RobotMeasurement.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-pr2-calibration-1.0.0/debian/ros-diamondback-pr2-calibration/opt/ros/diamondback/stacks/pr2_calibration/calibration_msgs/msg/RobotMeasurement.msg */
#ifndef CALIBRATION_MSGS_MESSAGE_ROBOTMEASUREMENT_H
#define CALIBRATION_MSGS_MESSAGE_ROBOTMEASUREMENT_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "calibration_msgs/CameraMeasurement.h"
#include "calibration_msgs/LaserMeasurement.h"
#include "calibration_msgs/ChainMeasurement.h"

namespace calibration_msgs
{
template <class ContainerAllocator>
struct RobotMeasurement_ : public ros::Message
{
  typedef RobotMeasurement_<ContainerAllocator> Type;

  RobotMeasurement_()
  : sample_id()
  , target_id()
  , chain_id()
  , M_cam()
  , M_laser()
  , M_chain()
  {
  }

  RobotMeasurement_(const ContainerAllocator& _alloc)
  : sample_id(_alloc)
  , target_id(_alloc)
  , chain_id(_alloc)
  , M_cam(_alloc)
  , M_laser(_alloc)
  , M_chain(_alloc)
  {
  }

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _sample_id_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  sample_id;

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _target_id_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  target_id;

  typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _chain_id_type;
  std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  chain_id;

  typedef std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other >  _M_cam_type;
  std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other >  M_cam;

  typedef std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other >  _M_laser_type;
  std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other >  M_laser;

  typedef std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other >  _M_chain_type;
  std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other >  M_chain;


