00001
00002 #ifndef OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTION_H
00003 #define OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTION_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 "object_recognition_gui/ObjectRecognitionGuiActionGoal.h"
00018 #include "object_recognition_gui/ObjectRecognitionGuiActionResult.h"
00019 #include "object_recognition_gui/ObjectRecognitionGuiActionFeedback.h"
00020
00021 namespace object_recognition_gui
00022 {
00023 template <class ContainerAllocator>
00024 struct ObjectRecognitionGuiAction_ {
00025 typedef ObjectRecognitionGuiAction_<ContainerAllocator> Type;
00026
00027 ObjectRecognitionGuiAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 ObjectRecognitionGuiAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::object_recognition_gui::ObjectRecognitionGuiActionResult_<ContainerAllocator> _action_result_type;
00045 ::object_recognition_gui::ObjectRecognitionGuiActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::object_recognition_gui::ObjectRecognitionGuiActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::object_recognition_gui::ObjectRecognitionGuiActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "object_recognition_gui/ObjectRecognitionGuiAction"; }
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 "ceb5b2d8cb3006a85f5fabfab9056abe"; }
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 ObjectRecognitionGuiActionGoal action_goal\n\
00069 ObjectRecognitionGuiActionResult action_result\n\
00070 ObjectRecognitionGuiActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: object_recognition_gui/ObjectRecognitionGuiActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 ObjectRecognitionGuiGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: object_recognition_gui/ObjectRecognitionGuiGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 \n\
00115 #the original sensor data (depth/disparity image)\n\
00116 sensor_msgs/Image image\n\
00117 sensor_msgs/CameraInfo camera_info\n\
00118 \n\
00119 #list of mesh/pose hypotheses for each recognized point cluster\n\
00120 ModelHypothesisList[] model_hypotheses\n\
00121 \n\
00122 ================================================================================\n\
00123 MSG: sensor_msgs/Image\n\
00124 # This message contains an uncompressed image\n\
00125 # (0, 0) is at top-left corner of image\n\
00126 #\n\
00127 \n\
00128 Header header # Header timestamp should be acquisition time of image\n\
00129 # Header frame_id should be optical frame of camera\n\
00130 # origin of frame should be optical center of cameara\n\
00131 # +x should point to the right in the image\n\
00132 # +y should point down in the image\n\
00133 # +z should point into to plane of the image\n\
00134 # If the frame_id here and the frame_id of the CameraInfo\n\
00135 # message associated with the image conflict\n\
00136 # the behavior is undefined\n\
00137 \n\
00138 uint32 height # image height, that is, number of rows\n\
00139 uint32 width # image width, that is, number of columns\n\
00140 \n\
00141 # The legal values for encoding are in file src/image_encodings.cpp\n\
00142 # If you want to standardize a new string format, join\n\
00143 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00144 \n\
00145 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00146 # taken from the list of strings in src/image_encodings.cpp\n\
00147 \n\
00148 uint8 is_bigendian # is this data bigendian?\n\
00149 uint32 step # Full row length in bytes\n\
00150 uint8[] data # actual matrix data, size is (step * rows)\n\
00151 \n\
00152 ================================================================================\n\
00153 MSG: sensor_msgs/CameraInfo\n\
00154 # This message defines meta information for a camera. It should be in a\n\
00155 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00156 # image topics named:\n\
00157 #\n\
00158 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00159 # image - monochrome, distorted\n\
00160 # image_color - color, distorted\n\
00161 # image_rect - monochrome, rectified\n\
00162 # image_rect_color - color, rectified\n\
00163 #\n\
00164 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00165 # for producing the four processed image topics from image_raw and\n\
00166 # camera_info. The meaning of the camera parameters are described in\n\
00167 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00168 #\n\
00169 # The image_geometry package provides a user-friendly interface to\n\
00170 # common operations using this meta information. If you want to, e.g.,\n\
00171 # project a 3d point into image coordinates, we strongly recommend\n\
00172 # using image_geometry.\n\
00173 #\n\
00174 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00175 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00176 # indicates an uncalibrated camera.\n\
