00001
00002 #ifndef RGBD_ASSEMBLER_SERVICE_RGBDASSEMBLY_H
00003 #define RGBD_ASSEMBLER_SERVICE_RGBDASSEMBLY_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 "ros/service_traits.h"
00018
00019
00020
00021 #include "sensor_msgs/PointCloud2.h"
00022 #include "sensor_msgs/Image.h"
00023 #include "stereo_msgs/DisparityImage.h"
00024 #include "sensor_msgs/CameraInfo.h"
00025
00026 namespace rgbd_assembler
00027 {
00028 template <class ContainerAllocator>
00029 struct RgbdAssemblyRequest_ {
00030 typedef RgbdAssemblyRequest_<ContainerAllocator> Type;
00031
00032 RgbdAssemblyRequest_()
00033 {
00034 }
00035
00036 RgbdAssemblyRequest_(const ContainerAllocator& _alloc)
00037 {
00038 }
00039
00040
00041 private:
00042 static const char* __s_getDataType_() { return "rgbd_assembler/RgbdAssemblyRequest"; }
00043 public:
00044 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00045
00046 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00047
00048 private:
00049 static const char* __s_getMD5Sum_() { return "d41d8cd98f00b204e9800998ecf8427e"; }
00050 public:
00051 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00052
00053 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00054
00055 private:
00056 static const char* __s_getServerMD5Sum_() { return "258b6f93e1876c2777ab914303667a41"; }
00057 public:
00058 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00059
00060 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00061
00062 private:
00063 static const char* __s_getMessageDefinition_() { return "\n\
00064 \n\
00065 \n\
00066 "; }
00067 public:
00068 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00069
00070 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00071
00072 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00073 {
00074 ros::serialization::OStream stream(write_ptr, 1000000000);
00075 return stream.getData();
00076 }
00077
00078 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00079 {
00080 ros::serialization::IStream stream(read_ptr, 1000000000);
00081 return stream.getData();
00082 }
00083
00084 ROS_DEPRECATED virtual uint32_t serializationLength() const
00085 {
00086 uint32_t size = 0;
00087 return size;
00088 }
00089
00090 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > Ptr;
00091 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> const> ConstPtr;
00092 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00093 };
00094 typedef ::rgbd_assembler::RgbdAssemblyRequest_<std::allocator<void> > RgbdAssemblyRequest;
00095
00096 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest> RgbdAssemblyRequestPtr;
00097 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest const> RgbdAssemblyRequestConstPtr;
00098
00099
00100 template <class ContainerAllocator>
00101 struct RgbdAssemblyResponse_ {
00102 typedef RgbdAssemblyResponse_<ContainerAllocator> Type;
00103
00104 RgbdAssemblyResponse_()
00105 : point_cloud()
00106 , image()
00107 , disparity_image()
00108 , camera_info()
00109 , result(0)
00110 {
00111 }
00112
00113 RgbdAssemblyResponse_(const ContainerAllocator& _alloc)
00114 : point_cloud(_alloc)
00115 , image(_alloc)
00116 , disparity_image(_alloc)
00117 , camera_info(_alloc)
00118 , result(0)
00119 {
00120 }
00121
00122 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _point_cloud_type;
00123 ::sensor_msgs::PointCloud2_<ContainerAllocator> point_cloud;
00124
00125 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00126 ::sensor_msgs::Image_<ContainerAllocator> image;
00127
00128 typedef ::stereo_msgs::DisparityImage_<ContainerAllocator> _disparity_image_type;
00129 ::stereo_msgs::DisparityImage_<ContainerAllocator> disparity_image;
00130
00131 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _camera_info_type;
00132 ::sensor_msgs::CameraInfo_<ContainerAllocator> camera_info;
00133
00134 typedef int32_t _result_type;
00135 int32_t result;
00136
00137 enum { OTHER_ERROR = 1 };
00138 enum { SUCCESS = 2 };
00139
00140 private:
00141 static const char* __s_getDataType_() { return "rgbd_assembler/RgbdAssemblyResponse"; }
00142 public:
00143 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00144
00145 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00146
00147 private:
00148 static const char* __s_getMD5Sum_() { return "258b6f93e1876c2777ab914303667a41"; }
00149 public:
00150 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00151
00152 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00153
00154 private:
00155 static const char* __s_getServerMD5Sum_() { return "258b6f93e1876c2777ab914303667a41"; }
00156 public:
00157 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00158
00159 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00160
00161 private:
00162 static const char* __s_getMessageDefinition_() { return "\n\
00163 \n\
00164 \n\
00165 \n\
00166 sensor_msgs/PointCloud2 point_cloud\n\
00167 \n\
00168 \n\
00169 sensor_msgs/Image image\n\
00170 \n\
00171 \n\
00172 stereo_msgs/DisparityImage disparity_image\n\
00173 \n\
00174 \n\
00175 sensor_msgs/CameraInfo camera_info\n\
00176 \n\
00177 \n\