  ROS_DEPRECATED uint32_t get_M_cam_size() const { return (uint32_t)M_cam.size(); }
  ROS_DEPRECATED void set_M_cam_size(uint32_t size) { M_cam.resize((size_t)size); }
  ROS_DEPRECATED void get_M_cam_vec(std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other > & vec) const { vec = this->M_cam; }
  ROS_DEPRECATED void set_M_cam_vec(const std::vector< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::other > & vec) { this->M_cam = vec; }
  ROS_DEPRECATED uint32_t get_M_laser_size() const { return (uint32_t)M_laser.size(); }
  ROS_DEPRECATED void set_M_laser_size(uint32_t size) { M_laser.resize((size_t)size); }
  ROS_DEPRECATED void get_M_laser_vec(std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other > & vec) const { vec = this->M_laser; }
  ROS_DEPRECATED void set_M_laser_vec(const std::vector< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::other > & vec) { this->M_laser = vec; }
  ROS_DEPRECATED uint32_t get_M_chain_size() const { return (uint32_t)M_chain.size(); }
  ROS_DEPRECATED void set_M_chain_size(uint32_t size) { M_chain.resize((size_t)size); }
  ROS_DEPRECATED void get_M_chain_vec(std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other > & vec) const { vec = this->M_chain; }
  ROS_DEPRECATED void set_M_chain_vec(const std::vector< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::other > & vec) { this->M_chain = vec; }
private:
  static const char* __s_getDataType_() { return "calibration_msgs/RobotMeasurement"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "5faeacd55902385628948423d864d702"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "string sample_id    # Tag to figure out which yaml file this was generated from\n\
\n\
string target_id    # Defines the target that we were sensing.\n\
string chain_id     # Defines where this target was attached\n\
\n\
CameraMeasurement[] M_cam\n\
LaserMeasurement[]  M_laser\n\
ChainMeasurement[]  M_chain\n\
\n\
================================================================================\n\
MSG: calibration_msgs/CameraMeasurement\n\
Header header\n\
string camera_id\n\
ImagePoint[] image_points\n\
sensor_msgs/CameraInfo cam_info\n\
\n\
# True -> The extra debugging fields are populated\n\
bool verbose\n\
\n\
# Extra, partially processed data. Only needed for debugging\n\
sensor_msgs/Image image\n\
sensor_msgs/Image image_rect\n\
calibration_msgs/CalibrationPattern features\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: calibration_msgs/ImagePoint\n\
float32 x\n\
float32 y\n\
\n\
================================================================================\n\
MSG: sensor_msgs/CameraInfo\n\
# This message defines meta information for a camera. It should be in a\n\
# camera namespace on topic \"camera_info\" and accompanied by up to five\n\
# image topics named:\n\
#\n\
#   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
#   image            - monochrome, distorted\n\
#   image_color      - color, distorted\n\
#   image_rect       - monochrome, rectified\n\
#   image_rect_color - color, rectified\n\
#\n\
# The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
# for producing the four processed image topics from image_raw and\n\
# camera_info. The meaning of the camera parameters are described in\n\
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
#\n\
# The image_geometry package provides a user-friendly interface to\n\
# common operations using this meta information. If you want to, e.g.,\n\
# project a 3d point into image coordinates, we strongly recommend\n\
# using image_geometry.\n\
#\n\
# If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
# zeroed out. In particular, clients may assume that K[0] == 0.0\n\
# indicates an uncalibrated camera.\n\
\n\
#######################################################################\n\
#                     Image acquisition info                          #\n\
#######################################################################\n\
\n\
# Time of image acquisition, camera coordinate frame ID\n\
Header header    # Header timestamp should be acquisition time of image\n\
                 # Header frame_id should be optical frame of camera\n\
                 # origin of frame should be optical center of camera\n\
                 # +x should point to the right in the image\n\
                 # +y should point down in the image\n\
                 # +z should point into the plane of the image\n\
\n\
\n\
#######################################################################\n\
#                      Calibration Parameters                         #\n\
#######################################################################\n\