00177 \n\
00178 #######################################################################\n\
00179 # Image acquisition info #\n\
00180 #######################################################################\n\
00181 \n\
00182 # Time of image acquisition, camera coordinate frame ID\n\
00183 Header header # Header timestamp should be acquisition time of image\n\
00184 # Header frame_id should be optical frame of camera\n\
00185 # origin of frame should be optical center of camera\n\
00186 # +x should point to the right in the image\n\
00187 # +y should point down in the image\n\
00188 # +z should point into the plane of the image\n\
00189 \n\
00190 \n\
00191 #######################################################################\n\
00192 # Calibration Parameters #\n\
00193 #######################################################################\n\
00194 # These are fixed during camera calibration. Their values will be the #\n\
00195 # same in all messages until the camera is recalibrated. Note that #\n\
00196 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00197 # #\n\
00198 # The internal parameters can be used to warp a raw (distorted) image #\n\
00199 # to: #\n\
00200 # 1. An undistorted image (requires D and K) #\n\
00201 # 2. A rectified image (requires D, K, R) #\n\
00202 # The projection matrix P projects 3D points into the rectified image.#\n\
00203 #######################################################################\n\
00204 \n\
00205 # The image dimensions with which the camera was calibrated. Normally\n\
00206 # this will be the full camera resolution in pixels.\n\
00207 uint32 height\n\
00208 uint32 width\n\
00209 \n\
00210 # The distortion model used. Supported models are listed in\n\
00211 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00212 # simple model of radial and tangential distortion - is sufficent.\n\
00213 string distortion_model\n\
00214 \n\
00215 # The distortion parameters, size depending on the distortion model.\n\
00216 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00217 float64[] D\n\
00218 \n\
00219 # Intrinsic camera matrix for the raw (distorted) images.\n\
00220 # [fx 0 cx]\n\
00221 # K = [ 0 fy cy]\n\
00222 # [ 0 0 1]\n\
00223 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00224 # coordinates using the focal lengths (fx, fy) and principal point\n\
00225 # (cx, cy).\n\
00226 float64[9] K # 3x3 row-major matrix\n\
00227 \n\
00228 # Rectification matrix (stereo cameras only)\n\
00229 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00230 # stereo image plane so that epipolar lines in both stereo images are\n\
00231 # parallel.\n\
00232 float64[9] R # 3x3 row-major matrix\n\
00233 \n\
00234 # Projection/camera matrix\n\
00235 # [fx' 0 cx' Tx]\n\
00236 # P = [ 0 fy' cy' Ty]\n\
00237 # [ 0 0 1 0]\n\
00238 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00239 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00240 # is the normal camera intrinsic matrix for the rectified image.\n\
00241 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00242 # coordinates using the focal lengths (fx', fy') and principal point\n\
00243 # (cx', cy') - these may differ from the values in K.\n\
00244 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00245 # also have R = the identity and P[1:3,1:3] = K.\n\
00246 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00247 # position of the optical center of the second camera in the first\n\
00248 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00249 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00250 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00251 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00252 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00253 # the rectified image is given by:\n\
00254 # [u v w]' = P * [X Y Z 1]'\n\
00255 # x = u / w\n\
00256 # y = v / w\n\
00257 # This holds for both images of a stereo pair.\n\
00258 float64[12] P # 3x4 row-major matrix\n\
00259 \n\
00260 \n\
00261 #######################################################################\n\
00262 # Operational Parameters #\n\
00263 #######################################################################\n\
00264 # These define the image region actually captured by the camera #\n\
00265 # driver. Although they affect the geometry of the output image, they #\n\
00266 # may be changed freely without recalibrating the camera. #\n\
00267 #######################################################################\n\
00268 \n\
00269 # Binning refers here to any camera setting which combines rectangular\n\
00270 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00271 # resolution of the output image to\n\
00272 # (width / binning_x) x (height / binning_y).\n\
00273 # The default values binning_x = binning_y = 0 is considered the same\n\
