00001
00002 #ifndef CALIBRATION_MSGS_MESSAGE_CAMERAMEASUREMENT_H
00003 #define CALIBRATION_MSGS_MESSAGE_CAMERAMEASUREMENT_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 "std_msgs/Header.h"
00018 #include "calibration_msgs/ImagePoint.h"
00019 #include "sensor_msgs/CameraInfo.h"
00020 #include "sensor_msgs/Image.h"
00021 #include "sensor_msgs/Image.h"
00022 #include "calibration_msgs/CalibrationPattern.h"
00023
00024 namespace calibration_msgs
00025 {
00026 template <class ContainerAllocator>
00027 struct CameraMeasurement_ {
00028 typedef CameraMeasurement_<ContainerAllocator> Type;
00029
00030 CameraMeasurement_()
00031 : header()
00032 , camera_id()
00033 , image_points()
00034 , cam_info()
00035 , verbose(false)
00036 , image()
00037 , image_rect()
00038 , features()
00039 {
00040 }
00041
00042 CameraMeasurement_(const ContainerAllocator& _alloc)
00043 : header(_alloc)
00044 , camera_id(_alloc)
00045 , image_points(_alloc)
00046 , cam_info(_alloc)
00047 , verbose(false)
00048 , image(_alloc)
00049 , image_rect(_alloc)
00050 , features(_alloc)
00051 {
00052 }
00053
00054 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00055 ::std_msgs::Header_<ContainerAllocator> header;
00056
00057 typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _camera_id_type;
00058 std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > camera_id;
00059
00060 typedef std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > _image_points_type;
00061 std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > image_points;
00062
00063 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _cam_info_type;
00064 ::sensor_msgs::CameraInfo_<ContainerAllocator> cam_info;
00065
00066 typedef uint8_t _verbose_type;
00067 uint8_t verbose;
00068
00069 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00070 ::sensor_msgs::Image_<ContainerAllocator> image;
00071
00072 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_rect_type;
00073 ::sensor_msgs::Image_<ContainerAllocator> image_rect;
00074
00075 typedef ::calibration_msgs::CalibrationPattern_<ContainerAllocator> _features_type;
00076 ::calibration_msgs::CalibrationPattern_<ContainerAllocator> features;
00077
00078
00079 ROS_DEPRECATED uint32_t get_image_points_size() const { return (uint32_t)image_points.size(); }
00080 ROS_DEPRECATED void set_image_points_size(uint32_t size) { image_points.resize((size_t)size); }
00081 ROS_DEPRECATED void get_image_points_vec(std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > & vec) const { vec = this->image_points; }
00082 ROS_DEPRECATED void set_image_points_vec(const std::vector< ::calibration_msgs::ImagePoint_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::other > & vec) { this->image_points = vec; }
00083 private:
00084 static const char* __s_getDataType_() { return "calibration_msgs/CameraMeasurement"; }
00085 public:
00086 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00087
00088 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00089
00090 private:
00091 static const char* __s_getMD5Sum_() { return "82fd8e2ebaf7cfafd8e2a52b210c7523"; }
00092 public:
00093 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00094
00095 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00096
00097 private:
00098 static const char* __s_getMessageDefinition_() { return "Header header\n\
00099 string camera_id\n\
00100 ImagePoint[] image_points\n\
00101 sensor_msgs/CameraInfo cam_info\n\
00102 \n\
00103 # True -> The extra debugging fields are populated\n\
00104 bool verbose\n\
00105 \n\
00106 # Extra, partially processed data. Only needed for debugging\n\
00107 sensor_msgs/Image image\n\
00108 sensor_msgs/Image image_rect\n\
00109 calibration_msgs/CalibrationPattern features\n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: std_msgs/Header\n\
00113 # Standard metadata for higher-level stamped data types.\n\
00114 # This is generally used to communicate timestamped data \n\
00115 # in a particular coordinate frame.\n\
00116 # \n\
00117 # sequence ID: consecutively increasing ID \n\
00118 uint32 seq\n\
00119 #Two-integer timestamp that is expressed as:\n\
00120 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00121 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00122 # time-handling sugar is provided by the client library\n\
00123 time stamp\n\
00124 #Frame this data is associated with\n\
00125 # 0: no frame\n\
00126 # 1: global frame\n\
00127 string frame_id\n\
00128 \n\
00129 ================================================================================\n\
00130 MSG: calibration_msgs/ImagePoint\n\
00131 float32 x\n\
00132 float32 y\n\
00133 \n\
00134 ================================================================================\n\
