00001
00002 #ifndef OBJECT_SEGMENTATION_GUI_MESSAGE_OBJECTSEGMENTATIONGUIACTIONGOAL_H
00003 #define OBJECT_SEGMENTATION_GUI_MESSAGE_OBJECTSEGMENTATIONGUIACTIONGOAL_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 "actionlib_msgs/GoalID.h"
00019 #include "object_segmentation_gui/ObjectSegmentationGuiGoal.h"
00020
00021 namespace object_segmentation_gui
00022 {
00023 template <class ContainerAllocator>
00024 struct ObjectSegmentationGuiActionGoal_ {
00025 typedef ObjectSegmentationGuiActionGoal_<ContainerAllocator> Type;
00026
00027 ObjectSegmentationGuiActionGoal_()
00028 : header()
00029 , goal_id()
00030 , goal()
00031 {
00032 }
00033
00034 ObjectSegmentationGuiActionGoal_(const ContainerAllocator& _alloc)
00035 : header(_alloc)
00036 , goal_id(_alloc)
00037 , goal(_alloc)
00038 {
00039 }
00040
00041 typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
00042 ::std_msgs::Header_<ContainerAllocator> header;
00043
00044 typedef ::actionlib_msgs::GoalID_<ContainerAllocator> _goal_id_type;
00045 ::actionlib_msgs::GoalID_<ContainerAllocator> goal_id;
00046
00047 typedef ::object_segmentation_gui::ObjectSegmentationGuiGoal_<ContainerAllocator> _goal_type;
00048 ::object_segmentation_gui::ObjectSegmentationGuiGoal_<ContainerAllocator> goal;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "object_segmentation_gui/ObjectSegmentationGuiActionGoal"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "c90d057a2cbad468bbf26bcf158e312e"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 Header header\n\
00069 actionlib_msgs/GoalID goal_id\n\
00070 ObjectSegmentationGuiGoal goal\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: std_msgs/Header\n\
00074 # Standard metadata for higher-level stamped data types.\n\
00075 # This is generally used to communicate timestamped data \n\
00076 # in a particular coordinate frame.\n\
00077 # \n\
00078 # sequence ID: consecutively increasing ID \n\
00079 uint32 seq\n\
00080 #Two-integer timestamp that is expressed as:\n\
00081 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00082 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00083 # time-handling sugar is provided by the client library\n\
00084 time stamp\n\
00085 #Frame this data is associated with\n\
00086 # 0: no frame\n\
00087 # 1: global frame\n\
00088 string frame_id\n\
00089 \n\
00090 ================================================================================\n\
00091 MSG: actionlib_msgs/GoalID\n\
00092 # The stamp should store the time at which this goal was requested.\n\
00093 # It is used by an action server when it tries to preempt all\n\
00094 # goals that were requested before a certain time\n\
00095 time stamp\n\
00096 \n\
00097 # The id provides a way to associate feedback and\n\
00098 # result message with specific goal requests. The id\n\
00099 # specified must be unique.\n\
00100 string id\n\
00101 \n\
00102 \n\
00103 ================================================================================\n\
00104 MSG: object_segmentation_gui/ObjectSegmentationGuiGoal\n\
00105 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00106 sensor_msgs/Image image\n\
00107 sensor_msgs/CameraInfo camera_info\n\
00108 sensor_msgs/Image wide_field\n\
00109 sensor_msgs/CameraInfo wide_camera_info\n\
00110 \n\
00111 sensor_msgs/PointCloud2 point_cloud\n\
00112 stereo_msgs/DisparityImage disparity_image\n\
00113 \n\
00114 \n\
00115 ================================================================================\n\
00116 MSG: sensor_msgs/Image\n\
00117 # This message contains an uncompressed image\n\
00118 # (0, 0) is at top-left corner of image\n\
00119 #\n\
00120 \n\
00121 Header header # Header timestamp should be acquisition time of image\n\
00122 # Header frame_id should be optical frame of camera\n\
00123 # origin of frame should be optical center of cameara\n\
00124 # +x should point to the right in the image\n\
00125 # +y should point down in the image\n\
00126 # +z should point into to plane of the image\n\
00127 # If the frame_id here and the frame_id of the CameraInfo\n\
00128 # message associated with the image conflict\n\
00129 # the behavior is undefined\n\
00130 \n\
00131 uint32 height # image height, that is, number of rows\n\
00132 uint32 width # image width, that is, number of columns\n\
00133 \n\
00134 # The legal values for encoding are in file src/image_encodings.cpp\n\
00135 # If you want to standardize a new string format, join\n\
00136 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00137 \n\