00274 # as binning_x = binning_y = 1 (no subsampling).\n\
00275 uint32 binning_x\n\
00276 uint32 binning_y\n\
00277 \n\
00278 # Region of interest (subwindow of full camera resolution), given in\n\
00279 # full resolution (unbinned) image coordinates. A particular ROI\n\
00280 # always denotes the same window of pixels on the camera sensor,\n\
00281 # regardless of binning settings.\n\
00282 # The default setting of roi (all values 0) is considered the same as\n\
00283 # full resolution (roi.width = width, roi.height = height).\n\
00284 RegionOfInterest roi\n\
00285 \n\
00286 ================================================================================\n\
00287 MSG: sensor_msgs/RegionOfInterest\n\
00288 # This message is used to specify a region of interest within an image.\n\
00289 #\n\
00290 # When used to specify the ROI setting of the camera when the image was\n\
00291 # taken, the height and width fields should either match the height and\n\
00292 # width fields for the associated image; or height = width = 0\n\
00293 # indicates that the full resolution image was captured.\n\
00294 \n\
00295 uint32 x_offset # Leftmost pixel of the ROI\n\
00296 # (0 if the ROI includes the left edge of the image)\n\
00297 uint32 y_offset # Topmost pixel of the ROI\n\
00298 # (0 if the ROI includes the top edge of the image)\n\
00299 uint32 height # Height of ROI\n\
00300 uint32 width # Width of ROI\n\
00301 \n\
00302 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00303 # ROI in this message. Typically this should be False if the full image\n\
00304 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00305 # used).\n\
00306 bool do_rectify\n\
00307 \n\
00308 ================================================================================\n\
00309 MSG: object_recognition_gui/ModelHypothesisList\n\
00310 ModelHypothesis[] hypotheses\n\
00311 \n\
00312 #initial guess if this can be a correct recognition result at all\n\
00313 bool accept\n\
00314 ================================================================================\n\
00315 MSG: object_recognition_gui/ModelHypothesis\n\
00316 #describes a hypothesis about a recognized object (mesh+pose)\n\
00317 \n\
00318 arm_navigation_msgs/Shape mesh\n\
00319 geometry_msgs/PoseStamped pose\n\
00320 \n\
00321 ================================================================================\n\
00322 MSG: arm_navigation_msgs/Shape\n\
00323 byte SPHERE=0\n\
00324 byte BOX=1\n\
00325 byte CYLINDER=2\n\
00326 byte MESH=3\n\
00327 \n\
00328 byte type\n\
00329 \n\
00330 \n\
00331 #### define sphere, box, cylinder ####\n\
00332 # the origin of each shape is considered at the shape's center\n\
00333 \n\
00334 # for sphere\n\
00335 # radius := dimensions[0]\n\
00336 \n\
00337 # for cylinder\n\
00338 # radius := dimensions[0]\n\
00339 # length := dimensions[1]\n\
00340 # the length is along the Z axis\n\
00341 \n\
00342 # for box\n\
00343 # size_x := dimensions[0]\n\
00344 # size_y := dimensions[1]\n\
00345 # size_z := dimensions[2]\n\
00346 float64[] dimensions\n\
00347 \n\
00348 \n\
00349 #### define mesh ####\n\
00350 \n\
00351 # list of triangles; triangle k is defined by tre vertices located\n\
00352 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00353 int32[] triangles\n\
00354 geometry_msgs/Point[] vertices\n\
00355 \n\
00356 ================================================================================\n\
00357 MSG: geometry_msgs/Point\n\
00358 # This contains the position of a point in free space\n\
00359 float64 x\n\
00360 float64 y\n\
00361 float64 z\n\
00362 \n\
00363 ================================================================================\n\
00364 MSG: geometry_msgs/PoseStamped\n\
00365 # A Pose with reference coordinate frame and timestamp\n\
00366 Header header\n\
00367 Pose pose\n\
00368 \n\
00369 ================================================================================\n\
00370 MSG: geometry_msgs/Pose\n\
00371 # A representation of pose in free space, composed of postion and orientation. \n\
00372 Point position\n\
00373 Quaternion orientation\n\
00374 \n\
00375 ================================================================================\n\
00376 MSG: geometry_msgs/Quaternion\n\
00377 # This represents an orientation in free space in quaternion form.\n\
00378 \n\
00379 float64 x\n\
00380 float64 y\n\
00381 float64 z\n\
00382 float64 w\n\
00383 \n\
00384 ================================================================================\n\
00385 MSG: object_recognition_gui/ObjectRecognitionGuiActionResult\n\
00386 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00387 \n\
00388 Header header\n\
00389 actionlib_msgs/GoalStatus status\n\
00390 ObjectRecognitionGuiResult result\n\
00391 \n\
00392 ================================================================================\n\
