00001
00002 #ifndef OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIGOAL_H
00003 #define OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIGOAL_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 "sensor_msgs/Image.h"
00018 #include "sensor_msgs/CameraInfo.h"
00019 #include "object_recognition_gui/ModelHypothesisList.h"
00020
00021 namespace object_recognition_gui
00022 {
00023 template <class ContainerAllocator>
00024 struct ObjectRecognitionGuiGoal_ {
00025 typedef ObjectRecognitionGuiGoal_<ContainerAllocator> Type;
00026
00027 ObjectRecognitionGuiGoal_()
00028 : image()
00029 , camera_info()
00030 , model_hypotheses()
00031 {
00032 }
00033
00034 ObjectRecognitionGuiGoal_(const ContainerAllocator& _alloc)
00035 : image(_alloc)
00036 , camera_info(_alloc)
00037 , model_hypotheses(_alloc)
00038 {
00039 }
00040
00041 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00042 ::sensor_msgs::Image_<ContainerAllocator> image;
00043
00044 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _camera_info_type;
00045 ::sensor_msgs::CameraInfo_<ContainerAllocator> camera_info;
00046
00047 typedef std::vector< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> >::other > _model_hypotheses_type;
00048 std::vector< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> >::other > model_hypotheses;
00049
00050
00051 ROS_DEPRECATED uint32_t get_model_hypotheses_size() const { return (uint32_t)model_hypotheses.size(); }
00052 ROS_DEPRECATED void set_model_hypotheses_size(uint32_t size) { model_hypotheses.resize((size_t)size); }
00053 ROS_DEPRECATED void get_model_hypotheses_vec(std::vector< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> >::other > & vec) const { vec = this->model_hypotheses; }
00054 ROS_DEPRECATED void set_model_hypotheses_vec(const std::vector< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> >::other > & vec) { this->model_hypotheses = vec; }
00055 private:
00056 static const char* __s_getDataType_() { return "object_recognition_gui/ObjectRecognitionGuiGoal"; }
00057 public:
00058 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00059
00060 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00061
00062 private:
00063 static const char* __s_getMD5Sum_() { return "a0e81c2c24c7bbc0a1bc7c21f4c1b1c6"; }
00064 public:
00065 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00066
00067 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00068
00069 private:
00070 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00071 \n\
00072 #the original sensor data (depth/disparity image)\n\
00073 sensor_msgs/Image image\n\
00074 sensor_msgs/CameraInfo camera_info\n\
00075 \n\
00076 #list of mesh/pose hypotheses for each recognized point cluster\n\
00077 ModelHypothesisList[] model_hypotheses\n\
00078 \n\
00079 ================================================================================\n\
00080 MSG: sensor_msgs/Image\n\
00081 # This message contains an uncompressed image\n\
00082 # (0, 0) is at top-left corner of image\n\
00083 #\n\
00084 \n\
00085 Header header # Header timestamp should be acquisition time of image\n\
00086 # Header frame_id should be optical frame of camera\n\
00087 # origin of frame should be optical center of cameara\n\
00088 # +x should point to the right in the image\n\
00089 # +y should point down in the image\n\
00090 # +z should point into to plane of the image\n\
00091 # If the frame_id here and the frame_id of the CameraInfo\n\
00092 # message associated with the image conflict\n\
00093 # the behavior is undefined\n\
00094 \n\
00095 uint32 height # image height, that is, number of rows\n\
00096 uint32 width # image width, that is, number of columns\n\
00097 \n\
00098 # The legal values for encoding are in file src/image_encodings.cpp\n\
00099 # If you want to standardize a new string format, join\n\
00100 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00101 \n\
00102 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00103 # taken from the list of strings in src/image_encodings.cpp\n\
00104 \n\
00105 uint8 is_bigendian # is this data bigendian?\n\
00106 uint32 step # Full row length in bytes\n\
00107 uint8[] data # actual matrix data, size is (step * rows)\n\
00108 \n\
00109 ================================================================================\n\
00110 MSG: std_msgs/Header\n\
00111 # Standard metadata for higher-level stamped data types.\n\
00112 # This is generally used to communicate timestamped data \n\
00113 # in a particular coordinate frame.\n\
00114 # \n\
00115 # sequence ID: consecutively increasing ID \n\
00116 uint32 seq\n\
00117 #Two-integer timestamp that is expressed as:\n\
00118 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00119 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00120 # time-handling sugar is provided by the client library\n\
