00001
00002 #ifndef OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTION_H
00003 #define OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTION_H
00004 #include <string>
00005 #include <vector>
00006 #include <ostream>
00007 #include "ros/serialization.h"
00008 #include "ros/builtin_message_traits.h"
00009 #include "ros/message_operations.h"
00010 #include "ros/message.h"
00011 #include "ros/time.h"
00012
00013 #include "object_recognition_gui/ObjectRecognitionGuiActionGoal.h"
00014 #include "object_recognition_gui/ObjectRecognitionGuiActionResult.h"
00015 #include "object_recognition_gui/ObjectRecognitionGuiActionFeedback.h"
00016
00017 namespace object_recognition_gui
00018 {
00019 template <class ContainerAllocator>
00020 struct ObjectRecognitionGuiAction_ : public ros::Message
00021 {
00022 typedef ObjectRecognitionGuiAction_<ContainerAllocator> Type;
00023
00024 ObjectRecognitionGuiAction_()
00025 : action_goal()
00026 , action_result()
00027 , action_feedback()
00028 {
00029 }
00030
00031 ObjectRecognitionGuiAction_(const ContainerAllocator& _alloc)
00032 : action_goal(_alloc)
00033 , action_result(_alloc)
00034 , action_feedback(_alloc)
00035 {
00036 }
00037
00038 typedef ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> _action_goal_type;
00039 ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> action_goal;
00040
00041 typedef ::object_recognition_gui::ObjectRecognitionGuiActionResult_<ContainerAllocator> _action_result_type;
00042 ::object_recognition_gui::ObjectRecognitionGuiActionResult_<ContainerAllocator> action_result;
00043
00044 typedef ::object_recognition_gui::ObjectRecognitionGuiActionFeedback_<ContainerAllocator> _action_feedback_type;
00045 ::object_recognition_gui::ObjectRecognitionGuiActionFeedback_<ContainerAllocator> action_feedback;
00046
00047
00048 private:
00049 static const char* __s_getDataType_() { return "object_recognition_gui/ObjectRecognitionGuiAction"; }
00050 public:
00051 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00052
00053 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00054
00055 private:
00056 static const char* __s_getMD5Sum_() { return "ceb5b2d8cb3006a85f5fabfab9056abe"; }
00057 public:
00058 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00059
00060 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00061
00062 private:
00063 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00064 \n\
00065 ObjectRecognitionGuiActionGoal action_goal\n\
00066 ObjectRecognitionGuiActionResult action_result\n\
00067 ObjectRecognitionGuiActionFeedback action_feedback\n\
00068 \n\
00069 ================================================================================\n\
00070 MSG: object_recognition_gui/ObjectRecognitionGuiActionGoal\n\
00071 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00072 \n\
00073 Header header\n\
00074 actionlib_msgs/GoalID goal_id\n\
00075 ObjectRecognitionGuiGoal goal\n\
00076 \n\
00077 ================================================================================\n\
00078 MSG: std_msgs/Header\n\
00079 # Standard metadata for higher-level stamped data types.\n\
00080 # This is generally used to communicate timestamped data \n\
00081 # in a particular coordinate frame.\n\
00082 # \n\
00083 # sequence ID: consecutively increasing ID \n\
00084 uint32 seq\n\
00085 #Two-integer timestamp that is expressed as:\n\
00086 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00087 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00088 # time-handling sugar is provided by the client library\n\
00089 time stamp\n\
00090 #Frame this data is associated with\n\
00091 # 0: no frame\n\
00092 # 1: global frame\n\
00093 string frame_id\n\
00094 \n\
00095 ================================================================================\n\
00096 MSG: actionlib_msgs/GoalID\n\
00097 # The stamp should store the time at which this goal was requested.\n\
00098 # It is used by an action server when it tries to preempt all\n\
00099 # goals that were requested before a certain time\n\
00100 time stamp\n\
00101 \n\
00102 # The id provides a way to associate feedback and\n\
00103 # result message with specific goal requests. The id\n\
00104 # specified must be unique.\n\
00105 string id\n\
00106 \n\
00107 \n\
00108 ================================================================================\n\
00109 MSG: object_recognition_gui/ObjectRecognitionGuiGoal\n\
00110 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00111 \n\
00112 #the original sensor data (depth/disparity image)\n\
00113 sensor_msgs/Image image\n\
00114 sensor_msgs/CameraInfo camera_info\n\
00115 \n\
00116 #list of mesh/pose hypotheses for each recognized point cluster\n\
00117 ModelHypothesisList[] model_hypotheses\n\
00118 \n\
00119 ================================================================================\n\
00120 MSG: sensor_msgs/Image\n\
00121 # This message contains an uncompressed image\n\
00122 # (0, 0) is at top-left corner of image\n\
00123 #\n\
00124 \n\
00125 Header header # Header timestamp should be acquisition time of image\n\
00126 # Header frame_id should be optical frame of camera\n\