00178 int32 OTHER_ERROR = 1\n\
00179 int32 SUCCESS = 2\n\
00180 int32 result\n\
00181 \n\
00182 ================================================================================\n\
00183 MSG: sensor_msgs/PointCloud2\n\
00184 # This message holds a collection of N-dimensional points, which may\n\
00185 # contain additional information such as normals, intensity, etc. The\n\
00186 # point data is stored as a binary blob, its layout described by the\n\
00187 # contents of the \"fields\" array.\n\
00188 \n\
00189 # The point cloud data may be organized 2d (image-like) or 1d\n\
00190 # (unordered). Point clouds organized as 2d images may be produced by\n\
00191 # camera depth sensors such as stereo or time-of-flight.\n\
00192 \n\
00193 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00194 # points).\n\
00195 Header header\n\
00196 \n\
00197 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00198 # 1 and width is the length of the point cloud.\n\
00199 uint32 height\n\
00200 uint32 width\n\
00201 \n\
00202 # Describes the channels and their layout in the binary data blob.\n\
00203 PointField[] fields\n\
00204 \n\
00205 bool is_bigendian # Is this data bigendian?\n\
00206 uint32 point_step # Length of a point in bytes\n\
00207 uint32 row_step # Length of a row in bytes\n\
00208 uint8[] data # Actual point data, size is (row_step*height)\n\
00209 \n\
00210 bool is_dense # True if there are no invalid points\n\
00211 \n\
00212 ================================================================================\n\
00213 MSG: std_msgs/Header\n\
00214 # Standard metadata for higher-level stamped data types.\n\
00215 # This is generally used to communicate timestamped data \n\
00216 # in a particular coordinate frame.\n\
00217 # \n\
00218 # sequence ID: consecutively increasing ID \n\
00219 uint32 seq\n\
00220 #Two-integer timestamp that is expressed as:\n\
00221 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00222 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00223 # time-handling sugar is provided by the client library\n\
00224 time stamp\n\
00225 #Frame this data is associated with\n\
00226 # 0: no frame\n\
00227 # 1: global frame\n\
00228 string frame_id\n\
00229 \n\
00230 ================================================================================\n\
00231 MSG: sensor_msgs/PointField\n\
00232 # This message holds the description of one point entry in the\n\
00233 # PointCloud2 message format.\n\
00234 uint8 INT8 = 1\n\
00235 uint8 UINT8 = 2\n\
00236 uint8 INT16 = 3\n\
00237 uint8 UINT16 = 4\n\
00238 uint8 INT32 = 5\n\
00239 uint8 UINT32 = 6\n\
00240 uint8 FLOAT32 = 7\n\
00241 uint8 FLOAT64 = 8\n\
00242 \n\
00243 string name # Name of field\n\
00244 uint32 offset # Offset from start of point struct\n\
00245 uint8 datatype # Datatype enumeration, see above\n\
00246 uint32 count # How many elements in the field\n\
00247 \n\
00248 ================================================================================\n\
00249 MSG: sensor_msgs/Image\n\
00250 # This message contains an uncompressed image\n\
00251 # (0, 0) is at top-left corner of image\n\
00252 #\n\
00253 \n\
00254 Header header # Header timestamp should be acquisition time of image\n\
00255 # Header frame_id should be optical frame of camera\n\
00256 # origin of frame should be optical center of cameara\n\
00257 # +x should point to the right in the image\n\
00258 # +y should point down in the image\n\
00259 # +z should point into to plane of the image\n\
00260 # If the frame_id here and the frame_id of the CameraInfo\n\
00261 # message associated with the image conflict\n\
00262 # the behavior is undefined\n\
00263 \n\
00264 uint32 height # image height, that is, number of rows\n\
00265 uint32 width # image width, that is, number of columns\n\
00266 \n\
00267 # The legal values for encoding are in file src/image_encodings.cpp\n\
00268 # If you want to standardize a new string format, join\n\
00269 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00270 \n\
00271 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00272 # taken from the list of strings in src/image_encodings.cpp\n\
00273 \n\
00274 uint8 is_bigendian # is this data bigendian?\n\
00275 uint32 step # Full row length in bytes\n\
00276 uint8[] data # actual matrix data, size is (step * rows)\n\
00277 \n\
00278 ================================================================================\n\
00279 MSG: stereo_msgs/DisparityImage\n\
00280 # Separate header for compatibility with current TimeSynchronizer.\n\
00281 # Likely to be removed in a later release, use image.header instead.\n\
00282 Header header\n\
00283 \n\
00284 # Floating point disparity image. The disparities are pre-adjusted for any\n\
00285 # x-offset between the principal points of the two cameras (in the case\n\
00286 # that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)\n\
00287 sensor_msgs/Image image\n\
00288 \n\
00289 # Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.\n\
00290 float32 f # Focal length, pixels\n\
00291 float32 T # Baseline, world units\n\
00292 \n\