00138 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00139 # taken from the list of strings in src/image_encodings.cpp\n\
00140 \n\
00141 uint8 is_bigendian # is this data bigendian?\n\
00142 uint32 step # Full row length in bytes\n\
00143 uint8[] data # actual matrix data, size is (step * rows)\n\
00144 \n\
00145 ================================================================================\n\
00146 MSG: sensor_msgs/CameraInfo\n\
00147 # This message defines meta information for a camera. It should be in a\n\
00148 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00149 # image topics named:\n\
00150 #\n\
00151 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00152 # image - monochrome, distorted\n\
00153 # image_color - color, distorted\n\
00154 # image_rect - monochrome, rectified\n\
00155 # image_rect_color - color, rectified\n\
00156 #\n\
00157 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00158 # for producing the four processed image topics from image_raw and\n\
00159 # camera_info. The meaning of the camera parameters are described in\n\
00160 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00161 #\n\
00162 # The image_geometry package provides a user-friendly interface to\n\
00163 # common operations using this meta information. If you want to, e.g.,\n\
00164 # project a 3d point into image coordinates, we strongly recommend\n\
00165 # using image_geometry.\n\
00166 #\n\
00167 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00168 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00169 # indicates an uncalibrated camera.\n\
00170 \n\
00171 #######################################################################\n\
00172 # Image acquisition info #\n\
00173 #######################################################################\n\
00174 \n\
00175 # Time of image acquisition, camera coordinate frame ID\n\
00176 Header header # Header timestamp should be acquisition time of image\n\
00177 # Header frame_id should be optical frame of camera\n\
00178 # origin of frame should be optical center of camera\n\
00179 # +x should point to the right in the image\n\
00180 # +y should point down in the image\n\
00181 # +z should point into the plane of the image\n\
00182 \n\
00183 \n\
00184 #######################################################################\n\
00185 # Calibration Parameters #\n\
00186 #######################################################################\n\
00187 # These are fixed during camera calibration. Their values will be the #\n\
00188 # same in all messages until the camera is recalibrated. Note that #\n\
00189 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00190 # #\n\
00191 # The internal parameters can be used to warp a raw (distorted) image #\n\
00192 # to: #\n\
00193 # 1. An undistorted image (requires D and K) #\n\
00194 # 2. A rectified image (requires D, K, R) #\n\
00195 # The projection matrix P projects 3D points into the rectified image.#\n\
00196 #######################################################################\n\
00197 \n\
00198 # The image dimensions with which the camera was calibrated. Normally\n\
00199 # this will be the full camera resolution in pixels.\n\
00200 uint32 height\n\
00201 uint32 width\n\
00202 \n\
00203 # The distortion model used. Supported models are listed in\n\
00204 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00205 # simple model of radial and tangential distortion - is sufficent.\n\
00206 string distortion_model\n\
00207 \n\
00208 # The distortion parameters, size depending on the distortion model.\n\
00209 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00210 float64[] D\n\
00211 \n\
00212 # Intrinsic camera matrix for the raw (distorted) images.\n\
00213 # [fx 0 cx]\n\
00214 # K = [ 0 fy cy]\n\
00215 # [ 0 0 1]\n\
00216 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00217 # coordinates using the focal lengths (fx, fy) and principal point\n\
00218 # (cx, cy).\n\
00219 float64[9] K # 3x3 row-major matrix\n\
00220 \n\
00221 # Rectification matrix (stereo cameras only)\n\
00222 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00223 # stereo image plane so that epipolar lines in both stereo images are\n\
00224 # parallel.\n\
00225 float64[9] R # 3x3 row-major matrix\n\
00226 \n\
00227 # Projection/camera matrix\n\
00228 # [fx' 0 cx' Tx]\n\
00229 # P = [ 0 fy' cy' Ty]\n\
00230 # [ 0 0 1 0]\n\
00231 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00232 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00233 # is the normal camera intrinsic matrix for the rectified image.\n\