00127 # origin of frame should be optical center of cameara\n\
00128 # +x should point to the right in the image\n\
00129 # +y should point down in the image\n\
00130 # +z should point into to plane of the image\n\
00131 # If the frame_id here and the frame_id of the CameraInfo\n\
00132 # message associated with the image conflict\n\
00133 # the behavior is undefined\n\
00134 \n\
00135 uint32 height # image height, that is, number of rows\n\
00136 uint32 width # image width, that is, number of columns\n\
00137 \n\
00138 # The legal values for encoding are in file src/image_encodings.cpp\n\
00139 # If you want to standardize a new string format, join\n\
00140 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00141 \n\
00142 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00143 # taken from the list of strings in src/image_encodings.cpp\n\
00144 \n\
00145 uint8 is_bigendian # is this data bigendian?\n\
00146 uint32 step # Full row length in bytes\n\
00147 uint8[] data # actual matrix data, size is (step * rows)\n\
00148 \n\
00149 ================================================================================\n\
00150 MSG: sensor_msgs/CameraInfo\n\
00151 # This message defines meta information for a camera. It should be in a\n\
00152 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00153 # image topics named:\n\
00154 #\n\
00155 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00156 # image - monochrome, distorted\n\
00157 # image_color - color, distorted\n\
00158 # image_rect - monochrome, rectified\n\
00159 # image_rect_color - color, rectified\n\
00160 #\n\
00161 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00162 # for producing the four processed image topics from image_raw and\n\
00163 # camera_info. The meaning of the camera parameters are described in\n\
00164 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00165 #\n\
00166 # The image_geometry package provides a user-friendly interface to\n\
00167 # common operations using this meta information. If you want to, e.g.,\n\
00168 # project a 3d point into image coordinates, we strongly recommend\n\
00169 # using image_geometry.\n\
00170 #\n\
00171 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00172 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00173 # indicates an uncalibrated camera.\n\
00174 \n\
00175 #######################################################################\n\
00176 # Image acquisition info #\n\
00177 #######################################################################\n\
00178 \n\
00179 # Time of image acquisition, camera coordinate frame ID\n\
00180 Header header # Header timestamp should be acquisition time of image\n\
00181 # Header frame_id should be optical frame of camera\n\
00182 # origin of frame should be optical center of camera\n\
00183 # +x should point to the right in the image\n\
00184 # +y should point down in the image\n\
00185 # +z should point into the plane of the image\n\
00186 \n\
00187 \n\
00188 #######################################################################\n\
00189 # Calibration Parameters #\n\
00190 #######################################################################\n\
00191 # These are fixed during camera calibration. Their values will be the #\n\
00192 # same in all messages until the camera is recalibrated. Note that #\n\
00193 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00194 # #\n\
00195 # The internal parameters can be used to warp a raw (distorted) image #\n\
00196 # to: #\n\
00197 # 1. An undistorted image (requires D and K) #\n\
00198 # 2. A rectified image (requires D, K, R) #\n\
00199 # The projection matrix P projects 3D points into the rectified image.#\n\
00200 #######################################################################\n\
00201 \n\
00202 # The image dimensions with which the camera was calibrated. Normally\n\
00203 # this will be the full camera resolution in pixels.\n\
00204 uint32 height\n\
00205 uint32 width\n\
00206 \n\
00207 # The distortion model used. Supported models are listed in\n\
00208 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00209 # simple model of radial and tangential distortion - is sufficent.\n\
00210 string distortion_model\n\
00211 \n\
00212 # The distortion parameters, size depending on the distortion model.\n\
00213 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00214 float64[] D\n\
00215 \n\
00216 # Intrinsic camera matrix for the raw (distorted) images.\n\
00217 # [fx 0 cx]\n\
00218 # K = [ 0 fy cy]\n\
00219 # [ 0 0 1]\n\
00220 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00221 # coordinates using the focal lengths (fx, fy) and principal point\n\
00222 # (cx, cy).\n\
00223 float64[9] K # 3x3 row-major matrix\n\
00224 \n\
00225 # Rectification matrix (stereo cameras only)\n\
00226 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00227 # stereo image plane so that epipolar lines in both stereo images are\n\
00228 # parallel.\n\
00229 float64[9] R # 3x3 row-major matrix\n\
00230 \n\
00231 # Projection/camera matrix\n\
00232 # [fx' 0 cx' Tx]\n\
00233 # P = [ 0 fy' cy' Ty]\n\
00234 # [ 0 0 1 0]\n\