00293 # Subwindow of (potentially) valid disparity values.\n\
00294 sensor_msgs/RegionOfInterest valid_window\n\
00295 \n\
00296 # The range of disparities searched.\n\
00297 # In the disparity image, any disparity less than min_disparity is invalid.\n\
00298 # The disparity search range defines the horopter, or 3D volume that the\n\
00299 # stereo algorithm can \"see\". Points with Z outside of:\n\
00300 # Z_min = fT / max_disparity\n\
00301 # Z_max = fT / min_disparity\n\
00302 # could not be found.\n\
00303 float32 min_disparity\n\
00304 float32 max_disparity\n\
00305 \n\
00306 # Smallest allowed disparity increment. The smallest achievable depth range\n\
00307 # resolution is delta_Z = (Z^2/fT)*delta_d.\n\
00308 float32 delta_d\n\
00309 \n\
00310 ================================================================================\n\
00311 MSG: sensor_msgs/RegionOfInterest\n\
00312 # This message is used to specify a region of interest within an image.\n\
00313 #\n\
00314 # When used to specify the ROI setting of the camera when the image was\n\
00315 # taken, the height and width fields should either match the height and\n\
00316 # width fields for the associated image; or height = width = 0\n\
00317 # indicates that the full resolution image was captured.\n\
00318 \n\
00319 uint32 x_offset # Leftmost pixel of the ROI\n\
00320 # (0 if the ROI includes the left edge of the image)\n\
00321 uint32 y_offset # Topmost pixel of the ROI\n\
00322 # (0 if the ROI includes the top edge of the image)\n\
00323 uint32 height # Height of ROI\n\
00324 uint32 width # Width of ROI\n\
00325 \n\
00326 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00327 # ROI in this message. Typically this should be False if the full image\n\
00328 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00329 # used).\n\
00330 bool do_rectify\n\
00331 \n\
00332 ================================================================================\n\
00333 MSG: sensor_msgs/CameraInfo\n\
00334 # This message defines meta information for a camera. It should be in a\n\
00335 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00336 # image topics named:\n\
00337 #\n\
00338 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00339 # image - monochrome, distorted\n\
00340 # image_color - color, distorted\n\
00341 # image_rect - monochrome, rectified\n\
00342 # image_rect_color - color, rectified\n\
00343 #\n\
00344 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00345 # for producing the four processed image topics from image_raw and\n\
00346 # camera_info. The meaning of the camera parameters are described in\n\
00347 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00348 #\n\
00349 # The image_geometry package provides a user-friendly interface to\n\
00350 # common operations using this meta information. If you want to, e.g.,\n\
00351 # project a 3d point into image coordinates, we strongly recommend\n\
00352 # using image_geometry.\n\
00353 #\n\
00354 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00355 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00356 # indicates an uncalibrated camera.\n\
00357 \n\
00358 #######################################################################\n\
00359 # Image acquisition info #\n\
00360 #######################################################################\n\
00361 \n\
00362 # Time of image acquisition, camera coordinate frame ID\n\
00363 Header header # Header timestamp should be acquisition time of image\n\
00364 # Header frame_id should be optical frame of camera\n\
00365 # origin of frame should be optical center of camera\n\
00366 # +x should point to the right in the image\n\
00367 # +y should point down in the image\n\
00368 # +z should point into the plane of the image\n\
00369 \n\
00370 \n\
00371 #######################################################################\n\
00372 # Calibration Parameters #\n\
00373 #######################################################################\n\
00374 # These are fixed during camera calibration. Their values will be the #\n\
00375 # same in all messages until the camera is recalibrated. Note that #\n\
00376 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00377 # #\n\
00378 # The internal parameters can be used to warp a raw (distorted) image #\n\
00379 # to: #\n\
00380 # 1. An undistorted image (requires D and K) #\n\
00381 # 2. A rectified image (requires D, K, R) #\n\
00382 # The projection matrix P projects 3D points into the rectified image.#\n\
00383 #######################################################################\n\
00384 \n\
00385 # The image dimensions with which the camera was calibrated. Normally\n\
00386 # this will be the full camera resolution in pixels.\n\
00387 uint32 height\n\
00388 uint32 width\n\
00389 \n\
00390 # The distortion model used. Supported models are listed in\n\
00391 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00392 # simple model of radial and tangential distortion - is sufficent.\n\
00393 string distortion_model\n\
00394 \n\
00395 # The distortion parameters, size depending on the distortion model.\n\