00234 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00235 # coordinates using the focal lengths (fx', fy') and principal point\n\
00236 # (cx', cy') - these may differ from the values in K.\n\
00237 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00238 # also have R = the identity and P[1:3,1:3] = K.\n\
00239 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00240 # position of the optical center of the second camera in the first\n\
00241 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00242 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00243 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00244 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00245 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00246 # the rectified image is given by:\n\
00247 # [u v w]' = P * [X Y Z 1]'\n\
00248 # x = u / w\n\
00249 # y = v / w\n\
00250 # This holds for both images of a stereo pair.\n\
00251 float64[12] P # 3x4 row-major matrix\n\
00252 \n\
00253 \n\
00254 #######################################################################\n\
00255 # Operational Parameters #\n\
00256 #######################################################################\n\
00257 # These define the image region actually captured by the camera #\n\
00258 # driver. Although they affect the geometry of the output image, they #\n\
00259 # may be changed freely without recalibrating the camera. #\n\
00260 #######################################################################\n\
00261 \n\
00262 # Binning refers here to any camera setting which combines rectangular\n\
00263 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00264 # resolution of the output image to\n\
00265 # (width / binning_x) x (height / binning_y).\n\
00266 # The default values binning_x = binning_y = 0 is considered the same\n\
00267 # as binning_x = binning_y = 1 (no subsampling).\n\
00268 uint32 binning_x\n\
00269 uint32 binning_y\n\
00270 \n\
00271 # Region of interest (subwindow of full camera resolution), given in\n\
00272 # full resolution (unbinned) image coordinates. A particular ROI\n\
00273 # always denotes the same window of pixels on the camera sensor,\n\
00274 # regardless of binning settings.\n\
00275 # The default setting of roi (all values 0) is considered the same as\n\
00276 # full resolution (roi.width = width, roi.height = height).\n\
00277 RegionOfInterest roi\n\
00278 \n\
00279 ================================================================================\n\
00280 MSG: sensor_msgs/RegionOfInterest\n\
00281 # This message is used to specify a region of interest within an image.\n\
00282 #\n\
00283 # When used to specify the ROI setting of the camera when the image was\n\
00284 # taken, the height and width fields should either match the height and\n\
00285 # width fields for the associated image; or height = width = 0\n\
00286 # indicates that the full resolution image was captured.\n\
00287 \n\
00288 uint32 x_offset # Leftmost pixel of the ROI\n\
00289 # (0 if the ROI includes the left edge of the image)\n\
00290 uint32 y_offset # Topmost pixel of the ROI\n\
00291 # (0 if the ROI includes the top edge of the image)\n\
00292 uint32 height # Height of ROI\n\
00293 uint32 width # Width of ROI\n\
00294 \n\
00295 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00296 # ROI in this message. Typically this should be False if the full image\n\
00297 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00298 # used).\n\
00299 bool do_rectify\n\
00300 \n\
00301 ================================================================================\n\
00302 MSG: sensor_msgs/PointCloud2\n\
00303 # This message holds a collection of N-dimensional points, which may\n\
00304 # contain additional information such as normals, intensity, etc. The\n\
00305 # point data is stored as a binary blob, its layout described by the\n\
00306 # contents of the \"fields\" array.\n\
00307 \n\
00308 # The point cloud data may be organized 2d (image-like) or 1d\n\
00309 # (unordered). Point clouds organized as 2d images may be produced by\n\
00310 # camera depth sensors such as stereo or time-of-flight.\n\
00311 \n\
00312 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00313 # points).\n\
00314 Header header\n\
00315 \n\
00316 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00317 # 1 and width is the length of the point cloud.\n\
00318 uint32 height\n\
00319 uint32 width\n\
00320 \n\
00321 # Describes the channels and their layout in the binary data blob.\n\