00235 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00236 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00237 # is the normal camera intrinsic matrix for the rectified image.\n\
00238 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00239 # coordinates using the focal lengths (fx', fy') and principal point\n\
00240 # (cx', cy') - these may differ from the values in K.\n\
00241 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00242 # also have R = the identity and P[1:3,1:3] = K.\n\
00243 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00244 # position of the optical center of the second camera in the first\n\
00245 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00246 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00247 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00248 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00249 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00250 # the rectified image is given by:\n\
00251 # [u v w]' = P * [X Y Z 1]'\n\
00252 # x = u / w\n\
00253 # y = v / w\n\
00254 # This holds for both images of a stereo pair.\n\
00255 float64[12] P # 3x4 row-major matrix\n\
00256 \n\
00257 \n\
00258 #######################################################################\n\
00259 # Operational Parameters #\n\
00260 #######################################################################\n\
00261 # These define the image region actually captured by the camera #\n\
00262 # driver. Although they affect the geometry of the output image, they #\n\
00263 # may be changed freely without recalibrating the camera. #\n\
00264 #######################################################################\n\
00265 \n\
00266 # Binning refers here to any camera setting which combines rectangular\n\
00267 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00268 # resolution of the output image to\n\
00269 # (width / binning_x) x (height / binning_y).\n\
00270 # The default values binning_x = binning_y = 0 is considered the same\n\
00271 # as binning_x = binning_y = 1 (no subsampling).\n\
00272 uint32 binning_x\n\
00273 uint32 binning_y\n\
00274 \n\
00275 # Region of interest (subwindow of full camera resolution), given in\n\
00276 # full resolution (unbinned) image coordinates. A particular ROI\n\
00277 # always denotes the same window of pixels on the camera sensor,\n\
00278 # regardless of binning settings.\n\
00279 # The default setting of roi (all values 0) is considered the same as\n\
00280 # full resolution (roi.width = width, roi.height = height).\n\
00281 RegionOfInterest roi\n\
00282 \n\
00283 ================================================================================\n\
00284 MSG: sensor_msgs/RegionOfInterest\n\
00285 # This message is used to specify a region of interest within an image.\n\
00286 #\n\
00287 # When used to specify the ROI setting of the camera when the image was\n\
00288 # taken, the height and width fields should either match the height and\n\
00289 # width fields for the associated image; or height = width = 0\n\
00290 # indicates that the full resolution image was captured.\n\
00291 \n\
00292 uint32 x_offset # Leftmost pixel of the ROI\n\
00293 # (0 if the ROI includes the left edge of the image)\n\
00294 uint32 y_offset # Topmost pixel of the ROI\n\
00295 # (0 if the ROI includes the top edge of the image)\n\
00296 uint32 height # Height of ROI\n\
00297 uint32 width # Width of ROI\n\
00298 \n\
00299 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00300 # ROI in this message. Typically this should be False if the full image\n\
00301 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00302 # used).\n\
00303 bool do_rectify\n\
00304 \n\
00305 ================================================================================\n\
00306 MSG: object_recognition_gui/ModelHypothesisList\n\
00307 ModelHypothesis[] hypotheses\n\
00308 \n\
00309 #initial guess if this can be a correct recognition result at all\n\
00310 bool accept\n\
00311 ================================================================================\n\
00312 MSG: object_recognition_gui/ModelHypothesis\n\
00313 #describes a hypothesis about a recognized object (mesh+pose)\n\
00314 \n\
00315 geometric_shapes_msgs/Shape mesh\n\
00316 geometry_msgs/PoseStamped pose\n\
00317 \n\
00318 ================================================================================\n\
00319 MSG: geometric_shapes_msgs/Shape\n\
00320 byte SPHERE=0\n\
00321 byte BOX=1\n\
00322 byte CYLINDER=2\n\
00323 byte MESH=3\n\
00324 \n\
00325 byte type\n\
00326 \n\
00327 \n\
00328 #### define sphere, box, cylinder ####\n\
00329 # the origin of each shape is considered at the shape's center\n\
00330 \n\
00331 # for sphere\n\
00332 # radius := dimensions[0]\n\
00333 \n\
00334 # for cylinder\n\
00335 # radius := dimensions[0]\n\
00336 # length := dimensions[1]\n\
00337 # the length is along the Z axis\n\
00338 \n\
00339 # for box\n\
00340 # size_x := dimensions[0]\n\
00341 # size_y := dimensions[1]\n\
00342 # size_z := dimensions[2]\n\
00343 float64[] dimensions\n\
00344 \n\
00345 \n\
00346 #### define mesh ####\n\
00347 \n\