00135 MSG: sensor_msgs/CameraInfo\n\
00136 # This message defines meta information for a camera. It should be in a\n\
00137 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00138 # image topics named:\n\
00139 #\n\
00140 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00141 # image - monochrome, distorted\n\
00142 # image_color - color, distorted\n\
00143 # image_rect - monochrome, rectified\n\
00144 # image_rect_color - color, rectified\n\
00145 #\n\
00146 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00147 # for producing the four processed image topics from image_raw and\n\
00148 # camera_info. The meaning of the camera parameters are described in\n\
00149 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00150 #\n\
00151 # The image_geometry package provides a user-friendly interface to\n\
00152 # common operations using this meta information. If you want to, e.g.,\n\
00153 # project a 3d point into image coordinates, we strongly recommend\n\
00154 # using image_geometry.\n\
00155 #\n\
00156 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00157 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00158 # indicates an uncalibrated camera.\n\
00159 \n\
00160 #######################################################################\n\
00161 # Image acquisition info #\n\
00162 #######################################################################\n\
00163 \n\
00164 # Time of image acquisition, camera coordinate frame ID\n\
00165 Header header # Header timestamp should be acquisition time of image\n\
00166 # Header frame_id should be optical frame of camera\n\
00167 # origin of frame should be optical center of camera\n\
00168 # +x should point to the right in the image\n\
00169 # +y should point down in the image\n\
00170 # +z should point into the plane of the image\n\
00171 \n\
00172 \n\
00173 #######################################################################\n\
00174 # Calibration Parameters #\n\
00175 #######################################################################\n\
00176 # These are fixed during camera calibration. Their values will be the #\n\
00177 # same in all messages until the camera is recalibrated. Note that #\n\
00178 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00179 # #\n\
00180 # The internal parameters can be used to warp a raw (distorted) image #\n\
00181 # to: #\n\
00182 # 1. An undistorted image (requires D and K) #\n\
00183 # 2. A rectified image (requires D, K, R) #\n\
00184 # The projection matrix P projects 3D points into the rectified image.#\n\
00185 #######################################################################\n\
00186 \n\
00187 # The image dimensions with which the camera was calibrated. Normally\n\
00188 # this will be the full camera resolution in pixels.\n\
00189 uint32 height\n\
00190 uint32 width\n\
00191 \n\
00192 # The distortion model used. Supported models are listed in\n\
00193 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00194 # simple model of radial and tangential distortion - is sufficent.\n\
00195 string distortion_model\n\
00196 \n\
00197 # The distortion parameters, size depending on the distortion model.\n\
00198 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00199 float64[] D\n\
00200 \n\
00201 # Intrinsic camera matrix for the raw (distorted) images.\n\
00202 # [fx 0 cx]\n\
00203 # K = [ 0 fy cy]\n\
00204 # [ 0 0 1]\n\
00205 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00206 # coordinates using the focal lengths (fx, fy) and principal point\n\
00207 # (cx, cy).\n\
00208 float64[9] K # 3x3 row-major matrix\n\
00209 \n\
00210 # Rectification matrix (stereo cameras only)\n\
00211 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00212 # stereo image plane so that epipolar lines in both stereo images are\n\
00213 # parallel.\n\
00214 float64[9] R # 3x3 row-major matrix\n\
00215 \n\
00216 # Projection/camera matrix\n\
00217 # [fx' 0 cx' Tx]\n\
00218 # P = [ 0 fy' cy' Ty]\n\
00219 # [ 0 0 1 0]\n\
00220 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00221 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00222 # is the normal camera intrinsic matrix for the rectified image.\n\
00223 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00224 # coordinates using the focal lengths (fx', fy') and principal point\n\
00225 # (cx', cy') - these may differ from the values in K.\n\
00226 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00227 # also have R = the identity and P[1:3,1:3] = K.\n\
00228 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00229 # position of the optical center of the second camera in the first\n\