00322 PointField[] fields\n\
00323 \n\
00324 bool is_bigendian # Is this data bigendian?\n\
00325 uint32 point_step # Length of a point in bytes\n\
00326 uint32 row_step # Length of a row in bytes\n\
00327 uint8[] data # Actual point data, size is (row_step*height)\n\
00328 \n\
00329 bool is_dense # True if there are no invalid points\n\
00330 \n\
00331 ================================================================================\n\
00332 MSG: sensor_msgs/PointField\n\
00333 # This message holds the description of one point entry in the\n\
00334 # PointCloud2 message format.\n\
00335 uint8 INT8 = 1\n\
00336 uint8 UINT8 = 2\n\
00337 uint8 INT16 = 3\n\
00338 uint8 UINT16 = 4\n\
00339 uint8 INT32 = 5\n\
00340 uint8 UINT32 = 6\n\
00341 uint8 FLOAT32 = 7\n\
00342 uint8 FLOAT64 = 8\n\
00343 \n\
00344 string name # Name of field\n\
00345 uint32 offset # Offset from start of point struct\n\
00346 uint8 datatype # Datatype enumeration, see above\n\
00347 uint32 count # How many elements in the field\n\
00348 \n\
00349 ================================================================================\n\
00350 MSG: stereo_msgs/DisparityImage\n\
00351 # Separate header for compatibility with current TimeSynchronizer.\n\
00352 # Likely to be removed in a later release, use image.header instead.\n\
00353 Header header\n\
00354 \n\
00355 # Floating point disparity image. The disparities are pre-adjusted for any\n\
00356 # x-offset between the principal points of the two cameras (in the case\n\
00357 # that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)\n\
00358 sensor_msgs/Image image\n\
00359 \n\
00360 # Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.\n\
00361 float32 f # Focal length, pixels\n\
00362 float32 T # Baseline, world units\n\
00363 \n\
00364 # Subwindow of (potentially) valid disparity values.\n\
00365 sensor_msgs/RegionOfInterest valid_window\n\
00366 \n\
00367 # The range of disparities searched.\n\
00368 # In the disparity image, any disparity less than min_disparity is invalid.\n\
00369 # The disparity search range defines the horopter, or 3D volume that the\n\
00370 # stereo algorithm can \"see\". Points with Z outside of:\n\
00371 # Z_min = fT / max_disparity\n\
00372 # Z_max = fT / min_disparity\n\
00373 # could not be found.\n\
00374 float32 min_disparity\n\
00375 float32 max_disparity\n\
00376 \n\
00377 # Smallest allowed disparity increment. The smallest achievable depth range\n\
00378 # resolution is delta_Z = (Z^2/fT)*delta_d.\n\
00379 float32 delta_d\n\
00380 \n\
00381 "; }
00382 public:
00383 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00384
00385 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00386
00387 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00388 {
00389 ros::serialization::OStream stream(write_ptr, 1000000000);
00390 ros::serialization::serialize(stream, header);
00391 ros::serialization::serialize(stream, goal_id);
00392 ros::serialization::serialize(stream, goal);
00393 return stream.getData();
00394 }
00395
00396 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00397 {
00398 ros::serialization::IStream stream(read_ptr, 1000000000);
00399 ros::serialization::deserialize(stream, header);
00400 ros::serialization::deserialize(stream, goal_id);
00401 ros::serialization::deserialize(stream, goal);
00402 return stream.getData();
00403 }
00404
00405 ROS_DEPRECATED virtual uint32_t serializationLength() const
00406 {
00407 uint32_t size = 0;
00408 size += ros::serialization::serializationLength(header);
00409 size += ros::serialization::serializationLength(goal_id);
00410 size += ros::serialization::serializationLength(goal);
00411 return size;
00412 }
00413
00414 typedef boost::shared_ptr< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> > Ptr;
00415 typedef boost::shared_ptr< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> const> ConstPtr;
00416 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00417 };
00418 typedef ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<std::allocator<void> > ObjectSegmentationGuiActionGoal;
00419
00420 typedef boost::shared_ptr< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal> ObjectSegmentationGuiActionGoalPtr;
00421 typedef boost::shared_ptr< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal const> ObjectSegmentationGuiActionGoalConstPtr;
00422
00423
00424 template<typename ContainerAllocator>
00425 std::ostream& operator<<(std::ostream& s, const ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> & v)
00426 {