00348 # list of triangles; triangle k is defined by tre vertices located\n\
00349 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00350 int32[] triangles\n\
00351 geometry_msgs/Point[] vertices\n\
00352 \n\
00353 ================================================================================\n\
00354 MSG: geometry_msgs/Point\n\
00355 # This contains the position of a point in free space\n\
00356 float64 x\n\
00357 float64 y\n\
00358 float64 z\n\
00359 \n\
00360 ================================================================================\n\
00361 MSG: geometry_msgs/PoseStamped\n\
00362 # A Pose with reference coordinate frame and timestamp\n\
00363 Header header\n\
00364 Pose pose\n\
00365 \n\
00366 ================================================================================\n\
00367 MSG: geometry_msgs/Pose\n\
00368 # A representation of pose in free space, composed of postion and orientation. \n\
00369 Point position\n\
00370 Quaternion orientation\n\
00371 \n\
00372 ================================================================================\n\
00373 MSG: geometry_msgs/Quaternion\n\
00374 # This represents an orientation in free space in quaternion form.\n\
00375 \n\
00376 float64 x\n\
00377 float64 y\n\
00378 float64 z\n\
00379 float64 w\n\
00380 \n\
00381 ================================================================================\n\
00382 MSG: object_recognition_gui/ObjectRecognitionGuiActionResult\n\
00383 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00384 \n\
00385 Header header\n\
00386 actionlib_msgs/GoalStatus status\n\
00387 ObjectRecognitionGuiResult result\n\
00388 \n\
00389 ================================================================================\n\
00390 MSG: actionlib_msgs/GoalStatus\n\
00391 GoalID goal_id\n\
00392 uint8 status\n\
00393 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00394 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00395 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00396 # and has since completed its execution (Terminal State)\n\
00397 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00398 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00399 # to some failure (Terminal State)\n\
00400 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00401 # because the goal was unattainable or invalid (Terminal State)\n\
00402 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00403 # and has not yet completed execution\n\
00404 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00405 # but the action server has not yet confirmed that the goal is canceled\n\
00406 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00407 # and was successfully cancelled (Terminal State)\n\
00408 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00409 # sent over the wire by an action server\n\
00410 \n\
00411 #Allow for the user to associate a string with GoalStatus for debugging\n\
00412 string text\n\
00413 \n\
00414 \n\
00415 ================================================================================\n\
00416 MSG: object_recognition_gui/ObjectRecognitionGuiResult\n\
00417 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00418 \n\
00419 #the index of the model hypothesis that the user has selected for each cluster\n\
00420 #values below 0 mean 'reject all hypotheses'\n\
00421 int32[] selected_hypothesis_indices\n\
00422 \n\
00423 ================================================================================\n\
00424 MSG: object_recognition_gui/ObjectRecognitionGuiActionFeedback\n\
00425 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00426 \n\
00427 Header header\n\
00428 actionlib_msgs/GoalStatus status\n\
00429 ObjectRecognitionGuiFeedback feedback\n\
00430 \n\
00431 ================================================================================\n\
00432 MSG: object_recognition_gui/ObjectRecognitionGuiFeedback\n\
00433 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00434 \n\
00435 \n\
00436 "; }
00437 public:
00438 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00439
00440 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00441
00442 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00443 {
00444 ros::serialization::OStream stream(write_ptr, 1000000000);
00445 ros::serialization::serialize(stream, action_goal);
00446 ros::serialization::serialize(stream, action_result);
00447 ros::serialization::serialize(stream, action_feedback);
00448 return stream.getData();
00449 }
00450
00451 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00452 {
00453 ros::serialization::IStream stream(read_ptr, 1000000000);
00454 ros::serialization::deserialize(stream, action_goal);
00455 ros::serialization::deserialize(stream, action_result);
00456 ros::serialization::deserialize(stream, action_feedback);
00457 return stream.getData();
00458 }
00459
00460 ROS_DEPRECATED virtual uint32_t serializationLength() const
00461 {
00462 uint32_t size = 0;
00463 size += ros::serialization::serializationLength(action_goal);
00464 size += ros::serialization::serializationLength(action_result);
00465 size += ros::serialization::serializationLength(action_feedback);