00230 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00231 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00232 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00233 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00234 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00235 # the rectified image is given by:\n\
00236 # [u v w]' = P * [X Y Z 1]'\n\
00237 # x = u / w\n\
00238 # y = v / w\n\
00239 # This holds for both images of a stereo pair.\n\
00240 float64[12] P # 3x4 row-major matrix\n\
00241 \n\
00242 \n\
00243 #######################################################################\n\
00244 # Operational Parameters #\n\
00245 #######################################################################\n\
00246 # These define the image region actually captured by the camera #\n\
00247 # driver. Although they affect the geometry of the output image, they #\n\
00248 # may be changed freely without recalibrating the camera. #\n\
00249 #######################################################################\n\
00250 \n\
00251 # Binning refers here to any camera setting which combines rectangular\n\
00252 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00253 # resolution of the output image to\n\
00254 # (width / binning_x) x (height / binning_y).\n\
00255 # The default values binning_x = binning_y = 0 is considered the same\n\
00256 # as binning_x = binning_y = 1 (no subsampling).\n\
00257 uint32 binning_x\n\
00258 uint32 binning_y\n\
00259 \n\
00260 # Region of interest (subwindow of full camera resolution), given in\n\
00261 # full resolution (unbinned) image coordinates. A particular ROI\n\
00262 # always denotes the same window of pixels on the camera sensor,\n\
00263 # regardless of binning settings.\n\
00264 # The default setting of roi (all values 0) is considered the same as\n\
00265 # full resolution (roi.width = width, roi.height = height).\n\
00266 RegionOfInterest roi\n\
00267 \n\
00268 ================================================================================\n\
00269 MSG: sensor_msgs/RegionOfInterest\n\
00270 # This message is used to specify a region of interest within an image.\n\
00271 #\n\
00272 # When used to specify the ROI setting of the camera when the image was\n\
00273 # taken, the height and width fields should either match the height and\n\
00274 # width fields for the associated image; or height = width = 0\n\
00275 # indicates that the full resolution image was captured.\n\
00276 \n\
00277 uint32 x_offset # Leftmost pixel of the ROI\n\
00278 # (0 if the ROI includes the left edge of the image)\n\
00279 uint32 y_offset # Topmost pixel of the ROI\n\
00280 # (0 if the ROI includes the top edge of the image)\n\
00281 uint32 height # Height of ROI\n\
00282 uint32 width # Width of ROI\n\
00283 \n\
00284 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00285 # ROI in this message. Typically this should be False if the full image\n\
00286 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00287 # used).\n\
00288 bool do_rectify\n\
00289 \n\
00290 ================================================================================\n\
00291 MSG: sensor_msgs/Image\n\
00292 # This message contains an uncompressed image\n\
00293 # (0, 0) is at top-left corner of image\n\
00294 #\n\
00295 \n\
00296 Header header # Header timestamp should be acquisition time of image\n\
00297 # Header frame_id should be optical frame of camera\n\
00298 # origin of frame should be optical center of cameara\n\
00299 # +x should point to the right in the image\n\
00300 # +y should point down in the image\n\
00301 # +z should point into to plane of the image\n\
00302 # If the frame_id here and the frame_id of the CameraInfo\n\
00303 # message associated with the image conflict\n\
00304 # the behavior is undefined\n\
00305 \n\
00306 uint32 height # image height, that is, number of rows\n\
00307 uint32 width # image width, that is, number of columns\n\
00308 \n\
00309 # The legal values for encoding are in file src/image_encodings.cpp\n\
00310 # If you want to standardize a new string format, join\n\
00311 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00312 \n\
00313 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00314 # taken from the list of strings in src/image_encodings.cpp\n\
00315 \n\
00316 uint8 is_bigendian # is this data bigendian?\n\
00317 uint32 step # Full row length in bytes\n\
00318 uint8[] data # actual matrix data, size is (step * rows)\n\
00319 \n\
00320 ================================================================================\n\
00321 MSG: calibration_msgs/CalibrationPattern\n\
00322 Header header\n\
00323 geometry_msgs/Point32[] object_points\n\
00324 ImagePoint[] image_points\n\
00325 uint8 success\n\
00326 \n\
00327 ================================================================================\n\