00396 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00397 float64[] D\n\
00398 \n\
00399 # Intrinsic camera matrix for the raw (distorted) images.\n\
00400 # [fx 0 cx]\n\
00401 # K = [ 0 fy cy]\n\
00402 # [ 0 0 1]\n\
00403 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00404 # coordinates using the focal lengths (fx, fy) and principal point\n\
00405 # (cx, cy).\n\
00406 float64[9] K # 3x3 row-major matrix\n\
00407 \n\
00408 # Rectification matrix (stereo cameras only)\n\
00409 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00410 # stereo image plane so that epipolar lines in both stereo images are\n\
00411 # parallel.\n\
00412 float64[9] R # 3x3 row-major matrix\n\
00413 \n\
00414 # Projection/camera matrix\n\
00415 # [fx' 0 cx' Tx]\n\
00416 # P = [ 0 fy' cy' Ty]\n\
00417 # [ 0 0 1 0]\n\
00418 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00419 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00420 # is the normal camera intrinsic matrix for the rectified image.\n\
00421 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00422 # coordinates using the focal lengths (fx', fy') and principal point\n\
00423 # (cx', cy') - these may differ from the values in K.\n\
00424 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00425 # also have R = the identity and P[1:3,1:3] = K.\n\
00426 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00427 # position of the optical center of the second camera in the first\n\
00428 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00429 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00430 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00431 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00432 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00433 # the rectified image is given by:\n\
00434 # [u v w]' = P * [X Y Z 1]'\n\
00435 # x = u / w\n\
00436 # y = v / w\n\
00437 # This holds for both images of a stereo pair.\n\
00438 float64[12] P # 3x4 row-major matrix\n\
00439 \n\
00440 \n\
00441 #######################################################################\n\
00442 # Operational Parameters #\n\
00443 #######################################################################\n\
00444 # These define the image region actually captured by the camera #\n\
00445 # driver. Although they affect the geometry of the output image, they #\n\
00446 # may be changed freely without recalibrating the camera. #\n\
00447 #######################################################################\n\
00448 \n\
00449 # Binning refers here to any camera setting which combines rectangular\n\
00450 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00451 # resolution of the output image to\n\
00452 # (width / binning_x) x (height / binning_y).\n\
00453 # The default values binning_x = binning_y = 0 is considered the same\n\
00454 # as binning_x = binning_y = 1 (no subsampling).\n\
00455 uint32 binning_x\n\
00456 uint32 binning_y\n\
00457 \n\
00458 # Region of interest (subwindow of full camera resolution), given in\n\
00459 # full resolution (unbinned) image coordinates. A particular ROI\n\
00460 # always denotes the same window of pixels on the camera sensor,\n\
00461 # regardless of binning settings.\n\
00462 # The default setting of roi (all values 0) is considered the same as\n\
00463 # full resolution (roi.width = width, roi.height = height).\n\
00464 RegionOfInterest roi\n\
00465 \n\
00466 "; }
00467 public:
00468 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00469
00470 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00471
00472 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00473 {
00474 ros::serialization::OStream stream(write_ptr, 1000000000);
00475 ros::serialization::serialize(stream, point_cloud);
00476 ros::serialization::serialize(stream, image);
00477 ros::serialization::serialize(stream, disparity_image);
00478 ros::serialization::serialize(stream, camera_info);
00479 ros::serialization::serialize(stream, result);
00480 return stream.getData();
00481 }
00482
00483 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00484 {
00485 ros::serialization::IStream stream(read_ptr, 1000000000);
00486 ros::serialization::deserialize(stream, point_cloud);
00487 ros::serialization::deserialize(stream, image);
00488 ros::serialization::deserialize(stream, disparity_image);
00489 ros::serialization::deserialize(stream, camera_info);
00490 ros::serialization::deserialize(stream, result);
00491 return stream.getData();
00492 }
00493
00494 ROS_DEPRECATED virtual uint32_t serializationLength() const
00495 {
00496 uint32_t size = 0;
00497 size += ros::serialization::serializationLength(point_cloud);
00498 size += ros::serialization::serializationLength(image);
00499 size += ros::serialization::serializationLength(disparity_image);
00500 size += ros::serialization::serializationLength(camera_info);
00501 size += ros::serialization::serializationLength(result);
00502 return size;
00503 }
00504
00505 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > Ptr;