00466 return size;
00467 }
00468
00469 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > Ptr;
00470 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> const> ConstPtr;
00471 };
00472 typedef ::object_recognition_gui::ObjectRecognitionGuiAction_<std::allocator<void> > ObjectRecognitionGuiAction;
00473
00474 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction> ObjectRecognitionGuiActionPtr;
00475 typedef boost::shared_ptr< ::object_recognition_gui::ObjectRecognitionGuiAction const> ObjectRecognitionGuiActionConstPtr;
00476
00477
00478 template<typename ContainerAllocator>
00479 std::ostream& operator<<(std::ostream& s, const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> & v)
00480 {
00481 ros::message_operations::Printer< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> >::stream(s, "", v);
00482 return s;}
00483
00484 }
00485
00486 namespace ros
00487 {
00488 namespace message_traits
00489 {
00490 template<class ContainerAllocator>
00491 struct MD5Sum< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > {
00492 static const char* value()
00493 {
00494 return "ceb5b2d8cb3006a85f5fabfab9056abe";
00495 }
00496
00497 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> &) { return value(); }
00498 static const uint64_t static_value1 = 0xceb5b2d8cb3006a8ULL;
00499 static const uint64_t static_value2 = 0x5f5fabfab9056abeULL;
00500 };
00501
00502 template<class ContainerAllocator>
00503 struct DataType< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > {
00504 static const char* value()
00505 {
00506 return "object_recognition_gui/ObjectRecognitionGuiAction";
00507 }
00508
00509 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> &) { return value(); }
00510 };
00511
00512 template<class ContainerAllocator>
00513 struct Definition< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> > {
00514 static const char* value()
00515 {
00516 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00517 \n\
00518 ObjectRecognitionGuiActionGoal action_goal\n\
00519 ObjectRecognitionGuiActionResult action_result\n\
00520 ObjectRecognitionGuiActionFeedback action_feedback\n\
00521 \n\
00522 ================================================================================\n\
00523 MSG: object_recognition_gui/ObjectRecognitionGuiActionGoal\n\
00524 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00525 \n\
00526 Header header\n\
00527 actionlib_msgs/GoalID goal_id\n\
00528 ObjectRecognitionGuiGoal goal\n\
00529 \n\
00530 ================================================================================\n\
00531 MSG: std_msgs/Header\n\
00532 # Standard metadata for higher-level stamped data types.\n\
00533 # This is generally used to communicate timestamped data \n\
00534 # in a particular coordinate frame.\n\
00535 # \n\
00536 # sequence ID: consecutively increasing ID \n\
00537 uint32 seq\n\
00538 #Two-integer timestamp that is expressed as:\n\
00539 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00540 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00541 # time-handling sugar is provided by the client library\n\
00542 time stamp\n\
00543 #Frame this data is associated with\n\
00544 # 0: no frame\n\
00545 # 1: global frame\n\
00546 string frame_id\n\
00547 \n\
00548 ================================================================================\n\
00549 MSG: actionlib_msgs/GoalID\n\
00550 # The stamp should store the time at which this goal was requested.\n\
00551 # It is used by an action server when it tries to preempt all\n\
00552 # goals that were requested before a certain time\n\
00553 time stamp\n\
00554 \n\
00555 # The id provides a way to associate feedback and\n\
00556 # result message with specific goal requests. The id\n\
00557 # specified must be unique.\n\
00558 string id\n\
00559 \n\
00560 \n\
00561 ================================================================================\n\
00562 MSG: object_recognition_gui/ObjectRecognitionGuiGoal\n\
00563 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00564 \n\
00565 #the original sensor data (depth/disparity image)\n\
00566 sensor_msgs/Image image\n\
00567 sensor_msgs/CameraInfo camera_info\n\
00568 \n\
00569 #list of mesh/pose hypotheses for each recognized point cluster\n\
00570 ModelHypothesisList[] model_hypotheses\n\
00571 \n\
00572 ================================================================================\n\
00573 MSG: sensor_msgs/Image\n\
00574 # This message contains an uncompressed image\n\
00575 # (0, 0) is at top-left corner of image\n\
00576 #\n\
00577 \n\
00578 Header header # Header timestamp should be acquisition time of image\n\
00579 # Header frame_id should be optical frame of camera\n\
00580 # origin of frame should be optical center of cameara\n\
00581 # +x should point to the right in the image\n\
00582 # +y should point down in the image\n\
00583 # +z should point into to plane of the image\n\
00584 # If the frame_id here and the frame_id of the CameraInfo\n\
00585 # message associated with the image conflict\n\
00586 # the behavior is undefined\n\
00587 \n\
00588 uint32 height # image height, that is, number of rows\n\