00393 MSG: actionlib_msgs/GoalStatus\n\
00394 GoalID goal_id\n\
00395 uint8 status\n\
00396 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00397 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00398 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00399 # and has since completed its execution (Terminal State)\n\
00400 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00401 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00402 # to some failure (Terminal State)\n\
00403 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00404 # because the goal was unattainable or invalid (Terminal State)\n\
00405 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00406 # and has not yet completed execution\n\
00407 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00408 # but the action server has not yet confirmed that the goal is canceled\n\
00409 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00410 # and was successfully cancelled (Terminal State)\n\
00411 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00412 # sent over the wire by an action server\n\
00413 \n\
00414 #Allow for the user to associate a string with GoalStatus for debugging\n\
00415 string text\n\
00416 \n\
00417 \n\
00418 ================================================================================\n\
00419 MSG: object_recognition_gui/ObjectRecognitionGuiResult\n\
00420 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00421 \n\
00422 #the index of the model hypothesis that the user has selected for each cluster\n\
00423 #values below 0 mean 'reject all hypotheses'\n\
00424 int32[] selected_hypothesis_indices\n\
00425 \n\
00426 ================================================================================\n\
00427 MSG: object_recognition_gui/ObjectRecognitionGuiActionFeedback\n\
00428 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00429 \n\
00430 Header header\n\
00431 actionlib_msgs/GoalStatus status\n\
00432 ObjectRecognitionGuiFeedback feedback\n\
00433 \n\
00434 ================================================================================\n\
00435 MSG: object_recognition_gui/ObjectRecognitionGuiFeedback\n\
00436 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00437 \n\
00438 \n\
00439 "; }
00440 public:
00441 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00442
00443 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00444
00445 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00446 {
00447 ros::serialization::OStream stream(write_ptr, 1000000000);
00448 ros::serialization::serialize(stream, action_goal);
00449 ros::serialization::serialize(stream, action_result);
00450 ros::serialization::serialize(stream, action_feedback);
00451 return stream.getData();
00452 }
00453
00454 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00455 {
00456 ros::serialization::IStream stream(read_ptr, 1000000000);
00457 ros::serialization::deserialize(stream, action_goal);
00458 ros::serialization::deserialize(stream, action_result);
00459 ros::serialization::deserialize(stream, action_feedback);
00460 return stream.getData();
00461 }
00462
00463 ROS_DEPRECATED virtual uint32_t serializationLength() const
00464 {
00465 uint32_t size = 0;
00466 size += ros::serialization::serializationLength(action_goal);
00467 size += ros::serialization::serializationLength(action_result);
00468 size += ros::serialization::serializationLength(action_feedback);
00469 return size;
00470 }
00471
00472 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > Ptr;
00473 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> const> ConstPtr;
00474 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00475 };
00476 typedef ::object_recognition_gui::ObjectRecognitionGuiAction_<std::allocator<void> > ObjectRecognitionGuiAction;
00477
00478 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction> ObjectRecognitionGuiActionPtr;
00479 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction const> ObjectRecognitionGuiActionConstPtr;
00480
00481
00482 template<typename ContainerAllocator>
00483 std::ostream& operator<<(std::ostream& s, const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> & v)
00484 {
00485 ros::message_operations::Printer< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> >::stream(s, "", v);
00486 return s;}
00487
00488 }
00489
00490 namespace ros
00491 {
00492 namespace message_traits
00493 {
00494 template<class ContainerAllocator> struct IsMessage< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > : public TrueType {};
00495 template<class ContainerAllocator> struct IsMessage< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> const> : public TrueType {};
00496 template<class ContainerAllocator>
00497 struct MD5Sum< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > {
00498 static const char* value()