00506 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> const> ConstPtr;
00507 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00508 };
00509 typedef ::rgbd_assembler::RgbdAssemblyResponse_<std::allocator<void> > RgbdAssemblyResponse;
00510
00511 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse> RgbdAssemblyResponsePtr;
00512 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse const> RgbdAssemblyResponseConstPtr;
00513
00514 struct RgbdAssembly
00515 {
00516
00517 typedef RgbdAssemblyRequest Request;
00518 typedef RgbdAssemblyResponse Response;
00519 Request request;
00520 Response response;
00521
00522 typedef Request RequestType;
00523 typedef Response ResponseType;
00524 };
00525 }
00526
00527 namespace ros
00528 {
00529 namespace message_traits
00530 {
00531 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > : public TrueType {};
00532 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> const> : public TrueType {};
00533 template<class ContainerAllocator>
00534 struct MD5Sum< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00535 static const char* value()
00536 {
00537 return "d41d8cd98f00b204e9800998ecf8427e";
00538 }
00539
00540 static const char* value(const ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00541 static const uint64_t static_value1 = 0xd41d8cd98f00b204ULL;
00542 static const uint64_t static_value2 = 0xe9800998ecf8427eULL;
00543 };
00544
00545 template<class ContainerAllocator>
00546 struct DataType< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00547 static const char* value()
00548 {
00549 return "rgbd_assembler/RgbdAssemblyRequest";
00550 }
00551
00552 static const char* value(const ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00553 };
00554
00555 template<class ContainerAllocator>
00556 struct Definition< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00557 static const char* value()
00558 {
00559 return "\n\
00560 \n\
00561 \n\
00562 ";
00563 }
00564
00565 static const char* value(const ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00566 };
00567
00568 template<class ContainerAllocator> struct IsFixedSize< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > : public TrueType {};
00569 }
00570 }
00571
00572
00573 namespace ros
00574 {
00575 namespace message_traits
00576 {
00577 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > : public TrueType {};
00578 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> const> : public TrueType {};
00579 template<class ContainerAllocator>
00580 struct MD5Sum< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00581 static const char* value()
00582 {
00583 return "258b6f93e1876c2777ab914303667a41";
00584 }
00585
00586 static const char* value(const ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00587 static const uint64_t static_value1 = 0x258b6f93e1876c27ULL;
00588 static const uint64_t static_value2 = 0x77ab914303667a41ULL;
00589 };
00590
00591 template<class ContainerAllocator>
00592 struct DataType< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00593 static const char* value()
00594 {
00595 return "rgbd_assembler/RgbdAssemblyResponse";
00596 }
00597
00598 static const char* value(const ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00599 };
00600
00601 template<class ContainerAllocator>
00602 struct Definition< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00603 static const char* value()
00604 {
00605 return "\n\
00606 \n\
00607 \n\
00608 \n\
00609 sensor_msgs/PointCloud2 point_cloud\n\
00610 \n\
00611 \n\
00612 sensor_msgs/Image image\n\
00613 \n\
00614 \n\
00615 stereo_msgs/DisparityImage disparity_image\n\
00616 \n\
00617 \n\
00618 sensor_msgs/CameraInfo camera_info\n\
00619 \n\
00620 \n\
00621 int32 OTHER_ERROR = 1\n\
00622 int32 SUCCESS = 2\n\
00623 int32 result\n\
00624 \n\
00625 ================================================================================\n\
00626 MSG: sensor_msgs/PointCloud2\n\
00627 # This message holds a collection of N-dimensional points, which may\n\
00628 # contain additional information such as normals, intensity, etc. The\n\
00629 # point data is stored as a binary blob, its layout described by the\n\
00630 # contents of the \"fields\" array.\n\
00631 \n\
00632 # The point cloud data may be organized 2d (image-like) or 1d\n\
00633 # (unordered). Point clouds organized as 2d images may be produced by\n\
00634 # camera depth sensors such as stereo or time-of-flight.\n\
00635 \n\
00636 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00637 # points).\n\
00638 Header header\n\
00639 \n\
00640 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00641 # 1 and width is the length of the point cloud.\n\
00642 uint32 height\n\
00643 uint32 width\n\
00644 \n\
00645 # Describes the channels and their layout in the binary data blob.\n\
00646 PointField[] fields\n\
00647 \n\
00648 bool is_bigendian # Is this data bigendian?\n\
00649 uint32 point_step # Length of a point in bytes\n\
00650 uint32 row_step # Length of a row in bytes\n\
00651 uint8[] data # Actual point data, size is (row_step*height)\n\
00652 \n\