00121 time stamp\n\
00122 #Frame this data is associated with\n\
00123 # 0: no frame\n\
00124 # 1: global frame\n\
00125 string frame_id\n\
00126 \n\
00127 ================================================================================\n\
00128 MSG: sensor_msgs/CameraInfo\n\
00129 # This message defines meta information for a camera. It should be in a\n\
00130 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00131 # image topics named:\n\
00132 #\n\
00133 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00134 # image - monochrome, distorted\n\
00135 # image_color - color, distorted\n\
00136 # image_rect - monochrome, rectified\n\
00137 # image_rect_color - color, rectified\n\
00138 #\n\
00139 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00140 # for producing the four processed image topics from image_raw and\n\
00141 # camera_info. The meaning of the camera parameters are described in\n\
00142 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00143 #\n\
00144 # The image_geometry package provides a user-friendly interface to\n\
00145 # common operations using this meta information. If you want to, e.g.,\n\
00146 # project a 3d point into image coordinates, we strongly recommend\n\
00147 # using image_geometry.\n\
00148 #\n\
00149 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00150 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00151 # indicates an uncalibrated camera.\n\
00152 \n\
00153 #######################################################################\n\
00154 # Image acquisition info #\n\
00155 #######################################################################\n\
00156 \n\
00157 # Time of image acquisition, camera coordinate frame ID\n\
00158 Header header # Header timestamp should be acquisition time of image\n\
00159 # Header frame_id should be optical frame of camera\n\
00160 # origin of frame should be optical center of camera\n\
00161 # +x should point to the right in the image\n\
00162 # +y should point down in the image\n\
00163 # +z should point into the plane of the image\n\
00164 \n\
00165 \n\
00166 #######################################################################\n\
00167 # Calibration Parameters #\n\
00168 #######################################################################\n\
00169 # These are fixed during camera calibration. Their values will be the #\n\
00170 # same in all messages until the camera is recalibrated. Note that #\n\
00171 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00172 # #\n\
00173 # The internal parameters can be used to warp a raw (distorted) image #\n\
00174 # to: #\n\
00175 # 1. An undistorted image (requires D and K) #\n\
00176 # 2. A rectified image (requires D, K, R) #\n\
00177 # The projection matrix P projects 3D points into the rectified image.#\n\
00178 #######################################################################\n\
00179 \n\
00180 # The image dimensions with which the camera was calibrated. Normally\n\
00181 # this will be the full camera resolution in pixels.\n\
00182 uint32 height\n\
00183 uint32 width\n\
00184 \n\
00185 # The distortion model used. Supported models are listed in\n\
00186 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00187 # simple model of radial and tangential distortion - is sufficent.\n\
00188 string distortion_model\n\
00189 \n\
00190 # The distortion parameters, size depending on the distortion model.\n\
00191 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00192 float64[] D\n\
00193 \n\
00194 # Intrinsic camera matrix for the raw (distorted) images.\n\
00195 # [fx 0 cx]\n\
00196 # K = [ 0 fy cy]\n\
00197 # [ 0 0 1]\n\
00198 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00199 # coordinates using the focal lengths (fx, fy) and principal point\n\
00200 # (cx, cy).\n\
00201 float64[9] K # 3x3 row-major matrix\n\
00202 \n\
00203 # Rectification matrix (stereo cameras only)\n\
00204 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00205 # stereo image plane so that epipolar lines in both stereo images are\n\
00206 # parallel.\n\
00207 float64[9] R # 3x3 row-major matrix\n\
00208 \n\
00209 # Projection/camera matrix\n\
00210 # [fx' 0 cx' Tx]\n\
00211 # P = [ 0 fy' cy' Ty]\n\
00212 # [ 0 0 1 0]\n\
00213 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00214 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00215 # is the normal camera intrinsic matrix for the rectified image.\n\
00216 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00217 # coordinates using the focal lengths (fx', fy') and principal point\n\
00218 # (cx', cy') - these may differ from the values in K.\n\
00219 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00220 # also have R = the identity and P[1:3,1:3] = K.\n\