00499 {
00500 return "ceb5b2d8cb3006a85f5fabfab9056abe";
00501 }
00502
00503 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> &) { return value(); }
00504 static const uint64_t static_value1 = 0xceb5b2d8cb3006a8ULL;
00505 static const uint64_t static_value2 = 0x5f5fabfab9056abeULL;
00506 };
00507
00508 template<class ContainerAllocator>
00509 struct DataType< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > {
00510 static const char* value()
00511 {
00512 return "object_recognition_gui/ObjectRecognitionGuiAction";
00513 }
00514
00515 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> &) { return value(); }
00516 };
00517
00518 template<class ContainerAllocator>
00519 struct Definition< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > {
00520 static const char* value()
00521 {
00522 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00523 \n\
00524 ObjectRecognitionGuiActionGoal action_goal\n\
00525 ObjectRecognitionGuiActionResult action_result\n\
00526 ObjectRecognitionGuiActionFeedback action_feedback\n\
00527 \n\
00528 ================================================================================\n\
00529 MSG: object_recognition_gui/ObjectRecognitionGuiActionGoal\n\
00530 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00531 \n\
00532 Header header\n\
00533 actionlib_msgs/GoalID goal_id\n\
00534 ObjectRecognitionGuiGoal goal\n\
00535 \n\
00536 ================================================================================\n\
00537 MSG: std_msgs/Header\n\
00538 # Standard metadata for higher-level stamped data types.\n\
00539 # This is generally used to communicate timestamped data \n\
00540 # in a particular coordinate frame.\n\
00541 # \n\
00542 # sequence ID: consecutively increasing ID \n\
00543 uint32 seq\n\
00544 #Two-integer timestamp that is expressed as:\n\
00545 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00546 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00547 # time-handling sugar is provided by the client library\n\
00548 time stamp\n\
00549 #Frame this data is associated with\n\
00550 # 0: no frame\n\
00551 # 1: global frame\n\
00552 string frame_id\n\
00553 \n\
00554 ================================================================================\n\
00555 MSG: actionlib_msgs/GoalID\n\
00556 # The stamp should store the time at which this goal was requested.\n\
00557 # It is used by an action server when it tries to preempt all\n\
00558 # goals that were requested before a certain time\n\
00559 time stamp\n\
00560 \n\
00561 # The id provides a way to associate feedback and\n\
00562 # result message with specific goal requests. The id\n\
00563 # specified must be unique.\n\
00564 string id\n\
00565 \n\
00566 \n\
00567 ================================================================================\n\
00568 MSG: object_recognition_gui/ObjectRecognitionGuiGoal\n\
00569 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00570 \n\
00571 #the original sensor data (depth/disparity image)\n\
00572 sensor_msgs/Image image\n\
00573 sensor_msgs/CameraInfo camera_info\n\
00574 \n\
00575 #list of mesh/pose hypotheses for each recognized point cluster\n\
00576 ModelHypothesisList[] model_hypotheses\n\
00577 \n\
00578 ================================================================================\n\
00579 MSG: sensor_msgs/Image\n\
00580 # This message contains an uncompressed image\n\
00581 # (0, 0) is at top-left corner of image\n\
00582 #\n\
00583 \n\
00584 Header header # Header timestamp should be acquisition time of image\n\
00585 # Header frame_id should be optical frame of camera\n\
00586 # origin of frame should be optical center of cameara\n\
00587 # +x should point to the right in the image\n\
00588 # +y should point down in the image\n\
00589 # +z should point into to plane of the image\n\
00590 # If the frame_id here and the frame_id of the CameraInfo\n\
00591 # message associated with the image conflict\n\
00592 # the behavior is undefined\n\
00593 \n\
00594 uint32 height # image height, that is, number of rows\n\
00595 uint32 width # image width, that is, number of columns\n\
00596 \n\
00597 # The legal values for encoding are in file src/image_encodings.cpp\n\
00598 # If you want to standardize a new string format, join\n\
00599 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00600 \n\
00601 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00602 # taken from the list of strings in src/image_encodings.cpp\n\
00603 \n\
00604 uint8 is_bigendian # is this data bigendian?\n\
00605 uint32 step # Full row length in bytes\n\
00606 uint8[] data # actual matrix data, size is (step * rows)\n\
00607 \n\
00608 ================================================================================\n\
00609 MSG: sensor_msgs/CameraInfo\n\
00610 # This message defines meta information for a camera. It should be in a\n\