# These are fixed during camera calibration. Their values will be the #\n\
# same in all messages until the camera is recalibrated. Note that    #\n\
# self-calibrating systems may \"recalibrate\" frequently.              #\n\
#                                                                     #\n\
# The internal parameters can be used to warp a raw (distorted) image #\n\
# to:                                                                 #\n\
#   1. An undistorted image (requires D and K)                        #\n\
#   2. A rectified image (requires D, K, R)                           #\n\
# The projection matrix P projects 3D points into the rectified image.#\n\
#######################################################################\n\
\n\
# The image dimensions with which the camera was calibrated. Normally\n\
# this will be the full camera resolution in pixels.\n\
uint32 height\n\
uint32 width\n\
\n\
# The distortion model used. Supported models are listed in\n\
# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
# simple model of radial and tangential distortion - is sufficent.\n\
string distortion_model\n\
\n\
# The distortion parameters, size depending on the distortion model.\n\
# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
float64[] D\n\
\n\
# Intrinsic camera matrix for the raw (distorted) images.\n\
#     [fx  0 cx]\n\
# K = [ 0 fy cy]\n\
#     [ 0  0  1]\n\
# Projects 3D points in the camera coordinate frame to 2D pixel\n\
# coordinates using the focal lengths (fx, fy) and principal point\n\
# (cx, cy).\n\
float64[9]  K # 3x3 row-major matrix\n\
\n\
# Rectification matrix (stereo cameras only)\n\
# A rotation matrix aligning the camera coordinate system to the ideal\n\
# stereo image plane so that epipolar lines in both stereo images are\n\
# parallel.\n\
float64[9]  R # 3x3 row-major matrix\n\
\n\
# Projection/camera matrix\n\
#     [fx'  0  cx' Tx]\n\
# P = [ 0  fy' cy' Ty]\n\
#     [ 0   0   1   0]\n\
# By convention, this matrix specifies the intrinsic (camera) matrix\n\
#  of the processed (rectified) image. That is, the left 3x3 portion\n\
#  is the normal camera intrinsic matrix for the rectified image.\n\
# It projects 3D points in the camera coordinate frame to 2D pixel\n\
#  coordinates using the focal lengths (fx', fy') and principal point\n\
#  (cx', cy') - these may differ from the values in K.\n\
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
#  also have R = the identity and P[1:3,1:3] = K.\n\
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
#  position of the optical center of the second camera in the first\n\
#  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
#  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
#  Tx = -fx' * B, where B is the baseline between the cameras.\n\
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
#  the rectified image is given by:\n\
#  [u v w]' = P * [X Y Z 1]'\n\
#         x = u / w\n\
#         y = v / w\n\
#  This holds for both images of a stereo pair.\n\
float64[12] P # 3x4 row-major matrix\n\
\n\
\n\
#######################################################################\n\
#                      Operational Parameters                         #\n\
#######################################################################\n\
# These define the image region actually captured by the camera       #\n\
# driver. Although they affect the geometry of the output image, they #\n\
# may be changed freely without recalibrating the camera.             #\n\
#######################################################################\n\
\n\
# Binning refers here to any camera setting which combines rectangular\n\
#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
#  resolution of the output image to\n\
#  (width / binning_x) x (height / binning_y).\n\
# The default values binning_x = binning_y = 0 is considered the same\n\
#  as binning_x = binning_y = 1 (no subsampling).\n\
uint32 binning_x\n\
uint32 binning_y\n\
\n\
# Region of interest (subwindow of full camera resolution), given in\n\
#  full resolution (unbinned) image coordinates. A particular ROI\n\
#  always denotes the same window of pixels on the camera sensor,\n\
#  regardless of binning settings.\n\
# The default setting of roi (all values 0) is considered the same as\n\
#  full resolution (roi.width = width, roi.height = height).\n\
RegionOfInterest roi\n\
\n\
================================================================================\n\
MSG: sensor_msgs/RegionOfInterest\n\
# This message is used to specify a region of interest within an image.\n\
#\n\
# When used to specify the ROI setting of the camera when the image was\n\
# taken, the height and width fields should either match the height and\n\
# width fields for the associated image; or height = width = 0\n\
# indicates that the full resolution image was captured.\n\
\n\
uint32 x_offset  # Leftmost pixel of the ROI\n\
                 # (0 if the ROI includes the left edge of the image)\n\
uint32 y_offset  # Topmost pixel of the ROI\n\