00328 MSG: geometry_msgs/Point32\n\
00329 # This contains the position of a point in free space(with 32 bits of precision).\n\
00330 # It is recommeded to use Point wherever possible instead of Point32. \n\
00331 # \n\
00332 # This recommendation is to promote interoperability. \n\
00333 #\n\
00334 # This message is designed to take up less space when sending\n\
00335 # lots of points at once, as in the case of a PointCloud. \n\
00336 \n\
00337 float32 x\n\
00338 float32 y\n\
00339 float32 z\n\
00340 "; }
00341 public:
00342 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00343
00344 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00345
00346 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00347 {
00348 ros::serialization::OStream stream(write_ptr, 1000000000);
00349 ros::serialization::serialize(stream, header);
00350 ros::serialization::serialize(stream, camera_id);
00351 ros::serialization::serialize(stream, image_points);
00352 ros::serialization::serialize(stream, cam_info);
00353 ros::serialization::serialize(stream, verbose);
00354 ros::serialization::serialize(stream, image);
00355 ros::serialization::serialize(stream, image_rect);
00356 ros::serialization::serialize(stream, features);
00357 return stream.getData();
00358 }
00359
00360 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00361 {
00362 ros::serialization::IStream stream(read_ptr, 1000000000);
00363 ros::serialization::deserialize(stream, header);
00364 ros::serialization::deserialize(stream, camera_id);
00365 ros::serialization::deserialize(stream, image_points);
00366 ros::serialization::deserialize(stream, cam_info);
00367 ros::serialization::deserialize(stream, verbose);
00368 ros::serialization::deserialize(stream, image);
00369 ros::serialization::deserialize(stream, image_rect);
00370 ros::serialization::deserialize(stream, features);
00371 return stream.getData();
00372 }
00373
00374 ROS_DEPRECATED virtual uint32_t serializationLength() const
00375 {
00376 uint32_t size = 0;
00377 size += ros::serialization::serializationLength(header);
00378 size += ros::serialization::serializationLength(camera_id);
00379 size += ros::serialization::serializationLength(image_points);
00380 size += ros::serialization::serializationLength(cam_info);
00381 size += ros::serialization::serializationLength(verbose);
00382 size += ros::serialization::serializationLength(image);
00383 size += ros::serialization::serializationLength(image_rect);
00384 size += ros::serialization::serializationLength(features);
00385 return size;
00386 }
00387
00388 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > Ptr;
00389 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> const> ConstPtr;
00390 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00391 };
00392 typedef ::calibration_msgs::CameraMeasurement_<std::allocator<void> > CameraMeasurement;
00393
00394 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement> CameraMeasurementPtr;
00395 typedef boost::shared_ptr< ::calibration_msgs::CameraMeasurement const> CameraMeasurementConstPtr;
00396
00397
00398 template<typename ContainerAllocator>
00399 std::ostream& operator<<(std::ostream& s, const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> & v)
00400 {
00401 ros::message_operations::Printer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >::stream(s, "", v);
00402 return s;}
00403
00404 }
00405
00406 namespace ros
00407 {
00408 namespace message_traits
00409 {
00410 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > : public TrueType {};
00411 template<class ContainerAllocator> struct IsMessage< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> const> : public TrueType {};
00412 template<class ContainerAllocator>
00413 struct MD5Sum< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > {
00414 static const char* value()
00415 {
00416 return "82fd8e2ebaf7cfafd8e2a52b210c7523";
00417 }
00418
00419 static const char* value(const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> &) { return value(); }
00420 static const uint64_t static_value1 = 0x82fd8e2ebaf7cfafULL;
00421 static const uint64_t static_value2 = 0xd8e2a52b210c7523ULL;
00422 };
00423
00424 template<class ContainerAllocator>
00425 struct DataType< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > {
00426 static const char* value()
00427 {
00428 return "calibration_msgs/CameraMeasurement";
00429 }
00430
00431 static const char* value(const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> &) { return value(); }
00432 };
00433
00434 template<class ContainerAllocator>
00435 struct Definition< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > {
00436 static const char* value()
00437 {
00438 return "Header header\n\