00427 ros::message_operations::Printer< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> >::stream(s, "", v);
00428 return s;}
00429
00430 }
00431
00432 namespace ros
00433 {
00434 namespace message_traits
00435 {
00436 template<class ContainerAllocator> struct IsMessage< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> > : public TrueType {};
00437 template<class ContainerAllocator> struct IsMessage< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> const> : public TrueType {};
00438 template<class ContainerAllocator>
00439 struct MD5Sum< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> > {
00440 static const char* value()
00441 {
00442 return "c90d057a2cbad468bbf26bcf158e312e";
00443 }
00444
00445 static const char* value(const ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> &) { return value(); }
00446 static const uint64_t static_value1 = 0xc90d057a2cbad468ULL;
00447 static const uint64_t static_value2 = 0xbbf26bcf158e312eULL;
00448 };
00449
00450 template<class ContainerAllocator>
00451 struct DataType< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> > {
00452 static const char* value()
00453 {
00454 return "object_segmentation_gui/ObjectSegmentationGuiActionGoal";
00455 }
00456
00457 static const char* value(const ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> &) { return value(); }
00458 };
00459
00460 template<class ContainerAllocator>
00461 struct Definition< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> > {
00462 static const char* value()
00463 {
00464 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00465 \n\
00466 Header header\n\
00467 actionlib_msgs/GoalID goal_id\n\
00468 ObjectSegmentationGuiGoal goal\n\
00469 \n\
00470 ================================================================================\n\
00471 MSG: std_msgs/Header\n\
00472 # Standard metadata for higher-level stamped data types.\n\
00473 # This is generally used to communicate timestamped data \n\
00474 # in a particular coordinate frame.\n\
00475 # \n\
00476 # sequence ID: consecutively increasing ID \n\
00477 uint32 seq\n\
00478 #Two-integer timestamp that is expressed as:\n\
00479 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00480 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00481 # time-handling sugar is provided by the client library\n\
00482 time stamp\n\
00483 #Frame this data is associated with\n\
00484 # 0: no frame\n\
00485 # 1: global frame\n\
00486 string frame_id\n\
00487 \n\
00488 ================================================================================\n\
00489 MSG: actionlib_msgs/GoalID\n\
00490 # The stamp should store the time at which this goal was requested.\n\
00491 # It is used by an action server when it tries to preempt all\n\
00492 # goals that were requested before a certain time\n\
00493 time stamp\n\
00494 \n\
00495 # The id provides a way to associate feedback and\n\
00496 # result message with specific goal requests. The id\n\
00497 # specified must be unique.\n\
00498 string id\n\
00499 \n\
00500 \n\
00501 ================================================================================\n\
00502 MSG: object_segmentation_gui/ObjectSegmentationGuiGoal\n\
00503 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00504 sensor_msgs/Image image\n\
00505 sensor_msgs/CameraInfo camera_info\n\
00506 sensor_msgs/Image wide_field\n\
00507 sensor_msgs/CameraInfo wide_camera_info\n\
00508 \n\
00509 sensor_msgs/PointCloud2 point_cloud\n\
00510 stereo_msgs/DisparityImage disparity_image\n\
00511 \n\
00512 \n\
00513 ================================================================================\n\
00514 MSG: sensor_msgs/Image\n\
00515 # This message contains an uncompressed image\n\
00516 # (0, 0) is at top-left corner of image\n\
00517 #\n\
00518 \n\
00519 Header header # Header timestamp should be acquisition time of image\n\
00520 # Header frame_id should be optical frame of camera\n\
00521 # origin of frame should be optical center of cameara\n\
00522 # +x should point to the right in the image\n\
00523 # +y should point down in the image\n\
00524 # +z should point into to plane of the image\n\
00525 # If the frame_id here and the frame_id of the CameraInfo\n\
00526 # message associated with the image conflict\n\
00527 # the behavior is undefined\n\
00528 \n\
00529 uint32 height # image height, that is, number of rows\n\
00530 uint32 width # image width, that is, number of columns\n\
00531 \n\
00532 # The legal values for encoding are in file src/image_encodings.cpp\n\