                 # (0 if the ROI includes the top edge of the image)\n\
uint32 height    # Height of ROI\n\
uint32 width     # Width of ROI\n\
\n\
# True if a distinct rectified ROI should be calculated from the \"raw\"\n\
# ROI in this message. Typically this should be False if the full image\n\
# is captured (ROI not used), and True if a subwindow is captured (ROI\n\
# used).\n\
bool do_rectify\n\
\n\
================================================================================\n\
MSG: sensor_msgs/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\n\
Header header        # Header timestamp should be acquisition time of image\n\
                     # Header frame_id should be optical frame of camera\n\
                     # origin of frame should be optical center of cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\n\
\n\
================================================================================\n\
MSG: calibration_msgs/CalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[] object_points\n\
ImagePoint[] image_points\n\
uint8 success\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point32\n\
# This contains the position of a point in free space(with 32 bits of precision).\n\
# It is recommeded to use Point wherever possible instead of Point32.  \n\
# \n\
# This recommendation is to promote interoperability.  \n\
#\n\
# This message is designed to take up less space when sending\n\
# lots of points at once, as in the case of a PointCloud.  \n\
\n\
float32 x\n\
float32 y\n\
float32 z\n\
================================================================================\n\
MSG: calibration_msgs/LaserMeasurement\n\
Header header\n\
string laser_id\n\
sensor_msgs/JointState[] joint_points\n\
\n\
# True -> The extra debugging fields are populated\n\
bool verbose\n\
\n\
# Extra, partially processed data. Only needed for debugging\n\
calibration_msgs/DenseLaserSnapshot snapshot\n\
sensor_msgs/Image laser_image\n\
calibration_msgs/CalibrationPattern image_features\n\
calibration_msgs/JointStateCalibrationPattern joint_features\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: calibration_msgs/DenseLaserSnapshot\n\
# Provides all the state & sensor information for\n\
# a single sweep of laser attached to some mechanism.\n\
# Most likely, this will be used with PR2's tilting laser mechanism\n\
Header header\n\
\n\
# Store the laser intrinsics. This is very similar to the\n\
# intrinsics commonly stored in \n\
float32 angle_min        # start angle of the scan [rad]\n\
float32 angle_max        # end angle of the scan [rad]\n\
float32 angle_increment  # angular distance between measurements [rad]\n\
float32 time_increment   # time between measurements [seconds]\n\
float32 range_min        # minimum range value [m]\n\
float32 range_max        # maximum range value [m]\n\
\n\
# Define the size of the binary data\n\
uint32 readings_per_scan    # (Width)\n\
uint32 num_scans            # (Height)\n\
\n\
# 2D Arrays storing laser data.\n\
# We can think of each type data as being a single channel image.\n\
# Each row of the image has data from a single scan, and scans are\n\
# concatenated to form the entire 'image'.\n\
float32[] ranges            # (Image data)\n\
float32[] intensities       # (Image data)\n\
\n\
# Store the start time of each scan\n\
time[] scan_start\n\
\n\
================================================================================\n\
MSG: calibration_msgs/JointStateCalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[]  object_points\n\
sensor_msgs/JointState[] joint_points\n\
\n\
\n\
================================================================================\n\
MSG: calibration_msgs/ChainMeasurement\n\
Header header\n\
string chain_id\n\
sensor_msgs/JointState chain_state\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, sample_id);
    ros::serialization::serialize(stream, target_id);
    ros::serialization::serialize(stream, chain_id);
    ros::serialization::serialize(stream, M_cam);
    ros::serialization::serialize(stream, M_laser);
    ros::serialization::serialize(stream, M_chain);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, sample_id);
    ros::serialization::deserialize(stream, target_id);
    ros::serialization::deserialize(stream, chain_id);
    ros::serialization::deserialize(stream, M_cam);
    ros::serialization::deserialize(stream, M_laser);
    ros::serialization::deserialize(stream, M_chain);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(sample_id);
    size += ros::serialization::serializationLength(target_id);
    size += ros::serialization::serializationLength(chain_id);
    size += ros::serialization::serializationLength(M_cam);
    size += ros::serialization::serializationLength(M_laser);
    size += ros::serialization::serializationLength(M_chain);
    return size;
  }

  typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement_<ContainerAllocator>  const> ConstPtr;
}; // struct RobotMeasurement
typedef  ::calibration_msgs::RobotMeasurement_<std::allocator<void> > RobotMeasurement;

typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement> RobotMeasurementPtr;
typedef boost::shared_ptr< ::calibration_msgs::RobotMeasurement const> RobotMeasurementConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::calibration_msgs::RobotMeasurement_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace calibration_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > {
  static const char* value() 
  {
    return "5faeacd55902385628948423d864d702";
  }

  static const char* value(const  ::calibration_msgs::RobotMeasurement_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x5faeacd559023856ULL;
  static const uint64_t static_value2 = 0x28948423d864d702ULL;
};

template<class ContainerAllocator>
struct DataType< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > {
  static const char* value() 
  {
    return "calibration_msgs/RobotMeasurement";
  }

  static const char* value(const  ::calibration_msgs::RobotMeasurement_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> > {
  static const char* value() 
  {
    return "string sample_id    # Tag to figure out which yaml file this was generated from\n\
\n\
string target_id    # Defines the target that we were sensing.\n\
string chain_id     # Defines where this target was attached\n\
\n\
CameraMeasurement[] M_cam\n\
LaserMeasurement[]  M_laser\n\
ChainMeasurement[]  M_chain\n\
\n\
================================================================================\n\
MSG: calibration_msgs/CameraMeasurement\n\
Header header\n\
string camera_id\n\
ImagePoint[] image_points\n\
sensor_msgs/CameraInfo cam_info\n\
\n\
# True -> The extra debugging fields are populated\n\
bool verbose\n\
\n\
# Extra, partially processed data. Only needed for debugging\n\
sensor_msgs/Image image\n\
sensor_msgs/Image image_rect\n\
calibration_msgs/CalibrationPattern features\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: calibration_msgs/ImagePoint\n\
float32 x\n\
float32 y\n\
\n\
================================================================================\n\
MSG: sensor_msgs/CameraInfo\n\
# This message defines meta information for a camera. It should be in a\n\
# camera namespace on topic \"camera_info\" and accompanied by up to five\n\
# image topics named:\n\
#\n\
#   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
#   image            - monochrome, distorted\n\
#   image_color      - color, distorted\n\
#   image_rect       - monochrome, rectified\n\
#   image_rect_color - color, rectified\n\
#\n\
# The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
# for producing the four processed image topics from image_raw and\n\
# camera_info. The meaning of the camera parameters are described in\n\
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
#\n\
# The image_geometry package provides a user-friendly interface to\n\
# common operations using this meta information. If you want to, e.g.,\n\
# project a 3d point into image coordinates, we strongly recommend\n\
# using image_geometry.\n\
#\n\
# If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
# zeroed out. In particular, clients may assume that K[0] == 0.0\n\
# indicates an uncalibrated camera.\n\
\n\
#######################################################################\n\
#                     Image acquisition info                          #\n\
#######################################################################\n\
\n\
# Time of image acquisition, camera coordinate frame ID\n\
Header header    # Header timestamp should be acquisition time of image\n\
                 # Header frame_id should be optical frame of camera\n\
                 # origin of frame should be optical center of camera\n\
                 # +x should point to the right in the image\n\
                 # +y should point down in the image\n\
                 # +z should point into the plane of the image\n\
\n\
\n\
#######################################################################\n\
#                      Calibration Parameters                         #\n\
#######################################################################\n\
# These are fixed during camera calibration. Their values will be the #\n\
# same in all messages until the camera is recalibrated. Note that    #\n\
# self-calibrating systems may \"recalibrate\" frequently.              #\n\
#                                                                     #\n\
# The internal parameters can be used to warp a raw (distorted) image #\n\
# to:                                                                 #\n\
#   1. An undistorted image (requires D and K)                        #\n\
#   2. A rectified image (requires D, K, R)                           #\n\
# The projection matrix P projects 3D points into the rectified image.#\n\
#######################################################################\n\
\n\
# The image dimensions with which the camera was calibrated. Normally\n\
# this will be the full camera resolution in pixels.\n\
uint32 height\n\
uint32 width\n\
\n\
# The distortion model used. Supported models are listed in\n\
# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
# simple model of radial and tangential distortion - is sufficent.\n\
string distortion_model\n\
\n\
# The distortion parameters, size depending on the distortion model.\n\
# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
float64[] D\n\
\n\
# Intrinsic camera matrix for the raw (distorted) images.\n\
#     [fx  0 cx]\n\
# K = [ 0 fy cy]\n\
#     [ 0  0  1]\n\
# Projects 3D points in the camera coordinate frame to 2D pixel\n\
# coordinates using the focal lengths (fx, fy) and principal point\n\
# (cx, cy).\n\
float64[9]  K # 3x3 row-major matrix\n\
\n\
# Rectification matrix (stereo cameras only)\n\
# A rotation matrix aligning the camera coordinate system to the ideal\n\
# stereo image plane so that epipolar lines in both stereo images are\n\
# parallel.\n\
float64[9]  R # 3x3 row-major matrix\n\
\n\
# Projection/camera matrix\n\
#     [fx'  0  cx' Tx]\n\
# P = [ 0  fy' cy' Ty]\n\
#     [ 0   0   1   0]\n\
# By convention, this matrix specifies the intrinsic (camera) matrix\n\
#  of the processed (rectified) image. That is, the left 3x3 portion\n\
#  is the normal camera intrinsic matrix for the rectified image.\n\
# It projects 3D points in the camera coordinate frame to 2D pixel\n\
#  coordinates using the focal lengths (fx', fy') and principal point\n\
#  (cx', cy') - these may differ from the values in K.\n\
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