00439 string camera_id\n\
00440 ImagePoint[] image_points\n\
00441 sensor_msgs/CameraInfo cam_info\n\
00442 \n\
00443 # True -> The extra debugging fields are populated\n\
00444 bool verbose\n\
00445 \n\
00446 # Extra, partially processed data. Only needed for debugging\n\
00447 sensor_msgs/Image image\n\
00448 sensor_msgs/Image image_rect\n\
00449 calibration_msgs/CalibrationPattern features\n\
00450 \n\
00451 ================================================================================\n\
00452 MSG: std_msgs/Header\n\
00453 # Standard metadata for higher-level stamped data types.\n\
00454 # This is generally used to communicate timestamped data \n\
00455 # in a particular coordinate frame.\n\
00456 # \n\
00457 # sequence ID: consecutively increasing ID \n\
00458 uint32 seq\n\
00459 #Two-integer timestamp that is expressed as:\n\
00460 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00461 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00462 # time-handling sugar is provided by the client library\n\
00463 time stamp\n\
00464 #Frame this data is associated with\n\
00465 # 0: no frame\n\
00466 # 1: global frame\n\
00467 string frame_id\n\
00468 \n\
00469 ================================================================================\n\
00470 MSG: calibration_msgs/ImagePoint\n\
00471 float32 x\n\
00472 float32 y\n\
00473 \n\
00474 ================================================================================\n\
00475 MSG: sensor_msgs/CameraInfo\n\
00476 # This message defines meta information for a camera. It should be in a\n\
00477 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00478 # image topics named:\n\
00479 #\n\
00480 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00481 # image - monochrome, distorted\n\
00482 # image_color - color, distorted\n\
00483 # image_rect - monochrome, rectified\n\
00484 # image_rect_color - color, rectified\n\
00485 #\n\
00486 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00487 # for producing the four processed image topics from image_raw and\n\
00488 # camera_info. The meaning of the camera parameters are described in\n\
00489 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00490 #\n\
00491 # The image_geometry package provides a user-friendly interface to\n\
00492 # common operations using this meta information. If you want to, e.g.,\n\
00493 # project a 3d point into image coordinates, we strongly recommend\n\
00494 # using image_geometry.\n\
00495 #\n\
00496 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00497 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00498 # indicates an uncalibrated camera.\n\
00499 \n\
00500 #######################################################################\n\
00501 # Image acquisition info #\n\
00502 #######################################################################\n\
00503 \n\
00504 # Time of image acquisition, camera coordinate frame ID\n\
00505 Header header # Header timestamp should be acquisition time of image\n\
00506 # Header frame_id should be optical frame of camera\n\
00507 # origin of frame should be optical center of camera\n\
00508 # +x should point to the right in the image\n\
00509 # +y should point down in the image\n\
00510 # +z should point into the plane of the image\n\
00511 \n\
00512 \n\
00513 #######################################################################\n\
00514 # Calibration Parameters #\n\
00515 #######################################################################\n\
00516 # These are fixed during camera calibration. Their values will be the #\n\
00517 # same in all messages until the camera is recalibrated. Note that #\n\
00518 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00519 # #\n\
00520 # The internal parameters can be used to warp a raw (distorted) image #\n\
00521 # to: #\n\
00522 # 1. An undistorted image (requires D and K) #\n\
00523 # 2. A rectified image (requires D, K, R) #\n\
00524 # The projection matrix P projects 3D points into the rectified image.#\n\
00525 #######################################################################\n\
00526 \n\
00527 # The image dimensions with which the camera was calibrated. Normally\n\
00528 # this will be the full camera resolution in pixels.\n\
00529 uint32 height\n\
00530 uint32 width\n\
00531 \n\
00532 # The distortion model used. Supported models are listed in\n\
00533 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00534 # simple model of radial and tangential distortion - is sufficent.\n\
00535 string distortion_model\n\
00536 \n\
00537 # The distortion parameters, size depending on the distortion model.\n\
00538 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00539 float64[] D\n\
00540 \n\
