # full resolution (roi.width = width, roi.height = height).\n\
00669 RegionOfInterest roi\n\
00670 \n\
00671 ================================================================================\n\
00672 MSG: sensor_msgs/RegionOfInterest\n\
00673 # This message is used to specify a region of interest within an image.\n\
00674 #\n\
00675 # When used to specify the ROI setting of the camera when the image was\n\
00676 # taken, the height and width fields should either match the height and\n\
00677 # width fields for the associated image; or height = width = 0\n\
00678 # indicates that the full resolution image was captured.\n\
00679 \n\
00680 uint32 x_offset # Leftmost pixel of the ROI\n\
00681 # (0 if the ROI includes the left edge of the image)\n\
00682 uint32 y_offset # Topmost pixel of the ROI\n\
00683 # (0 if the ROI includes the top edge of the image)\n\
00684 uint32 height # Height of ROI\n\
00685 uint32 width # Width of ROI\n\
00686 \n\
00687 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00688 # ROI in this message. Typically this should be False if the full image\n\
00689 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00690 # used).\n\
00691 bool do_rectify\n\
00692 \n\
00693 ================================================================================\n\
00694 MSG: object_recognition_gui/ModelHypothesisList\n\
00695 ModelHypothesis[] hypotheses\n\
00696 \n\
00697 #initial guess if this can be a correct recognition result at all\n\
00698 bool accept\n\
00699 ================================================================================\n\
00700 MSG: object_recognition_gui/ModelHypothesis\n\
00701 #describes a hypothesis about a recognized object (mesh+pose)\n\
00702 \n\
00703 arm_navigation_msgs/Shape mesh\n\
00704 geometry_msgs/PoseStamped pose\n\
00705 \n\
00706 ================================================================================\n\
00707 MSG: arm_navigation_msgs/Shape\n\
00708 byte SPHERE=0\n\
00709 byte BOX=1\n\
00710 byte CYLINDER=2\n\
00711 byte MESH=3\n\
00712 \n\
00713 byte type\n\
00714 \n\
00715 \n\
00716 #### define sphere, box, cylinder ####\n\
00717 # the origin of each shape is considered at the shape's center\n\
00718 \n\
00719 # for sphere\n\
00720 # radius := dimensions[0]\n\
00721 \n\
00722 # for cylinder\n\
00723 # radius := dimensions[0]\n\
00724 # length := dimensions[1]\n\
00725 # the length is along the Z axis\n\
00726 \n\
00727 # for box\n\
00728 # size_x := dimensions[0]\n\
00729 # size_y := dimensions[1]\n\
00730 # size_z := dimensions[2]\n\
00731 float64[] dimensions\n\
00732 \n\
00733 \n\
00734 #### define mesh ####\n\
00735 \n\
00736 # list of triangles; triangle k is defined by tre vertices located\n\
00737 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00738 int32[] triangles\n\
00739 geometry_msgs/Point[] vertices\n\
00740 \n\
00741 ================================================================================\n\
00742 MSG: geometry_msgs/Point\n\
00743 # This contains the position of a point in free space\n\
00744 float64 x\n\
00745 float64 y\n\
00746 float64 z\n\
00747 \n\
00748 ================================================================================\n\
00749 MSG: geometry_msgs/PoseStamped\n\
00750 # A Pose with reference coordinate frame and timestamp\n\
00751 Header header\n\
00752 Pose pose\n\
00753 \n\
00754 ================================================================================\n\
00755 MSG: geometry_msgs/Pose\n\
00756 # A representation of pose in free space, composed of postion and orientation. \n\
00757 Point position\n\
00758 Quaternion orientation\n\
00759 \n\
00760 ================================================================================\n\
00761 MSG: geometry_msgs/Quaternion\n\
00762 # This represents an orientation in free space in quaternion form.\n\
00763 \n\
00764 float64 x\n\
00765 float64 y\n\
00766 float64 z\n\
00767 float64 w\n\
00768 \n\
00769 ";
00770 }
00771
00772 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> &) { return value(); }
00773 };
00774
00775 template<class ContainerAllocator> struct HasHeader< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> > : public TrueType {};
00776 template<class ContainerAllocator> struct HasHeader< const ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> > : public TrueType {};
00777 }
00778 }
00779
00780 namespace ros
00781 {
00782 namespace serialization
00783 {
00784
00785 template<class ContainerAllocator> struct Serializer< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> >
00786 {
00787 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00788 {
00789 stream.next(m.header);
00790 stream.next(m.goal_id);
00791 stream.next(m.goal);
00792 }
00793
00794 ROS_DECLARE_ALLINONE_SERIALIZER;
00795 };
00796 }
00797 }
00798
00799 namespace ros
00800 {
00801 namespace message_operations
00802 {
00803
00804 template<class ContainerAllocator>
00805 struct Printer< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> >
00806 {
00807 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> & v)
00808 {
00809 s << indent << "header: ";
00810 s << std::endl;
00811 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00812 s << indent << "goal_id: ";
00813 s << std::endl;
00814 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00815 s << indent << "goal: ";
00816 s << std::endl;
00817 Printer< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00818 }
00819 };
00820
00821
00822 }
00823 }
00824
00825 #endif // OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTIONGOAL_H
00826