00221 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00222 # position of the optical center of the second camera in the first\n\
00223 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00224 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00225 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00226 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00227 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00228 # the rectified image is given by:\n\
00229 # [u v w]' = P * [X Y Z 1]'\n\
00230 # x = u / w\n\
00231 # y = v / w\n\
00232 # This holds for both images of a stereo pair.\n\
00233 float64[12] P # 3x4 row-major matrix\n\
00234 \n\
00235 \n\
00236 #######################################################################\n\
00237 # Operational Parameters #\n\
00238 #######################################################################\n\
00239 # These define the image region actually captured by the camera #\n\
00240 # driver. Although they affect the geometry of the output image, they #\n\
00241 # may be changed freely without recalibrating the camera. #\n\
00242 #######################################################################\n\
00243 \n\
00244 # Binning refers here to any camera setting which combines rectangular\n\
00245 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00246 # resolution of the output image to\n\
00247 # (width / binning_x) x (height / binning_y).\n\
00248 # The default values binning_x = binning_y = 0 is considered the same\n\
00249 # as binning_x = binning_y = 1 (no subsampling).\n\
00250 uint32 binning_x\n\
00251 uint32 binning_y\n\
00252 \n\
00253 # Region of interest (subwindow of full camera resolution), given in\n\
00254 # full resolution (unbinned) image coordinates. A particular ROI\n\
00255 # always denotes the same window of pixels on the camera sensor,\n\
00256 # regardless of binning settings.\n\
00257 # The default setting of roi (all values 0) is considered the same as\n\
00258 # full resolution (roi.width = width, roi.height = height).\n\
00259 RegionOfInterest roi\n\
00260 \n\
00261 ================================================================================\n\
00262 MSG: sensor_msgs/RegionOfInterest\n\
00263 # This message is used to specify a region of interest within an image.\n\
00264 #\n\
00265 # When used to specify the ROI setting of the camera when the image was\n\
00266 # taken, the height and width fields should either match the height and\n\
00267 # width fields for the associated image; or height = width = 0\n\
00268 # indicates that the full resolution image was captured.\n\
00269 \n\
00270 uint32 x_offset # Leftmost pixel of the ROI\n\
00271 # (0 if the ROI includes the left edge of the image)\n\
00272 uint32 y_offset # Topmost pixel of the ROI\n\
00273 # (0 if the ROI includes the top edge of the image)\n\
00274 uint32 height # Height of ROI\n\
00275 uint32 width # Width of ROI\n\
00276 \n\
00277 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00278 # ROI in this message. Typically this should be False if the full image\n\
00279 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00280 # used).\n\
00281 bool do_rectify\n\
00282 \n\
00283 ================================================================================\n\
00284 MSG: object_recognition_gui/ModelHypothesisList\n\
00285 ModelHypothesis[] hypotheses\n\
00286 \n\
00287 #initial guess if this can be a correct recognition result at all\n\
00288 bool accept\n\
00289 ================================================================================\n\
00290 MSG: object_recognition_gui/ModelHypothesis\n\
00291 #describes a hypothesis about a recognized object (mesh+pose)\n\
00292 \n\
00293 arm_navigation_msgs/Shape mesh\n\
00294 geometry_msgs/PoseStamped pose\n\
00295 \n\
00296 ================================================================================\n\
00297 MSG: arm_navigation_msgs/Shape\n\
00298 byte SPHERE=0\n\
00299 byte BOX=1\n\
00300 byte CYLINDER=2\n\
00301 byte MESH=3\n\
00302 \n\
00303 byte type\n\
00304 \n\
00305 \n\
00306 #### define sphere, box, cylinder ####\n\
00307 # the origin of each shape is considered at the shape's center\n\
00308 \n\
00309 # for sphere\n\
00310 # radius := dimensions[0]\n\
00311 \n\
00312 # for cylinder\n\
00313 # radius := dimensions[0]\n\
00314 # length := dimensions[1]\n\
00315 # the length is along the Z axis\n\
00316 \n\
00317 # for box\n\
00318 # size_x := dimensions[0]\n\
00319 # size_y := dimensions[1]\n\
00320 # size_z := dimensions[2]\n\
00321 float64[] dimensions\n\
00322 \n\
00323 \n\
00324 #### define mesh ####\n\
00325 \n\
00326 # list of triangles; triangle k is defined by tre vertices located\n\
00327 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00328 int32[] triangles\n\
00329 geometry_msgs/Point[] vertices\n\
00330 \n\