00541 # Intrinsic camera matrix for the raw (distorted) images.\n\
00542 # [fx 0 cx]\n\
00543 # K = [ 0 fy cy]\n\
00544 # [ 0 0 1]\n\
00545 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00546 # coordinates using the focal lengths (fx, fy) and principal point\n\
00547 # (cx, cy).\n\
00548 float64[9] K # 3x3 row-major matrix\n\
00549 \n\
00550 # Rectification matrix (stereo cameras only)\n\
00551 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00552 # stereo image plane so that epipolar lines in both stereo images are\n\
00553 # parallel.\n\
00554 float64[9] R # 3x3 row-major matrix\n\
00555 \n\
00556 # Projection/camera matrix\n\
00557 # [fx' 0 cx' Tx]\n\
00558 # P = [ 0 fy' cy' Ty]\n\
00559 # [ 0 0 1 0]\n\
00560 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00561 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00562 # is the normal camera intrinsic matrix for the rectified image.\n\
00563 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00564 # coordinates using the focal lengths (fx', fy') and principal point\n\
00565 # (cx', cy') - these may differ from the values in K.\n\
00566 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00567 # also have R = the identity and P[1:3,1:3] = K.\n\
00568 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00569 # position of the optical center of the second camera in the first\n\
00570 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00571 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00572 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00573 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00574 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00575 # the rectified image is given by:\n\
00576 # [u v w]' = P * [X Y Z 1]'\n\
00577 # x = u / w\n\
00578 # y = v / w\n\
00579 # This holds for both images of a stereo pair.\n\
00580 float64[12] P # 3x4 row-major matrix\n\
00581 \n\
00582 \n\
00583 #######################################################################\n\
00584 # Operational Parameters #\n\
00585 #######################################################################\n\
00586 # These define the image region actually captured by the camera #\n\
00587 # driver. Although they affect the geometry of the output image, they #\n\
00588 # may be changed freely without recalibrating the camera. #\n\
00589 #######################################################################\n\
00590 \n\
00591 # Binning refers here to any camera setting which combines rectangular\n\
00592 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00593 # resolution of the output image to\n\
00594 # (width / binning_x) x (height / binning_y).\n\
00595 # The default values binning_x = binning_y = 0 is considered the same\n\
00596 # as binning_x = binning_y = 1 (no subsampling).\n\
00597 uint32 binning_x\n\
00598 uint32 binning_y\n\
00599 \n\
00600 # Region of interest (subwindow of full camera resolution), given in\n\
00601 # full resolution (unbinned) image coordinates. A particular ROI\n\
00602 # always denotes the same window of pixels on the camera sensor,\n\
00603 # regardless of binning settings.\n\
00604 # The default setting of roi (all values 0) is considered the same as\n\
00605 # full resolution (roi.width = width, roi.height = height).\n\
00606 RegionOfInterest roi\n\
00607 \n\
00608 ================================================================================\n\
00609 MSG: sensor_msgs/RegionOfInterest\n\
00610 # This message is used to specify a region of interest within an image.\n\
00611 #\n\
00612 # When used to specify the ROI setting of the camera when the image was\n\
00613 # taken, the height and width fields should either match the height and\n\
00614 # width fields for the associated image; or height = width = 0\n\
00615 # indicates that the full resolution image was captured.\n\
00616 \n\
00617 uint32 x_offset # Leftmost pixel of the ROI\n\
00618 # (0 if the ROI includes the left edge of the image)\n\
00619 uint32 y_offset # Topmost pixel of the ROI\n\
00620 # (0 if the ROI includes the top edge of the image)\n\
00621 uint32 height # Height of ROI\n\
00622 uint32 width # Width of ROI\n\
00623 \n\
00624 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00625 # ROI in this message. Typically this should be False if the full image\n\
00626 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00627 # used).\n\
00628 bool do_rectify\n\
00629 \n\
00630 ================================================================================\n\
00631 MSG: sensor_msgs/Image\n\
00632 # This message contains an uncompressed image\n\
00633 # (0, 0) is at top-left corner of image\n\
00634 #\n\
00635 \n\
00636 Header header # Header timestamp should be acquisition time of image\n\