00611 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00612 # image topics named:\n\
00613 #\n\
00614 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00615 # image - monochrome, distorted\n\
00616 # image_color - color, distorted\n\
00617 # image_rect - monochrome, rectified\n\
00618 # image_rect_color - color, rectified\n\
00619 #\n\
00620 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00621 # for producing the four processed image topics from image_raw and\n\
00622 # camera_info. The meaning of the camera parameters are described in\n\
00623 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00624 #\n\
00625 # The image_geometry package provides a user-friendly interface to\n\
00626 # common operations using this meta information. If you want to, e.g.,\n\
00627 # project a 3d point into image coordinates, we strongly recommend\n\
00628 # using image_geometry.\n\
00629 #\n\
00630 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00631 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00632 # indicates an uncalibrated camera.\n\
00633 \n\
00634 #######################################################################\n\
00635 # Image acquisition info #\n\
00636 #######################################################################\n\
00637 \n\
00638 # Time of image acquisition, camera coordinate frame ID\n\
00639 Header header # Header timestamp should be acquisition time of image\n\
00640 # Header frame_id should be optical frame of camera\n\
00641 # origin of frame should be optical center of camera\n\
00642 # +x should point to the right in the image\n\
00643 # +y should point down in the image\n\
00644 # +z should point into the plane of the image\n\
00645 \n\
00646 \n\
00647 #######################################################################\n\
00648 # Calibration Parameters #\n\
00649 #######################################################################\n\
00650 # These are fixed during camera calibration. Their values will be the #\n\
00651 # same in all messages until the camera is recalibrated. Note that #\n\
00652 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00653 # #\n\
00654 # The internal parameters can be used to warp a raw (distorted) image #\n\
00655 # to: #\n\
00656 # 1. An undistorted image (requires D and K) #\n\
00657 # 2. A rectified image (requires D, K, R) #\n\
00658 # The projection matrix P projects 3D points into the rectified image.#\n\
00659 #######################################################################\n\
00660 \n\
00661 # The image dimensions with which the camera was calibrated. Normally\n\
00662 # this will be the full camera resolution in pixels.\n\
00663 uint32 height\n\
00664 uint32 width\n\
00665 \n\
00666 # The distortion model used. Supported models are listed in\n\
00667 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00668 # simple model of radial and tangential distortion - is sufficent.\n\
00669 string distortion_model\n\
00670 \n\
00671 # The distortion parameters, size depending on the distortion model.\n\
00672 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00673 float64[] D\n\
00674 \n\
00675 # Intrinsic camera matrix for the raw (distorted) images.\n\
00676 # [fx 0 cx]\n\
00677 # K = [ 0 fy cy]\n\
00678 # [ 0 0 1]\n\
00679 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00680 # coordinates using the focal lengths (fx, fy) and principal point\n\
00681 # (cx, cy).\n\
00682 float64[9] K # 3x3 row-major matrix\n\
00683 \n\
00684 # Rectification matrix (stereo cameras only)\n\
00685 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00686 # stereo image plane so that epipolar lines in both stereo images are\n\
00687 # parallel.\n\
00688 float64[9] R # 3x3 row-major matrix\n\
00689 \n\
00690 # Projection/camera matrix\n\
00691 # [fx' 0 cx' Tx]\n\
00692 # P = [ 0 fy' cy' Ty]\n\
00693 # [ 0 0 1 0]\n\
00694 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00695 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00696 # is the normal camera intrinsic matrix for the rectified image.\n\
00697 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00698 # coordinates using the focal lengths (fx', fy') and principal point\n\
00699 # (cx', cy') - these may differ from the values in K.\n\
00700 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00701 # also have R = the identity and P[1:3,1:3] = K.\n\
00702 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00703 # position of the optical center of the second camera in the first\n\
00704 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00705 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00706 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00707 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00708 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00709 # the rectified image is given by:\n\