00653 bool is_dense # True if there are no invalid points\n\
00654 \n\
00655 ================================================================================\n\
00656 MSG: std_msgs/Header\n\
00657 # Standard metadata for higher-level stamped data types.\n\
00658 # This is generally used to communicate timestamped data \n\
00659 # in a particular coordinate frame.\n\
00660 # \n\
00661 # sequence ID: consecutively increasing ID \n\
00662 uint32 seq\n\
00663 #Two-integer timestamp that is expressed as:\n\
00664 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00665 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00666 # time-handling sugar is provided by the client library\n\
00667 time stamp\n\
00668 #Frame this data is associated with\n\
00669 # 0: no frame\n\
00670 # 1: global frame\n\
00671 string frame_id\n\
00672 \n\
00673 ================================================================================\n\
00674 MSG: sensor_msgs/PointField\n\
00675 # This message holds the description of one point entry in the\n\
00676 # PointCloud2 message format.\n\
00677 uint8 INT8 = 1\n\
00678 uint8 UINT8 = 2\n\
00679 uint8 INT16 = 3\n\
00680 uint8 UINT16 = 4\n\
00681 uint8 INT32 = 5\n\
00682 uint8 UINT32 = 6\n\
00683 uint8 FLOAT32 = 7\n\
00684 uint8 FLOAT64 = 8\n\
00685 \n\
00686 string name # Name of field\n\
00687 uint32 offset # Offset from start of point struct\n\
00688 uint8 datatype # Datatype enumeration, see above\n\
00689 uint32 count # How many elements in the field\n\
00690 \n\
00691 ================================================================================\n\
00692 MSG: sensor_msgs/Image\n\
00693 # This message contains an uncompressed image\n\
00694 # (0, 0) is at top-left corner of image\n\
00695 #\n\
00696 \n\
00697 Header header # Header timestamp should be acquisition time of image\n\
00698 # Header frame_id should be optical frame of camera\n\
00699 # origin of frame should be optical center of cameara\n\
00700 # +x should point to the right in the image\n\
00701 # +y should point down in the image\n\
00702 # +z should point into to plane of the image\n\
00703 # If the frame_id here and the frame_id of the CameraInfo\n\
00704 # message associated with the image conflict\n\
00705 # the behavior is undefined\n\
00706 \n\
00707 uint32 height # image height, that is, number of rows\n\
00708 uint32 width # image width, that is, number of columns\n\
00709 \n\
00710 # The legal values for encoding are in file src/image_encodings.cpp\n\
00711 # If you want to standardize a new string format, join\n\
00712 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00713 \n\
00714 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00715 # taken from the list of strings in src/image_encodings.cpp\n\
00716 \n\
00717 uint8 is_bigendian # is this data bigendian?\n\
00718 uint32 step # Full row length in bytes\n\
00719 uint8[] data # actual matrix data, size is (step * rows)\n\
00720 \n\
00721 ================================================================================\n\
00722 MSG: stereo_msgs/DisparityImage\n\
00723 # Separate header for compatibility with current TimeSynchronizer.\n\
00724 # Likely to be removed in a later release, use image.header instead.\n\
00725 Header header\n\
00726 \n\
00727 # Floating point disparity image. The disparities are pre-adjusted for any\n\
00728 # x-offset between the principal points of the two cameras (in the case\n\
00729 # that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)\n\
00730 sensor_msgs/Image image\n\
00731 \n\
00732 # Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.\n\
00733 float32 f # Focal length, pixels\n\
00734 float32 T # Baseline, world units\n\
00735 \n\
00736 # Subwindow of (potentially) valid disparity values.\n\
00737 sensor_msgs/RegionOfInterest valid_window\n\
00738 \n\
00739 # The range of disparities searched.\n\
00740 # In the disparity image, any disparity less than min_disparity is invalid.\n\
00741 # The disparity search range defines the horopter, or 3D volume that the\n\
00742 # stereo algorithm can \"see\". Points with Z outside of:\n\
00743 # Z_min = fT / max_disparity\n\
00744 # Z_max = fT / min_disparity\n\
00745 # could not be found.\n\
00746 float32 min_disparity\n\
00747 float32 max_disparity\n\
00748 \n\
00749 # Smallest allowed disparity increment. The smallest achievable depth range\n\
00750 # resolution is delta_Z = (Z^2/fT)*delta_d.\n\
00751 float32 delta_d\n\
00752 \n\
00753 ================================================================================\n\
00754 MSG: sensor_msgs/RegionOfInterest\n\
00755 # This message is used to specify a region of interest within an image.\n\
00756 #\n\
00757 # When used to specify the ROI setting of the camera when the image was\n\
00758 # taken, the height and width fields should either match the height and\n\
00759 # width fields for the associated image; or height = width = 0\n\
00760 # indicates that the full resolution image was captured.\n\
00761 \n\
00762 uint32 x_offset # Leftmost pixel of the ROI\n\
00763 # (0 if the ROI includes the left edge of the image)\n\