00589 uint32 width # image width, that is, number of columns\n\
00590 \n\
00591 # The legal values for encoding are in file src/image_encodings.cpp\n\
00592 # If you want to standardize a new string format, join\n\
00593 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00594 \n\
00595 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00596 # taken from the list of strings in src/image_encodings.cpp\n\
00597 \n\
00598 uint8 is_bigendian # is this data bigendian?\n\
00599 uint32 step # Full row length in bytes\n\
00600 uint8[] data # actual matrix data, size is (step * rows)\n\
00601 \n\
00602 ================================================================================\n\
00603 MSG: sensor_msgs/CameraInfo\n\
00604 # This message defines meta information for a camera. It should be in a\n\
00605 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00606 # image topics named:\n\
00607 #\n\
00608 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00609 # image - monochrome, distorted\n\
00610 # image_color - color, distorted\n\
00611 # image_rect - monochrome, rectified\n\
00612 # image_rect_color - color, rectified\n\
00613 #\n\
00614 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00615 # for producing the four processed image topics from image_raw and\n\
00616 # camera_info. The meaning of the camera parameters are described in\n\
00617 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00618 #\n\
00619 # The image_geometry package provides a user-friendly interface to\n\
00620 # common operations using this meta information. If you want to, e.g.,\n\
00621 # project a 3d point into image coordinates, we strongly recommend\n\
00622 # using image_geometry.\n\
00623 #\n\
00624 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00625 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00626 # indicates an uncalibrated camera.\n\
00627 \n\
00628 #######################################################################\n\
00629 # Image acquisition info #\n\
00630 #######################################################################\n\
00631 \n\
00632 # Time of image acquisition, camera coordinate frame ID\n\
00633 Header header # Header timestamp should be acquisition time of image\n\
00634 # Header frame_id should be optical frame of camera\n\
00635 # origin of frame should be optical center of camera\n\
00636 # +x should point to the right in the image\n\
00637 # +y should point down in the image\n\
00638 # +z should point into the plane of the image\n\
00639 \n\
00640 \n\
00641 #######################################################################\n\
00642 # Calibration Parameters #\n\
00643 #######################################################################\n\
00644 # These are fixed during camera calibration. Their values will be the #\n\
00645 # same in all messages until the camera is recalibrated. Note that #\n\
00646 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00647 # #\n\
00648 # The internal parameters can be used to warp a raw (distorted) image #\n\
00649 # to: #\n\
00650 # 1. An undistorted image (requires D and K) #\n\
00651 # 2. A rectified image (requires D, K, R) #\n\
00652 # The projection matrix P projects 3D points into the rectified image.#\n\
00653 #######################################################################\n\
00654 \n\
00655 # The image dimensions with which the camera was calibrated. Normally\n\
00656 # this will be the full camera resolution in pixels.\n\
00657 uint32 height\n\
00658 uint32 width\n\
00659 \n\
00660 # The distortion model used. Supported models are listed in\n\
00661 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00662 # simple model of radial and tangential distortion - is sufficent.\n\
00663 string distortion_model\n\
00664 \n\
00665 # The distortion parameters, size depending on the distortion model.\n\
00666 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00667 float64[] D\n\
00668 \n\
00669 # Intrinsic camera matrix for the raw (distorted) images.\n\
00670 # [fx 0 cx]\n\
00671 # K = [ 0 fy cy]\n\
00672 # [ 0 0 1]\n\
00673 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00674 # coordinates using the focal lengths (fx, fy) and principal point\n\
00675 # (cx, cy).\n\
00676 float64[9] K # 3x3 row-major matrix\n\
00677 \n\
00678 # Rectification matrix (stereo cameras only)\n\
00679 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00680 # stereo image plane so that epipolar lines in both stereo images are\n\
00681 # parallel.\n\
00682 float64[9] R # 3x3 row-major matrix\n\
00683 \n\
00684 # Projection/camera matrix\n\
00685 # [fx' 0 cx' Tx]\n\
00686 # P = [ 0 fy' cy' Ty]\n\
00687 # [ 0 0 1 0]\n\
00688 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00689 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00690 # is the normal camera intrinsic matrix for the rectified image.\n\
00691 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00692 # coordinates using the focal lengths (fx', fy') and principal point\n\
00693 # (cx', cy') - these may differ from the values in K.\n\
00694 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00695 # also have R = the identity and P[1:3,1:3] = K.\n\