00710 # [u v w]' = P * [X Y Z 1]'\n\
00711 # x = u / w\n\
00712 # y = v / w\n\
00713 # This holds for both images of a stereo pair.\n\
00714 float64[12] P # 3x4 row-major matrix\n\
00715 \n\
00716 \n\
00717 #######################################################################\n\
00718 # Operational Parameters #\n\
00719 #######################################################################\n\
00720 # These define the image region actually captured by the camera #\n\
00721 # driver. Although they affect the geometry of the output image, they #\n\
00722 # may be changed freely without recalibrating the camera. #\n\
00723 #######################################################################\n\
00724 \n\
00725 # Binning refers here to any camera setting which combines rectangular\n\
00726 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00727 # resolution of the output image to\n\
00728 # (width / binning_x) x (height / binning_y).\n\
00729 # The default values binning_x = binning_y = 0 is considered the same\n\
00730 # as binning_x = binning_y = 1 (no subsampling).\n\
00731 uint32 binning_x\n\
00732 uint32 binning_y\n\
00733 \n\
00734 # Region of interest (subwindow of full camera resolution), given in\n\
00735 # full resolution (unbinned) image coordinates. A particular ROI\n\
00736 # always denotes the same window of pixels on the camera sensor,\n\
00737 # regardless of binning settings.\n\
00738 # The default setting of roi (all values 0) is considered the same as\n\
00739 # full resolution (roi.width = width, roi.height = height).\n\
00740 RegionOfInterest roi\n\
00741 \n\
00742 ================================================================================\n\
00743 MSG: sensor_msgs/RegionOfInterest\n\
00744 # This message is used to specify a region of interest within an image.\n\
00745 #\n\
00746 # When used to specify the ROI setting of the camera when the image was\n\
00747 # taken, the height and width fields should either match the height and\n\
00748 # width fields for the associated image; or height = width = 0\n\
00749 # indicates that the full resolution image was captured.\n\
00750 \n\
00751 uint32 x_offset # Leftmost pixel of the ROI\n\
00752 # (0 if the ROI includes the left edge of the image)\n\
00753 uint32 y_offset # Topmost pixel of the ROI\n\
00754 # (0 if the ROI includes the top edge of the image)\n\
00755 uint32 height # Height of ROI\n\
00756 uint32 width # Width of ROI\n\
00757 \n\
00758 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00759 # ROI in this message. Typically this should be False if the full image\n\
00760 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00761 # used).\n\
00762 bool do_rectify\n\
00763 \n\
00764 ================================================================================\n\
00765 MSG: object_recognition_gui/ModelHypothesisList\n\
00766 ModelHypothesis[] hypotheses\n\
00767 \n\
00768 #initial guess if this can be a correct recognition result at all\n\
00769 bool accept\n\
00770 ================================================================================\n\
00771 MSG: object_recognition_gui/ModelHypothesis\n\
00772 #describes a hypothesis about a recognized object (mesh+pose)\n\
00773 \n\
00774 arm_navigation_msgs/Shape mesh\n\
00775 geometry_msgs/PoseStamped pose\n\
00776 \n\
00777 ================================================================================\n\
00778 MSG: arm_navigation_msgs/Shape\n\
00779 byte SPHERE=0\n\
00780 byte BOX=1\n\
00781 byte CYLINDER=2\n\
00782 byte MESH=3\n\
00783 \n\
00784 byte type\n\
00785 \n\
00786 \n\
00787 #### define sphere, box, cylinder ####\n\
00788 # the origin of each shape is considered at the shape's center\n\
00789 \n\
00790 # for sphere\n\
00791 # radius := dimensions[0]\n\
00792 \n\
00793 # for cylinder\n\
00794 # radius := dimensions[0]\n\
00795 # length := dimensions[1]\n\
00796 # the length is along the Z axis\n\
00797 \n\
00798 # for box\n\
00799 # size_x := dimensions[0]\n\
00800 # size_y := dimensions[1]\n\
00801 # size_z := dimensions[2]\n\
00802 float64[] dimensions\n\
00803 \n\
00804 \n\
00805 #### define mesh ####\n\
00806 \n\
00807 # list of triangles; triangle k is defined by tre vertices located\n\
00808 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00809 int32[] triangles\n\
00810 geometry_msgs/Point[] vertices\n\
00811 \n\
00812 ================================================================================\n\
00813 MSG: geometry_msgs/Point\n\
00814 # This contains the position of a point in free space\n\
00815 float64 x\n\
00816 float64 y\n\
00817 float64 z\n\
00818 \n\
00819 ================================================================================\n\
00820 MSG: geometry_msgs/PoseStamped\n\
00821 # A Pose with reference coordinate frame and timestamp\n\