00331 ================================================================================\n\
00332 MSG: geometry_msgs/Point\n\
00333 # This contains the position of a point in free space\n\
00334 float64 x\n\
00335 float64 y\n\
00336 float64 z\n\
00337 \n\
00338 ================================================================================\n\
00339 MSG: geometry_msgs/PoseStamped\n\
00340 # A Pose with reference coordinate frame and timestamp\n\
00341 Header header\n\
00342 Pose pose\n\
00343 \n\
00344 ================================================================================\n\
00345 MSG: geometry_msgs/Pose\n\
00346 # A representation of pose in free space, composed of postion and orientation. \n\
00347 Point position\n\
00348 Quaternion orientation\n\
00349 \n\
00350 ================================================================================\n\
00351 MSG: geometry_msgs/Quaternion\n\
00352 # This represents an orientation in free space in quaternion form.\n\
00353 \n\
00354 float64 x\n\
00355 float64 y\n\
00356 float64 z\n\
00357 float64 w\n\
00358 \n\
00359 "; }
00360 public:
00361 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00362
00363 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00364
00365 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00366 {
00367 ros::serialization::OStream stream(write_ptr, 1000000000);
00368 ros::serialization::serialize(stream, image);
00369 ros::serialization::serialize(stream, camera_info);
00370 ros::serialization::serialize(stream, model_hypotheses);
00371 return stream.getData();
00372 }
00373
00374 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00375 {
00376 ros::serialization::IStream stream(read_ptr, 1000000000);
00377 ros::serialization::deserialize(stream, image);
00378 ros::serialization::deserialize(stream, camera_info);
00379 ros::serialization::deserialize(stream, model_hypotheses);
00380 return stream.getData();
00381 }
00382
00383 ROS_DEPRECATED virtual uint32_t serializationLength() const
00384 {
00385 uint32_t size = 0;
00386 size += ros::serialization::serializationLength(image);
00387 size += ros::serialization::serializationLength(camera_info);
00388 size += ros::serialization::serializationLength(model_hypotheses);
00389 return size;
00390 }
00391
00392 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> > Ptr;
00393 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> const> ConstPtr;
00394 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00395 };
00396 typedef ::object_recognition_gui::ObjectRecognitionGuiGoal_<std::allocator<void> > ObjectRecognitionGuiGoal;
00397
00398 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiGoal> ObjectRecognitionGuiGoalPtr;
00399 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiGoal const> ObjectRecognitionGuiGoalConstPtr;
00400
00401
00402 template<typename ContainerAllocator>
00403 std::ostream& operator<<(std::ostream& s, const ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> & v)
00404 {
00405 ros::message_operations::Printer< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> >::stream(s, "", v);
00406 return s;}
00407
00408 }
00409
00410 namespace ros
00411 {
00412 namespace message_traits
00413 {
00414 template<class ContainerAllocator> struct IsMessage< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> > : public TrueType {};
00415 template<class ContainerAllocator> struct IsMessage< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> const> : public TrueType {};
00416 template<class ContainerAllocator>
00417 struct MD5Sum< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> > {
00418 static const char* value()
00419 {
00420 return "a0e81c2c24c7bbc0a1bc7c21f4c1b1c6";
00421 }
00422
00423 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> &) { return value(); }
00424 static const uint64_t static_value1 = 0xa0e81c2c24c7bbc0ULL;
00425 static const uint64_t static_value2 = 0xa1bc7c21f4c1b1c6ULL;
00426 };
00427
00428 template<class ContainerAllocator>
00429 struct DataType< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> > {
00430 static const char* value()
00431 {
00432 return "object_recognition_gui/ObjectRecognitionGuiGoal";
00433 }
00434
00435 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> &) { return value(); }
00436 };
00437
00438 template<class ContainerAllocator>
00439 struct Definition< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> > {
00440 static const char* value()
00441 {
00442 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00443 \n\
00444 #the original sensor data (depth/disparity image)\n\
00445 sensor_msgs/Image image\n\
00446 sensor_msgs/CameraInfo camera_info\n\
00447 \n\
00448 #list of mesh/pose hypotheses for each recognized point cluster\n\
00449 ModelHypothesisList[] model_hypotheses\n\
00450 \n\