00696 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00697 # position of the optical center of the second camera in the first\n\
00698 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00699 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00700 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00701 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00702 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00703 # the rectified image is given by:\n\
00704 # [u v w]' = P * [X Y Z 1]'\n\
00705 # x = u / w\n\
00706 # y = v / w\n\
00707 # This holds for both images of a stereo pair.\n\
00708 float64[12] P # 3x4 row-major matrix\n\
00709 \n\
00710 \n\
00711 #######################################################################\n\
00712 # Operational Parameters #\n\
00713 #######################################################################\n\
00714 # These define the image region actually captured by the camera #\n\
00715 # driver. Although they affect the geometry of the output image, they #\n\
00716 # may be changed freely without recalibrating the camera. #\n\
00717 #######################################################################\n\
00718 \n\
00719 # Binning refers here to any camera setting which combines rectangular\n\
00720 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00721 # resolution of the output image to\n\
00722 # (width / binning_x) x (height / binning_y).\n\
00723 # The default values binning_x = binning_y = 0 is considered the same\n\
00724 # as binning_x = binning_y = 1 (no subsampling).\n\
00725 uint32 binning_x\n\
00726 uint32 binning_y\n\
00727 \n\
00728 # Region of interest (subwindow of full camera resolution), given in\n\
00729 # full resolution (unbinned) image coordinates. A particular ROI\n\
00730 # always denotes the same window of pixels on the camera sensor,\n\
00731 # regardless of binning settings.\n\
00732 # The default setting of roi (all values 0) is considered the same as\n\
00733 # full resolution (roi.width = width, roi.height = height).\n\
00734 RegionOfInterest roi\n\
00735 \n\
00736 ================================================================================\n\
00737 MSG: sensor_msgs/RegionOfInterest\n\
00738 # This message is used to specify a region of interest within an image.\n\
00739 #\n\
00740 # When used to specify the ROI setting of the camera when the image was\n\
00741 # taken, the height and width fields should either match the height and\n\
00742 # width fields for the associated image; or height = width = 0\n\
00743 # indicates that the full resolution image was captured.\n\
00744 \n\
00745 uint32 x_offset # Leftmost pixel of the ROI\n\
00746 # (0 if the ROI includes the left edge of the image)\n\
00747 uint32 y_offset # Topmost pixel of the ROI\n\
00748 # (0 if the ROI includes the top edge of the image)\n\
00749 uint32 height # Height of ROI\n\
00750 uint32 width # Width of ROI\n\
00751 \n\
00752 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00753 # ROI in this message. Typically this should be False if the full image\n\
00754 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00755 # used).\n\
00756 bool do_rectify\n\
00757 \n\
00758 ================================================================================\n\
00759 MSG: object_recognition_gui/ModelHypothesisList\n\
00760 ModelHypothesis[] hypotheses\n\
00761 \n\
00762 #initial guess if this can be a correct recognition result at all\n\
00763 bool accept\n\
00764 ================================================================================\n\
00765 MSG: object_recognition_gui/ModelHypothesis\n\
00766 #describes a hypothesis about a recognized object (mesh+pose)\n\
00767 \n\
00768 geometric_shapes_msgs/Shape mesh\n\
00769 geometry_msgs/PoseStamped pose\n\
00770 \n\
00771 ================================================================================\n\
00772 MSG: geometric_shapes_msgs/Shape\n\
00773 byte SPHERE=0\n\
00774 byte BOX=1\n\
00775 byte CYLINDER=2\n\
00776 byte MESH=3\n\
00777 \n\
00778 byte type\n\
00779 \n\
00780 \n\
00781 #### define sphere, box, cylinder ####\n\
00782 # the origin of each shape is considered at the shape's center\n\
00783 \n\
00784 # for sphere\n\
00785 # radius := dimensions[0]\n\
00786 \n\
00787 # for cylinder\n\
00788 # radius := dimensions[0]\n\
00789 # length := dimensions[1]\n\
00790 # the length is along the Z axis\n\
00791 \n\
00792 # for box\n\
00793 # size_x := dimensions[0]\n\
00794 # size_y := dimensions[1]\n\
00795 # size_z := dimensions[2]\n\
00796 float64[] dimensions\n\
00797 \n\
00798 \n\
00799 #### define mesh ####\n\
00800 \n\
00801 # list of triangles; triangle k is defined by tre vertices located\n\
00802 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00803 int32[] triangles\n\
00804 geometry_msgs/Point[] vertices\n\
00805 \n\
00806 ================================================================================\n\
00807 MSG: geometry_msgs/Point\n\
00808 # This contains the position of a point in free space\n\
00809 float64 x\n\
00810 float64 y\n\
00811 float64 z\n\
00812 \n\