00637 # Header frame_id should be optical frame of camera\n\
00638 # origin of frame should be optical center of cameara\n\
00639 # +x should point to the right in the image\n\
00640 # +y should point down in the image\n\
00641 # +z should point into to plane of the image\n\
00642 # If the frame_id here and the frame_id of the CameraInfo\n\
00643 # message associated with the image conflict\n\
00644 # the behavior is undefined\n\
00645 \n\
00646 uint32 height # image height, that is, number of rows\n\
00647 uint32 width # image width, that is, number of columns\n\
00648 \n\
00649 # The legal values for encoding are in file src/image_encodings.cpp\n\
00650 # If you want to standardize a new string format, join\n\
00651 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00652 \n\
00653 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00654 # taken from the list of strings in src/image_encodings.cpp\n\
00655 \n\
00656 uint8 is_bigendian # is this data bigendian?\n\
00657 uint32 step # Full row length in bytes\n\
00658 uint8[] data # actual matrix data, size is (step * rows)\n\
00659 \n\
00660 ================================================================================\n\
00661 MSG: calibration_msgs/CalibrationPattern\n\
00662 Header header\n\
00663 geometry_msgs/Point32[] object_points\n\
00664 ImagePoint[] image_points\n\
00665 uint8 success\n\
00666 \n\
00667 ================================================================================\n\
00668 MSG: geometry_msgs/Point32\n\
00669 # This contains the position of a point in free space(with 32 bits of precision).\n\
00670 # It is recommeded to use Point wherever possible instead of Point32. \n\
00671 # \n\
00672 # This recommendation is to promote interoperability. \n\
00673 #\n\
00674 # This message is designed to take up less space when sending\n\
00675 # lots of points at once, as in the case of a PointCloud. \n\
00676 \n\
00677 float32 x\n\
00678 float32 y\n\
00679 float32 z\n\
00680 ";
00681 }
00682
00683 static const char* value(const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> &) { return value(); }
00684 };
00685
00686 template<class ContainerAllocator> struct HasHeader< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > : public TrueType {};
00687 template<class ContainerAllocator> struct HasHeader< const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> > : public TrueType {};
00688 }
00689 }
00690
00691 namespace ros
00692 {
00693 namespace serialization
00694 {
00695
00696 template<class ContainerAllocator> struct Serializer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >
00697 {
00698 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00699 {
00700 stream.next(m.header);
00701 stream.next(m.camera_id);
00702 stream.next(m.image_points);
00703 stream.next(m.cam_info);
00704 stream.next(m.verbose);
00705 stream.next(m.image);
00706 stream.next(m.image_rect);
00707 stream.next(m.features);
00708 }
00709
00710 ROS_DECLARE_ALLINONE_SERIALIZER;
00711 };
00712 }
00713 }
00714
00715 namespace ros
00716 {
00717 namespace message_operations
00718 {
00719
00720 template<class ContainerAllocator>
00721 struct Printer< ::calibration_msgs::CameraMeasurement_<ContainerAllocator> >
00722 {
00723 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::calibration_msgs::CameraMeasurement_<ContainerAllocator> & v)
00724 {
00725 s << indent << "header: ";
00726 s << std::endl;
00727 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00728 s << indent << "camera_id: ";
00729 Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + " ", v.camera_id);
00730 s << indent << "image_points[]" << std::endl;
00731 for (size_t i = 0; i < v.image_points.size(); ++i)
00732 {
00733 s << indent << " image_points[" << i << "]: ";
00734 s << std::endl;
00735 s << indent;
00736 Printer< ::calibration_msgs::ImagePoint_<ContainerAllocator> >::stream(s, indent + " ", v.image_points[i]);
00737 }
00738 s << indent << "cam_info: ";
00739 s << std::endl;
00740 Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >::stream(s, indent + " ", v.cam_info);
00741 s << indent << "verbose: ";
00742 Printer<uint8_t>::stream(s, indent + " ", v.verbose);
00743 s << indent << "image: ";
00744 s << std::endl;
00745 Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + " ", v.image);
00746 s << indent << "image_rect: ";
00747 s << std::endl;
00748 Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + " ", v.image_rect);
00749 s << indent << "features: ";
00750 s << std::endl;
00751 Printer< ::calibration_msgs::CalibrationPattern_<ContainerAllocator> >::stream(s, indent + " ", v.features);
00752 }
00753 };
00754
00755
00756 }
00757 }
00758
00759 #endif // CALIBRATION_MSGS_MESSAGE_CAMERAMEASUREMENT_H
00760