00822 Header header\n\
00823 Pose pose\n\
00824 \n\
00825 ================================================================================\n\
00826 MSG: geometry_msgs/Pose\n\
00827 # A representation of pose in free space, composed of postion and orientation. \n\
00828 Point position\n\
00829 Quaternion orientation\n\
00830 \n\
00831 ================================================================================\n\
00832 MSG: geometry_msgs/Quaternion\n\
00833 # This represents an orientation in free space in quaternion form.\n\
00834 \n\
00835 float64 x\n\
00836 float64 y\n\
00837 float64 z\n\
00838 float64 w\n\
00839 \n\
00840 ================================================================================\n\
00841 MSG: object_recognition_gui/ObjectRecognitionGuiActionResult\n\
00842 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00843 \n\
00844 Header header\n\
00845 actionlib_msgs/GoalStatus status\n\
00846 ObjectRecognitionGuiResult result\n\
00847 \n\
00848 ================================================================================\n\
00849 MSG: actionlib_msgs/GoalStatus\n\
00850 GoalID goal_id\n\
00851 uint8 status\n\
00852 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00853 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00854 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00855 # and has since completed its execution (Terminal State)\n\
00856 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00857 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00858 # to some failure (Terminal State)\n\
00859 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00860 # because the goal was unattainable or invalid (Terminal State)\n\
00861 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00862 # and has not yet completed execution\n\
00863 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00864 # but the action server has not yet confirmed that the goal is canceled\n\
00865 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00866 # and was successfully cancelled (Terminal State)\n\
00867 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00868 # sent over the wire by an action server\n\
00869 \n\
00870 #Allow for the user to associate a string with GoalStatus for debugging\n\
00871 string text\n\
00872 \n\
00873 \n\
00874 ================================================================================\n\
00875 MSG: object_recognition_gui/ObjectRecognitionGuiResult\n\
00876 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00877 \n\
00878 #the index of the model hypothesis that the user has selected for each cluster\n\
00879 #values below 0 mean 'reject all hypotheses'\n\
00880 int32[] selected_hypothesis_indices\n\
00881 \n\
00882 ================================================================================\n\
00883 MSG: object_recognition_gui/ObjectRecognitionGuiActionFeedback\n\
00884 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00885 \n\
00886 Header header\n\
00887 actionlib_msgs/GoalStatus status\n\
00888 ObjectRecognitionGuiFeedback feedback\n\
00889 \n\
00890 ================================================================================\n\
00891 MSG: object_recognition_gui/ObjectRecognitionGuiFeedback\n\
00892 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00893 \n\
00894 \n\
00895 ";
00896 }
00897
00898 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> &) { return value(); }
00899 };
00900
00901 }
00902 }
00903
00904 namespace ros
00905 {
00906 namespace serialization
00907 {
00908
00909 template<class ContainerAllocator> struct Serializer< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> >
00910 {
00911 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00912 {
00913 stream.next(m.action_goal);
00914 stream.next(m.action_result);
00915 stream.next(m.action_feedback);
00916 }
00917
00918 ROS_DECLARE_ALLINONE_SERIALIZER;
00919 };
00920 }
00921 }
00922
00923 namespace ros
00924 {
00925 namespace message_operations
00926 {
00927
00928 template<class ContainerAllocator>
00929 struct Printer< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> >
00930 {
00931 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> & v)
00932 {
00933 s << indent << "action_goal: ";
00934 s << std::endl;
00935 Printer< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00936 s << indent << "action_result: ";
00937 s << std::endl;
00938 Printer< ::object_recognition_gui::ObjectRecognitionGuiActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00939 s << indent << "action_feedback: ";
00940 s << std::endl;
00941 Printer< ::object_recognition_gui::ObjectRecognitionGuiActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00942 }
00943 };
00944
00945
00946 }
00947 }
00948
00949 #endif // OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTION_H
00950