00813 ================================================================================\n\
00814 MSG: geometry_msgs/PoseStamped\n\
00815 # A Pose with reference coordinate frame and timestamp\n\
00816 Header header\n\
00817 Pose pose\n\
00818 \n\
00819 ================================================================================\n\
00820 MSG: geometry_msgs/Pose\n\
00821 # A representation of pose in free space, composed of postion and orientation. \n\
00822 Point position\n\
00823 Quaternion orientation\n\
00824 \n\
00825 ================================================================================\n\
00826 MSG: geometry_msgs/Quaternion\n\
00827 # This represents an orientation in free space in quaternion form.\n\
00828 \n\
00829 float64 x\n\
00830 float64 y\n\
00831 float64 z\n\
00832 float64 w\n\
00833 \n\
00834 ================================================================================\n\
00835 MSG: object_recognition_gui/ObjectRecognitionGuiActionResult\n\
00836 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00837 \n\
00838 Header header\n\
00839 actionlib_msgs/GoalStatus status\n\
00840 ObjectRecognitionGuiResult result\n\
00841 \n\
00842 ================================================================================\n\
00843 MSG: actionlib_msgs/GoalStatus\n\
00844 GoalID goal_id\n\
00845 uint8 status\n\
00846 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00847 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00848 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00849 # and has since completed its execution (Terminal State)\n\
00850 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00851 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00852 # to some failure (Terminal State)\n\
00853 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00854 # because the goal was unattainable or invalid (Terminal State)\n\
00855 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00856 # and has not yet completed execution\n\
00857 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00858 # but the action server has not yet confirmed that the goal is canceled\n\
00859 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00860 # and was successfully cancelled (Terminal State)\n\
00861 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00862 # sent over the wire by an action server\n\
00863 \n\
00864 #Allow for the user to associate a string with GoalStatus for debugging\n\
00865 string text\n\
00866 \n\
00867 \n\
00868 ================================================================================\n\
00869 MSG: object_recognition_gui/ObjectRecognitionGuiResult\n\
00870 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00871 \n\
00872 #the index of the model hypothesis that the user has selected for each cluster\n\
00873 #values below 0 mean 'reject all hypotheses'\n\
00874 int32[] selected_hypothesis_indices\n\
00875 \n\
00876 ================================================================================\n\
00877 MSG: object_recognition_gui/ObjectRecognitionGuiActionFeedback\n\
00878 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00879 \n\
00880 Header header\n\
00881 actionlib_msgs/GoalStatus status\n\
00882 ObjectRecognitionGuiFeedback feedback\n\
00883 \n\
00884 ================================================================================\n\
00885 MSG: object_recognition_gui/ObjectRecognitionGuiFeedback\n\
00886 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00887 \n\
00888 \n\
00889 ";
00890 }
00891
00892 static const char* value(const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> &) { return value(); }
00893 };
00894
00895 }
00896 }
00897
00898 namespace ros
00899 {
00900 namespace serialization
00901 {
00902
00903 template<class ContainerAllocator> struct Serializer< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> >
00904 {
00905 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00906 {
00907 stream.next(m.action_goal);
00908 stream.next(m.action_result);
00909 stream.next(m.action_feedback);
00910 }
00911
00912 ROS_DECLARE_ALLINONE_SERIALIZER;
00913 };
00914 }
00915 }
00916
00917 namespace ros
00918 {
00919 namespace message_operations
00920 {
00921
00922 template<class ContainerAllocator>
00923 struct Printer< ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> >
00924 {
00925 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_recognition_gui::ObjectRecognitionGuiAction_<ContainerAllocator> & v)
00926 {
00927 s << indent << "action_goal: ";
00928 s << std::endl;
00929 Printer< ::object_recognition_gui::ObjectRecognitionGuiActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00930 s << indent << "action_result: ";
00931 s << std::endl;
00932 Printer< ::object_recognition_gui::ObjectRecognitionGuiActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00933 s << indent << "action_feedback: ";
00934 s << std::endl;
00935 Printer< ::object_recognition_gui::ObjectRecognitionGuiActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00936 }
00937 };
00938
00939
00940 }
00941 }
00942
00943 #endif // OBJECT_RECOGNITION_GUI_MESSAGE_OBJECTRECOGNITIONGUIACTION_H
00944