00764 uint32 y_offset # Topmost pixel of the ROI\n\
00765 # (0 if the ROI includes the top edge of the image)\n\
00766 uint32 height # Height of ROI\n\
00767 uint32 width # Width of ROI\n\
00768 \n\
00769 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00770 # ROI in this message. Typically this should be False if the full image\n\
00771 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00772 # used).\n\
00773 bool do_rectify\n\
00774 \n\
00775 ================================================================================\n\
00776 MSG: sensor_msgs/CameraInfo\n\
00777 # This message defines meta information for a camera. It should be in a\n\
00778 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00779 # image topics named:\n\
00780 #\n\
00781 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00782 # image - monochrome, distorted\n\
00783 # image_color - color, distorted\n\
00784 # image_rect - monochrome, rectified\n\
00785 # image_rect_color - color, rectified\n\
00786 #\n\
00787 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00788 # for producing the four processed image topics from image_raw and\n\
00789 # camera_info. The meaning of the camera parameters are described in\n\
00790 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00791 #\n\
00792 # The image_geometry package provides a user-friendly interface to\n\
00793 # common operations using this meta information. If you want to, e.g.,\n\
00794 # project a 3d point into image coordinates, we strongly recommend\n\
00795 # using image_geometry.\n\
00796 #\n\
00797 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00798 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00799 # indicates an uncalibrated camera.\n\
00800 \n\
00801 #######################################################################\n\
00802 # Image acquisition info #\n\
00803 #######################################################################\n\
00804 \n\
00805 # Time of image acquisition, camera coordinate frame ID\n\
00806 Header header # Header timestamp should be acquisition time of image\n\
00807 # Header frame_id should be optical frame of camera\n\
00808 # origin of frame should be optical center of camera\n\
00809 # +x should point to the right in the image\n\
00810 # +y should point down in the image\n\
00811 # +z should point into the plane of the image\n\
00812 \n\
00813 \n\
00814 #######################################################################\n\
00815 # Calibration Parameters #\n\
00816 #######################################################################\n\
00817 # These are fixed during camera calibration. Their values will be the #\n\
00818 # same in all messages until the camera is recalibrated. Note that #\n\
00819 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00820 # #\n\
00821 # The internal parameters can be used to warp a raw (distorted) image #\n\
00822 # to: #\n\
00823 # 1. An undistorted image (requires D and K) #\n\
00824 # 2. A rectified image (requires D, K, R) #\n\
00825 # The projection matrix P projects 3D points into the rectified image.#\n\
00826 #######################################################################\n\
00827 \n\
00828 # The image dimensions with which the camera was calibrated. Normally\n\
00829 # this will be the full camera resolution in pixels.\n\
00830 uint32 height\n\
00831 uint32 width\n\
00832 \n\
00833 # The distortion model used. Supported models are listed in\n\
00834 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00835 # simple model of radial and tangential distortion - is sufficent.\n\
00836 string distortion_model\n\
00837 \n\
00838 # The distortion parameters, size depending on the distortion model.\n\
00839 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00840 float64[] D\n\
00841 \n\
00842 # Intrinsic camera matrix for the raw (distorted) images.\n\
00843 # [fx 0 cx]\n\
00844 # K = [ 0 fy cy]\n\
00845 # [ 0 0 1]\n\
00846 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00847 # coordinates using the focal lengths (fx, fy) and principal point\n\
00848 # (cx, cy).\n\
00849 float64[9] K # 3x3 row-major matrix\n\
00850 \n\
00851 # Rectification matrix (stereo cameras only)\n\
00852 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00853 # stereo image plane so that epipolar lines in both stereo images are\n\
00854 # parallel.\n\
00855 float64[9] R # 3x3 row-major matrix\n\
00856 \n\
00857 # Projection/camera matrix\n\
00858 # [fx' 0 cx' Tx]\n\
00859 # P = [ 0 fy' cy' Ty]\n\
00860 # [ 0 0 1 0]\n\
00861 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00862 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00863 # is the normal camera intrinsic matrix for the rectified image.\n\
00864 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00865 # coordinates using the focal lengths (fx', fy') and principal point\n\
00866 # (cx', cy') - these may differ from the values in K.\n\
00867 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00868 # also have R = the identity and P[1:3,1:3] = K.\n\