00533 # If you want to standardize a new string format, join\n\
00534 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00535 \n\
00536 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00537 # taken from the list of strings in src/image_encodings.cpp\n\
00538 \n\
00539 uint8 is_bigendian # is this data bigendian?\n\
00540 uint32 step # Full row length in bytes\n\
00541 uint8[] data # actual matrix data, size is (step * rows)\n\
00542 \n\
00543 ================================================================================\n\
00544 MSG: sensor_msgs/CameraInfo\n\
00545 # This message defines meta information for a camera. It should be in a\n\
00546 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00547 # image topics named:\n\
00548 #\n\
00549 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00550 # image - monochrome, distorted\n\
00551 # image_color - color, distorted\n\
00552 # image_rect - monochrome, rectified\n\
00553 # image_rect_color - color, rectified\n\
00554 #\n\
00555 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00556 # for producing the four processed image topics from image_raw and\n\
00557 # camera_info. The meaning of the camera parameters are described in\n\
00558 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00559 #\n\
00560 # The image_geometry package provides a user-friendly interface to\n\
00561 # common operations using this meta information. If you want to, e.g.,\n\
00562 # project a 3d point into image coordinates, we strongly recommend\n\
00563 # using image_geometry.\n\
00564 #\n\
00565 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00566 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00567 # indicates an uncalibrated camera.\n\
00568 \n\
00569 #######################################################################\n\
00570 # Image acquisition info #\n\
00571 #######################################################################\n\
00572 \n\
00573 # Time of image acquisition, camera coordinate frame ID\n\
00574 Header header # Header timestamp should be acquisition time of image\n\
00575 # Header frame_id should be optical frame of camera\n\
00576 # origin of frame should be optical center of camera\n\
00577 # +x should point to the right in the image\n\
00578 # +y should point down in the image\n\
00579 # +z should point into the plane of the image\n\
00580 \n\
00581 \n\
00582 #######################################################################\n\
00583 # Calibration Parameters #\n\
00584 #######################################################################\n\
00585 # These are fixed during camera calibration. Their values will be the #\n\
00586 # same in all messages until the camera is recalibrated. Note that #\n\
00587 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00588 # #\n\
00589 # The internal parameters can be used to warp a raw (distorted) image #\n\
00590 # to: #\n\
00591 # 1. An undistorted image (requires D and K) #\n\
00592 # 2. A rectified image (requires D, K, R) #\n\
00593 # The projection matrix P projects 3D points into the rectified image.#\n\
00594 #######################################################################\n\
00595 \n\
00596 # The image dimensions with which the camera was calibrated. Normally\n\
00597 # this will be the full camera resolution in pixels.\n\
00598 uint32 height\n\
00599 uint32 width\n\
00600 \n\
00601 # The distortion model used. Supported models are listed in\n\
00602 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00603 # simple model of radial and tangential distortion - is sufficent.\n\
00604 string distortion_model\n\
00605 \n\
00606 # The distortion parameters, size depending on the distortion model.\n\
00607 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00608 float64[] D\n\
00609 \n\
00610 # Intrinsic camera matrix for the raw (distorted) images.\n\
00611 # [fx 0 cx]\n\
00612 # K = [ 0 fy cy]\n\
00613 # [ 0 0 1]\n\
00614 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00615 # coordinates using the focal lengths (fx, fy) and principal point\n\
00616 # (cx, cy).\n\
00617 float64[9] K # 3x3 row-major matrix\n\
00618 \n\
00619 # Rectification matrix (stereo cameras only)\n\
00620 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00621 # stereo image plane so that epipolar lines in both stereo images are\n\
00622 # parallel.\n\
00623 float64[9] R # 3x3 row-major matrix\n\
00624 \n\
00625 # Projection/camera matrix\n\
00626 # [fx' 0 cx' Tx]\n\
00627 # P = [ 0 fy' cy' Ty]\n\
00628 # [ 0 0 1 0]\n\