#  also have R = the identity and P[1:3,1:3] = K.\n\
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
#  position of the optical center of the second camera in the first\n\
#  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
#  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
#  Tx = -fx' * B, where B is the baseline between the cameras.\n\
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
#  the rectified image is given by:\n\
#  [u v w]' = P * [X Y Z 1]'\n\
#         x = u / w\n\
#         y = v / w\n\
#  This holds for both images of a stereo pair.\n\
float64[12] P # 3x4 row-major matrix\n\
\n\
\n\
#######################################################################\n\
#                      Operational Parameters                         #\n\
#######################################################################\n\
# These define the image region actually captured by the camera       #\n\
# driver. Although they affect the geometry of the output image, they #\n\
# may be changed freely without recalibrating the camera.             #\n\
#######################################################################\n\
\n\
# Binning refers here to any camera setting which combines rectangular\n\
#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
#  resolution of the output image to\n\
#  (width / binning_x) x (height / binning_y).\n\
# The default values binning_x = binning_y = 0 is considered the same\n\
#  as binning_x = binning_y = 1 (no subsampling).\n\
uint32 binning_x\n\
uint32 binning_y\n\
\n\
# Region of interest (subwindow of full camera resolution), given in\n\
#  full resolution (unbinned) image coordinates. A particular ROI\n\
#  always denotes the same window of pixels on the camera sensor,\n\
#  regardless of binning settings.\n\
# The default setting of roi (all values 0) is considered the same as\n\
#  full resolution (roi.width = width, roi.height = height).\n\
RegionOfInterest roi\n\
\n\
================================================================================\n\
MSG: sensor_msgs/RegionOfInterest\n\
# This message is used to specify a region of interest within an image.\n\
#\n\
# When used to specify the ROI setting of the camera when the image was\n\
# taken, the height and width fields should either match the height and\n\
# width fields for the associated image; or height = width = 0\n\
# indicates that the full resolution image was captured.\n\
\n\
uint32 x_offset  # Leftmost pixel of the ROI\n\
                 # (0 if the ROI includes the left edge of the image)\n\
uint32 y_offset  # Topmost pixel of the ROI\n\
                 # (0 if the ROI includes the top edge of the image)\n\
uint32 height    # Height of ROI\n\
uint32 width     # Width of ROI\n\
\n\
# True if a distinct rectified ROI should be calculated from the \"raw\"\n\
# ROI in this message. Typically this should be False if the full image\n\
# is captured (ROI not used), and True if a subwindow is captured (ROI\n\
# used).\n\
bool do_rectify\n\
\n\
================================================================================\n\
MSG: sensor_msgs/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\n\
Header header        # Header timestamp should be acquisition time of image\n\
                     # Header frame_id should be optical frame of camera\n\
                     # origin of frame should be optical center of cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\n\
\n\
================================================================================\n\
MSG: calibration_msgs/CalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[] object_points\n\
ImagePoint[] image_points\n\
uint8 success\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point32\n\
# This contains the position of a point in free space(with 32 bits of precision).\n\
# It is recommeded to use Point wherever possible instead of Point32.  \n\
# \n\
# This recommendation is to promote interoperability.  \n\
#\n\
# This message is designed to take up less space when sending\n\
# lots of points at once, as in the case of a PointCloud.  \n\
\n\
float32 x\n\
float32 y\n\
float32 z\n\
================================================================================\n\
MSG: calibration_msgs/LaserMeasurement\n\
Header header\n\
string laser_id\n\
sensor_msgs/JointState[] joint_points\n\
\n\
# True -> The extra debugging fields are populated\n\
bool verbose\n\
\n\
# Extra, partially processed data. Only needed for debugging\n\
calibration_msgs/DenseLaserSnapshot snapshot\n\
sensor_msgs/Image laser_image\n\
calibration_msgs/CalibrationPattern image_features\n\
calibration_msgs/JointStateCalibrationPattern joint_features\n\
\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: calibration_msgs/DenseLaserSnapshot\n\
# Provides all the state & sensor information for\n\
# a single sweep of laser attached to some mechanism.\n\
# Most likely, this will be used with PR2's tilting laser mechanism\n\
Header header\n\
\n\
# Store the laser intrinsics. This is very similar to the\n\
# intrinsics commonly stored in \n\
float32 angle_min        # start angle of the scan [rad]\n\
float32 angle_max        # end angle of the scan [rad]\n\
float32 angle_increment  # angular distance between measurements [rad]\n\
float32 time_increment   # time between measurements [seconds]\n\
float32 range_min        # minimum range value [m]\n\
float32 range_max        # maximum range value [m]\n\
\n\
# Define the size of the binary data\n\
uint32 readings_per_scan    # (Width)\n\
uint32 num_scans            # (Height)\n\
\n\
# 2D Arrays storing laser data.\n\
# We can think of each type data as being a single channel image.\n\
# Each row of the image has data from a single scan, and scans are\n\
# concatenated to form the entire 'image'.\n\
float32[] ranges            # (Image data)\n\
float32[] intensities       # (Image data)\n\
\n\
# Store the start time of each scan\n\
time[] scan_start\n\
\n\
================================================================================\n\
MSG: calibration_msgs/JointStateCalibrationPattern\n\
Header header\n\
geometry_msgs/Point32[]  object_points\n\
sensor_msgs/JointState[] joint_points\n\
\n\
\n\
================================================================================\n\
MSG: calibration_msgs/ChainMeasurement\n\
Header header\n\
string chain_id\n\
sensor_msgs/JointState chain_state\n\
\n\
";
  }