00451 ================================================================================\n\
00452 MSG: sensor_msgs/Image\n\
00453 # This message contains an uncompressed image\n\
00454 # (0, 0) is at top-left corner of image\n\
00455 #\n\
00456 \n\
00457 Header header # Header timestamp should be acquisition time of image\n\
00458 # Header frame_id should be optical frame of camera\n\
00459 # origin of frame should be optical center of cameara\n\
00460 # +x should point to the right in the image\n\
00461 # +y should point down in the image\n\
00462 # +z should point into to plane of the image\n\
00463 # If the frame_id here and the frame_id of the CameraInfo\n\
00464 # message associated with the image conflict\n\
00465 # the behavior is undefined\n\
00466 \n\
00467 uint32 height # image height, that is, number of rows\n\
00468 uint32 width # image width, that is, number of columns\n\
00469 \n\
00470 # The legal values for encoding are in file src/image_encodings.cpp\n\
00471 # If you want to standardize a new string format, join\n\
00472 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00473 \n\
00474 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00475 # taken from the list of strings in src/image_encodings.cpp\n\
00476 \n\
00477 uint8 is_bigendian # is this data bigendian?\n\
00478 uint32 step # Full row length in bytes\n\
00479 uint8[] data # actual matrix data, size is (step * rows)\n\
00480 \n\
00481 ================================================================================\n\
00482 MSG: std_msgs/Header\n\
00483 # Standard metadata for higher-level stamped data types.\n\
00484 # This is generally used to communicate timestamped data \n\
00485 # in a particular coordinate frame.\n\
00486 # \n\
00487 # sequence ID: consecutively increasing ID \n\
00488 uint32 seq\n\
00489 #Two-integer timestamp that is expressed as:\n\
00490 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00491 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00492 # time-handling sugar is provided by the client library\n\
00493 time stamp\n\
00494 #Frame this data is associated with\n\
00495 # 0: no frame\n\
00496 # 1: global frame\n\
00497 string frame_id\n\
00498 \n\
00499 ================================================================================\n\
00500 MSG: sensor_msgs/CameraInfo\n\
00501 # This message defines meta information for a camera. It should be in a\n\
00502 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00503 # image topics named:\n\
00504 #\n\
00505 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00506 # image - monochrome, distorted\n\
00507 # image_color - color, distorted\n\
00508 # image_rect - monochrome, rectified\n\
00509 # image_rect_color - color, rectified\n\
00510 #\n\
00511 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00512 # for producing the four processed image topics from image_raw and\n\
00513 # camera_info. The meaning of the camera parameters are described in\n\
00514 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00515 #\n\
00516 # The image_geometry package provides a user-friendly interface to\n\
00517 # common operations using this meta information. If you want to, e.g.,\n\
00518 # project a 3d point into image coordinates, we strongly recommend\n\
00519 # using image_geometry.\n\
00520 #\n\
00521 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00522 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00523 # indicates an uncalibrated camera.\n\
00524 \n\
00525 #######################################################################\n\
00526 # Image acquisition info #\n\
00527 #######################################################################\n\
00528 \n\
00529 # Time of image acquisition, camera coordinate frame ID\n\
00530 Header header # Header timestamp should be acquisition time of image\n\
00531 # Header frame_id should be optical frame of camera\n\
00532 # origin of frame should be optical center of camera\n\
00533 # +x should point to the right in the image\n\
00534 # +y should point down in the image\n\
00535 # +z should point into the plane of the image\n\
00536 \n\
00537 \n\
00538 #######################################################################\n\
00539 # Calibration Parameters #\n\
00540 #######################################################################\n\
00541 # These are fixed during camera calibration. Their values will be the #\n\
00542 # same in all messages until the camera is recalibrated. Note that #\n\
00543 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00544 # #\n\
00545 # The internal parameters can be used to warp a raw (distorted) image #\n\
00546 # to: #\n\
00547 # 1. An undistorted image (requires D and K) #\n\
00548 # 2. A rectified image (requires D, K, R) #\n\
00549 # The projection matrix P projects 3D points into the rectified image.#\n\