00629 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00630 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00631 # is the normal camera intrinsic matrix for the rectified image.\n\
00632 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00633 # coordinates using the focal lengths (fx', fy') and principal point\n\
00634 # (cx', cy') - these may differ from the values in K.\n\
00635 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00636 # also have R = the identity and P[1:3,1:3] = K.\n\
00637 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00638 # position of the optical center of the second camera in the first\n\
00639 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00640 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00641 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00642 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00643 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00644 # the rectified image is given by:\n\
00645 # [u v w]' = P * [X Y Z 1]'\n\
00646 # x = u / w\n\
00647 # y = v / w\n\
00648 # This holds for both images of a stereo pair.\n\
00649 float64[12] P # 3x4 row-major matrix\n\
00650 \n\
00651 \n\
00652 #######################################################################\n\
00653 # Operational Parameters #\n\
00654 #######################################################################\n\
00655 # These define the image region actually captured by the camera #\n\
00656 # driver. Although they affect the geometry of the output image, they #\n\
00657 # may be changed freely without recalibrating the camera. #\n\
00658 #######################################################################\n\
00659 \n\
00660 # Binning refers here to any camera setting which combines rectangular\n\
00661 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00662 # resolution of the output image to\n\
00663 # (width / binning_x) x (height / binning_y).\n\
00664 # The default values binning_x = binning_y = 0 is considered the same\n\
00665 # as binning_x = binning_y = 1 (no subsampling).\n\
00666 uint32 binning_x\n\
00667 uint32 binning_y\n\
00668 \n\
00669 # Region of interest (subwindow of full camera resolution), given in\n\
00670 # full resolution (unbinned) image coordinates. A particular ROI\n\
00671 # always denotes the same window of pixels on the camera sensor,\n\
00672 # regardless of binning settings.\n\
00673 # The default setting of roi (all values 0) is considered the same as\n\
00674 # full resolution (roi.width = width, roi.height = height).\n\
00675 RegionOfInterest roi\n\
00676 \n\
00677 ================================================================================\n\
00678 MSG: sensor_msgs/RegionOfInterest\n\
00679 # This message is used to specify a region of interest within an image.\n\
00680 #\n\
00681 # When used to specify the ROI setting of the camera when the image was\n\
00682 # taken, the height and width fields should either match the height and\n\
00683 # width fields for the associated image; or height = width = 0\n\
00684 # indicates that the full resolution image was captured.\n\
00685 \n\
00686 uint32 x_offset # Leftmost pixel of the ROI\n\
00687 # (0 if the ROI includes the left edge of the image)\n\
00688 uint32 y_offset # Topmost pixel of the ROI\n\
00689 # (0 if the ROI includes the top edge of the image)\n\
00690 uint32 height # Height of ROI\n\
00691 uint32 width # Width of ROI\n\
00692 \n\
00693 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00694 # ROI in this message. Typically this should be False if the full image\n\
00695 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00696 # used).\n\
00697 bool do_rectify\n\
00698 \n\
00699 ================================================================================\n\
00700 MSG: sensor_msgs/PointCloud2\n\
00701 # This message holds a collection of N-dimensional points, which may\n\
00702 # contain additional information such as normals, intensity, etc. The\n\
00703 # point data is stored as a binary blob, its layout described by the\n\
00704 # contents of the \"fields\" array.\n\
00705 \n\
00706 # The point cloud data may be organized 2d (image-like) or 1d\n\
00707 # (unordered). Point clouds organized as 2d images may be produced by\n\
00708 # camera depth sensors such as stereo or time-of-flight.\n\
00709 \n\
00710 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00711 # points).\n\
00712 Header header\n\
00713 \n\
00714 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00715 # 1 and width is the length of the point cloud.\n\