  static const char* value(const  ::calibration_msgs::RobotMeasurement_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.sample_id);
    stream.next(m.target_id);
    stream.next(m.chain_id);
    stream.next(m.M_cam);
    stream.next(m.M_laser);
    stream.next(m.M_chain);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct RobotMeasurement_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::calibration_msgs::RobotMeasurement_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::calibration_msgs::RobotMeasurement_<ContainerAllocator> & v) 
  {
    s << indent << "sample_id: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.sample_id);
    s << indent << "target_id: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.target_id);
    s << indent << "chain_id: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.chain_id);
    s << indent << "M_cam[]" << std::endl;
    for (size_t i = 0; i < v.M_cam.size(); ++i)
    {
      s << indent << "  M_cam[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::stream(s, indent + "    ", v.M_cam[i]);
    }
    s << indent << "M_laser[]" << std::endl;
    for (size_t i = 0; i < v.M_laser.size(); ++i)
    {
      s << indent << "  M_laser[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::calibration_msgs::LaserMeasurement_<ContainerAllocator> >::stream(s, indent + "    ", v.M_laser[i]);
    }
    s << indent << "M_chain[]" << std::endl;
    for (size_t i = 0; i < v.M_chain.size(); ++i)
    {
      s << indent << "  M_chain[" << i << "]: ";
      s << std::endl;
      s << indent;
      Printer< ::calibration_msgs::ChainMeasurement_<ContainerAllocator> >::stream(s, indent + "    ", v.M_chain[i]);
    }
  }
};


} // namespace message_operations
} // namespace ros

#endif // CALIBRATION_MSGS_MESSAGE_ROBOTMEASUREMENT_H

---

calibration_msgs
Author(s): Vijay Pradeep
autogenerated on Fri Jan 11 09:55:13 2013