00550 #######################################################################\n\
00551 \n\
00552 # The image dimensions with which the camera was calibrated. Normally\n\
00553 # this will be the full camera resolution in pixels.\n\
00554 uint32 height\n\
00555 uint32 width\n\
00556 \n\
00557 # The distortion model used. Supported models are listed in\n\
00558 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00559 # simple model of radial and tangential distortion - is sufficent.\n\
00560 string distortion_model\n\
00561 \n\
00562 # The distortion parameters, size depending on the distortion model.\n\
00563 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00564 float64[] D\n\
00565 \n\
00566 # Intrinsic camera matrix for the raw (distorted) images.\n\
00567 # [fx 0 cx]\n\
00568 # K = [ 0 fy cy]\n\
00569 # [ 0 0 1]\n\
00570 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00571 # coordinates using the focal lengths (fx, fy) and principal point\n\
00572 # (cx, cy).\n\
00573 float64[9] K # 3x3 row-major matrix\n\
00574 \n\
00575 # Rectification matrix (stereo cameras only)\n\
00576 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00577 # stereo image plane so that epipolar lines in both stereo images are\n\
00578 # parallel.\n\
00579 float64[9] R # 3x3 row-major matrix\n\
00580 \n\
00581 # Projection/camera matrix\n\
00582 # [fx' 0 cx' Tx]\n\
00583 # P = [ 0 fy' cy' Ty]\n\
00584 # [ 0 0 1 0]\n\
00585 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00586 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00587 # is the normal camera intrinsic matrix for the rectified image.\n\
00588 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00589 # coordinates using the focal lengths (fx', fy') and principal point\n\
00590 # (cx', cy') - these may differ from the values in K.\n\
00591 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00592 # also have R = the identity and P[1:3,1:3] = K.\n\
00593 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00594 # position of the optical center of the second camera in the first\n\
00595 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00596 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00597 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00598 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00599 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00600 # the rectified image is given by:\n\
00601 # [u v w]' = P * [X Y Z 1]'\n\
00602 # x = u / w\n\
00603 # y = v / w\n\
00604 # This holds for both images of a stereo pair.\n\
00605 float64[12] P # 3x4 row-major matrix\n\
00606 \n\
00607 \n\
00608 #######################################################################\n\
00609 # Operational Parameters #\n\
00610 #######################################################################\n\
00611 # These define the image region actually captured by the camera #\n\
00612 # driver. Although they affect the geometry of the output image, they #\n\
00613 # may be changed freely without recalibrating the camera. #\n\
00614 #######################################################################\n\
00615 \n\
00616 # Binning refers here to any camera setting which combines rectangular\n\
00617 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00618 # resolution of the output image to\n\
00619 # (width / binning_x) x (height / binning_y).\n\
00620 # The default values binning_x = binning_y = 0 is considered the same\n\
00621 # as binning_x = binning_y = 1 (no subsampling).\n\
00622 uint32 binning_x\n\
00623 uint32 binning_y\n\
00624 \n\
00625 # Region of interest (subwindow of full camera resolution), given in\n\
00626 # full resolution (unbinned) image coordinates. A particular ROI\n\
00627 # always denotes the same window of pixels on the camera sensor,\n\
00628 # regardless of binning settings.\n\
00629 # The default setting of roi (all values 0) is considered the same as\n\
00630 # full resolution (roi.width = width, roi.height = height).\n\
00631 RegionOfInterest roi\n\
00632 \n\
00633 ================================================================================\n\
00634 MSG: sensor_msgs/RegionOfInterest\n\
00635 # This message is used to specify a region of interest within an image.\n\
00636 #\n\
00637 # When used to specify the ROI setting of the camera when the image was\n\
00638 # taken, the height and width fields should either match the height and\n\
00639 # width fields for the associated image; or height = width = 0\n\
00640 # indicates that the full resolution image was captured.\n\
00641 \n\
00642 uint32 x_offset # Leftmost pixel of the ROI\n\
00643 # (0 if the ROI includes the left edge of the image)\n\
00644 uint32 y_offset # Topmost pixel of the ROI\n\
00645 # (0 if the ROI includes the top edge of the image)\n\