00716 uint32 height\n\
00717 uint32 width\n\
00718 \n\
00719 # Describes the channels and their layout in the binary data blob.\n\
00720 PointField[] fields\n\
00721 \n\
00722 bool is_bigendian # Is this data bigendian?\n\
00723 uint32 point_step # Length of a point in bytes\n\
00724 uint32 row_step # Length of a row in bytes\n\
00725 uint8[] data # Actual point data, size is (row_step*height)\n\
00726 \n\
00727 bool is_dense # True if there are no invalid points\n\
00728 \n\
00729 ================================================================================\n\
00730 MSG: sensor_msgs/PointField\n\
00731 # This message holds the description of one point entry in the\n\
00732 # PointCloud2 message format.\n\
00733 uint8 INT8 = 1\n\
00734 uint8 UINT8 = 2\n\
00735 uint8 INT16 = 3\n\
00736 uint8 UINT16 = 4\n\
00737 uint8 INT32 = 5\n\
00738 uint8 UINT32 = 6\n\
00739 uint8 FLOAT32 = 7\n\
00740 uint8 FLOAT64 = 8\n\
00741 \n\
00742 string name # Name of field\n\
00743 uint32 offset # Offset from start of point struct\n\
00744 uint8 datatype # Datatype enumeration, see above\n\
00745 uint32 count # How many elements in the field\n\
00746 \n\
00747 ================================================================================\n\
00748 MSG: stereo_msgs/DisparityImage\n\
00749 # Separate header for compatibility with current TimeSynchronizer.\n\
00750 # Likely to be removed in a later release, use image.header instead.\n\
00751 Header header\n\
00752 \n\
00753 # Floating point disparity image. The disparities are pre-adjusted for any\n\
00754 # x-offset between the principal points of the two cameras (in the case\n\
00755 # that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)\n\
00756 sensor_msgs/Image image\n\
00757 \n\
00758 # Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.\n\
00759 float32 f # Focal length, pixels\n\
00760 float32 T # Baseline, world units\n\
00761 \n\
00762 # Subwindow of (potentially) valid disparity values.\n\
00763 sensor_msgs/RegionOfInterest valid_window\n\
00764 \n\
00765 # The range of disparities searched.\n\
00766 # In the disparity image, any disparity less than min_disparity is invalid.\n\
00767 # The disparity search range defines the horopter, or 3D volume that the\n\
00768 # stereo algorithm can \"see\". Points with Z outside of:\n\
00769 # Z_min = fT / max_disparity\n\
00770 # Z_max = fT / min_disparity\n\
00771 # could not be found.\n\
00772 float32 min_disparity\n\
00773 float32 max_disparity\n\
00774 \n\
00775 # Smallest allowed disparity increment. The smallest achievable depth range\n\
00776 # resolution is delta_Z = (Z^2/fT)*delta_d.\n\
00777 float32 delta_d\n\
00778 \n\
00779 ";
00780 }
00781
00782 static const char* value(const ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> &) { return value(); }
00783 };
00784
00785 template<class ContainerAllocator> struct HasHeader< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> > : public TrueType {};
00786 template<class ContainerAllocator> struct HasHeader< const ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> > : public TrueType {};
00787 }
00788 }
00789
00790 namespace ros
00791 {
00792 namespace serialization
00793 {
00794
00795 template<class ContainerAllocator> struct Serializer< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> >
00796 {
00797 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00798 {
00799 stream.next(m.header);
00800 stream.next(m.goal_id);
00801 stream.next(m.goal);
00802 }
00803
00804 ROS_DECLARE_ALLINONE_SERIALIZER;
00805 };
00806 }
00807 }
00808
00809 namespace ros
00810 {
00811 namespace message_operations
00812 {
00813
00814 template<class ContainerAllocator>
00815 struct Printer< ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> >
00816 {
00817 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::object_segmentation_gui::ObjectSegmentationGuiActionGoal_<ContainerAllocator> & v)
00818 {
00819 s << indent << "header: ";
00820 s << std::endl;
00821 Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
00822 s << indent << "goal_id: ";
00823 s << std::endl;
00824 Printer< ::actionlib_msgs::GoalID_<ContainerAllocator> >::stream(s, indent + " ", v.goal_id);
00825 s << indent << "goal: ";
00826 s << std::endl;
00827 Printer< ::object_segmentation_gui::ObjectSegmentationGuiGoal_<ContainerAllocator> >::stream(s, indent + " ", v.goal);
00828 }
00829 };
00830
00831
00832 }
00833 }
00834
00835 #endif // OBJECT_SEGMENTATION_GUI_MESSAGE_OBJECTSEGMENTATIONGUIACTIONGOAL_H
00836