00869 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00870 # position of the optical center of the second camera in the first\n\
00871 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00872 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00873 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00874 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00875 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00876 # the rectified image is given by:\n\
00877 # [u v w]' = P * [X Y Z 1]'\n\
00878 # x = u / w\n\
00879 # y = v / w\n\
00880 # This holds for both images of a stereo pair.\n\
00881 float64[12] P # 3x4 row-major matrix\n\
00882 \n\
00883 \n\
00884 #######################################################################\n\
00885 # Operational Parameters #\n\
00886 #######################################################################\n\
00887 # These define the image region actually captured by the camera #\n\
00888 # driver. Although they affect the geometry of the output image, they #\n\
00889 # may be changed freely without recalibrating the camera. #\n\
00890 #######################################################################\n\
00891 \n\
00892 # Binning refers here to any camera setting which combines rectangular\n\
00893 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00894 # resolution of the output image to\n\
00895 # (width / binning_x) x (height / binning_y).\n\
00896 # The default values binning_x = binning_y = 0 is considered the same\n\
00897 # as binning_x = binning_y = 1 (no subsampling).\n\
00898 uint32 binning_x\n\
00899 uint32 binning_y\n\
00900 \n\
00901 # Region of interest (subwindow of full camera resolution), given in\n\
00902 # full resolution (unbinned) image coordinates. A particular ROI\n\
00903 # always denotes the same window of pixels on the camera sensor,\n\
00904 # regardless of binning settings.\n\
00905 # The default setting of roi (all values 0) is considered the same as\n\
00906 # full resolution (roi.width = width, roi.height = height).\n\
00907 RegionOfInterest roi\n\
00908 \n\
00909 ";
00910 }
00911
00912 static const char* value(const ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00913 };
00914
00915 }
00916 }
00917
00918 namespace ros
00919 {
00920 namespace serialization
00921 {
00922
00923 template<class ContainerAllocator> struct Serializer< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> >
00924 {
00925 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00926 {
00927 }
00928
00929 ROS_DECLARE_ALLINONE_SERIALIZER;
00930 };
00931 }
00932 }
00933
00934
00935 namespace ros
00936 {
00937 namespace serialization
00938 {
00939
00940 template<class ContainerAllocator> struct Serializer< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> >
00941 {
00942 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00943 {
00944 stream.next(m.point_cloud);
00945 stream.next(m.image);
00946 stream.next(m.disparity_image);
00947 stream.next(m.camera_info);
00948 stream.next(m.result);
00949 }
00950
00951 ROS_DECLARE_ALLINONE_SERIALIZER;
00952 };
00953 }
00954 }
00955
00956 namespace ros
00957 {
00958 namespace service_traits
00959 {
00960 template<>
00961 struct MD5Sum<rgbd_assembler::RgbdAssembly> {
00962 static const char* value()
00963 {
00964 return "258b6f93e1876c2777ab914303667a41";
00965 }
00966
00967 static const char* value(const rgbd_assembler::RgbdAssembly&) { return value(); }
00968 };
00969
00970 template<>
00971 struct DataType<rgbd_assembler::RgbdAssembly> {
00972 static const char* value()
00973 {
00974 return "rgbd_assembler/RgbdAssembly";
00975 }
00976
00977 static const char* value(const rgbd_assembler::RgbdAssembly&) { return value(); }
00978 };
00979
00980 template<class ContainerAllocator>
00981 struct MD5Sum<rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00982 static const char* value()
00983 {
00984 return "258b6f93e1876c2777ab914303667a41";
00985 }
00986
00987 static const char* value(const rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00988 };
00989
00990 template<class ContainerAllocator>
00991 struct DataType<rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00992 static const char* value()
00993 {
00994 return "rgbd_assembler/RgbdAssembly";
00995 }
00996
00997 static const char* value(const rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00998 };
00999
01000 template<class ContainerAllocator>
01001 struct MD5Sum<rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
01002 static const char* value()
01003 {
01004 return "258b6f93e1876c2777ab914303667a41";
01005 }
01006
01007 static const char* value(const rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
01008 };
01009
01010 template<class ContainerAllocator>
01011 struct DataType<rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
01012 static const char* value()
01013 {
01014 return "rgbd_assembler/RgbdAssembly";
01015 }
01016
01017 static const char* value(const rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
01018 };
01019
01020 }
01021 }
01022
01023 #endif // RGBD_ASSEMBLER_SERVICE_RGBDASSEMBLY_H
01024