00646 uint32 height # Height of ROI\n\
00647 uint32 width # Width of ROI\n\
00648 \n\
00649 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00650 # ROI in this message. Typically this should be False if the full image\n\
00651 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00652 # used).\n\
00653 bool do_rectify\n\
00654 \n\
00655 ================================================================================\n\
00656 MSG: object_recognition_gui/ModelHypothesisList\n\
00657 ModelHypothesis[] hypotheses\n\
00658 \n\
00659 #initial guess if this can be a correct recognition result at all\n\
00660 bool accept\n\
00661 ================================================================================\n\
00662 MSG: object_recognition_gui/ModelHypothesis\n\
00663 #describes a hypothesis about a recognized object (mesh+pose)\n\
00664 \n\
00665 arm_navigation_msgs/Shape mesh\n\
00666 geometry_msgs/PoseStamped pose\n\
00667 \n\
00668 ================================================================================\n\
00669 MSG: arm_navigation_msgs/Shape\n\
00670 byte SPHERE=0\n\
00671 byte BOX=1\n\
00672 byte CYLINDER=2\n\
00673 byte MESH=3\n\
00674 \n\
00675 byte type\n\
00676 \n\
00677 \n\
00678 #### define sphere, box, cylinder ####\n\
00679 # the origin of each shape is considered at the shape's center\n\
00680 \n\
00681 # for sphere\n\
00682 # radius := dimensions[0]\n\
00683 \n\
00684 # for cylinder\n\
00685 # radius := dimensions[0]\n\
00686 # length := dimensions[1]\n\
00687 # the length is along the Z axis\n\
00688 \n\
00689 # for box\n\
00690 # size_x := dimensions[0]\n\
00691 # size_y := dimensions[1]\n\
00692 # size_z := dimensions[2]\n\
00693 float64[] dimensions\n\
00694 \n\
00695 \n\
00696 #### define mesh ####\n\
00697 \n\
00698 # list of triangles; triangle k is defined by tre vertices located\n\
00699 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00700 int32[] triangles\n\
00701 geometry_msgs/Point[] vertices\n\
00702 \n\
00703 ================================================================================\n\
00704 MSG: geometry_msgs/Point\n\
00705 # This contains the position of a point in free space\n\
00706 float64 x\n\
00707 float64 y\n\
00708 float64 z\n\
00709 \n\
00710 ================================================================================\n\
00711 MSG: geometry_msgs/PoseStamped\n\
00712 # A Pose with reference coordinate frame and timestamp\n\
00713 Header header\n\
00714 Pose pose\n\
00715 \n\
00716 ================================================================================\n\
00717 MSG: geometry_msgs/Pose\n\
00718 # A representation of pose in free space, composed of postion and orientation. \n\
00719 Point position\n\
00720 Quaternion orientation\n\
00721 \n\
00722 ================================================================================\n\
00723 MSG: geometry_msgs/Quaternion\n\
00724 # This represents an orientation in free space in quaternion form.\n\
00725 \n\
00726 float64 x\n\
00727 float64 y\n\
00728 float64 z\n\
00729 float64 w\n\
00730 \n\
00731 ";
00732 }
00733
00734 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> &) { return value(); }
00735 };
00736
00737 }
00738 }
00739
00740 namespace ros
00741 {
00742 namespace serialization
00743 {
00744
00745 template<class ContainerAllocator> struct Serializer< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> >
00746 {
00747 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00748 {
00749 stream.next(m.image);
00750 stream.next(m.camera_info);
00751 stream.next(m.model_hypotheses);
00752 }
00753
00754 ROS_DECLARE_ALLINONE_SERIALIZER;
00755 };
00756 }
00757 }
00758
00759 namespace ros
00760 {
00761 namespace message_operations
00762 {
00763
00764 template<class ContainerAllocator>
00765 struct Printer< ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> >
00766 {
00767 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_recognition_gui::ObjectRecognitionGuiGoal_<ContainerAllocator> & v)
00768 {
00769 s << indent << "image: ";
00770 s << std::endl;
00771 Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + " ", v.image);
00772 s << indent << "camera_info: ";
00773 s << std::endl;
00774 Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >::stream(s, indent + " ", v.camera_info);
00775 s << indent << "model_hypotheses[]" << std::endl;
00776 for (size_t i = 0; i < v.model_hypotheses.size(); ++i)
00777 {
00778 s << indent << " model_hypotheses[" << i << "]: ";
00779 s << std::endl;
00780 s << indent;
00781 Printer< ::object_recognition_gui::ModelHypothesisList_<ContainerAllocator> >::stream(s, indent + " ", v.model_hypotheses[i]);
00782 }
00783 }
00784 };
00785
00786
00787 }
00788 }
00789
00790 #endif // OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIGOAL_H
00791
