00001 """autogenerated by genmsg_py from ObjectSegmentationGuiResult.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import arm_navigation_msgs.msg
00006 import tabletop_object_detector.msg
00007 import sensor_msgs.msg
00008 import geometry_msgs.msg
00009 import std_msgs.msg
00010
00011 class ObjectSegmentationGuiResult(roslib.message.Message):
00012 _md5sum = "1ece7d86360ba38c12673652ea654b18"
00013 _type = "object_segmentation_gui/ObjectSegmentationGuiResult"
00014 _has_header = False
00015 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00016 # The information for the plane that has been detected
00017 tabletop_object_detector/Table table
00018
00019 # The raw clusters detected in the scan
00020 sensor_msgs/PointCloud[] clusters
00021
00022 # Whether the detection has succeeded or failed
00023 int32 NO_CLOUD_RECEIVED = 1
00024 int32 NO_TABLE = 2
00025 int32 OTHER_ERROR = 3
00026 int32 SUCCESS = 4
00027 int32 result
00028
00029
00030 ================================================================================
00031 MSG: tabletop_object_detector/Table
00032 # Informs that a planar table has been detected at a given location
00033
00034 # The pose gives you the transform that take you to the coordinate system
00035 # of the table, with the origin somewhere in the table plane and the
00036 # z axis normal to the plane
00037 geometry_msgs/PoseStamped pose
00038
00039 # These values give you the observed extents of the table, along x and y,
00040 # in the table's own coordinate system (above)
00041 # there is no guarantee that the origin of the table coordinate system is
00042 # inside the boundary defined by these values.
00043 float32 x_min
00044 float32 x_max
00045 float32 y_min
00046 float32 y_max
00047
00048 # There is no guarantee that the table does NOT extend further than these
00049 # values; this is just as far as we've observed it.
00050
00051
00052 # Newer table definition as triangle mesh of convex hull (relative to pose)
00053 arm_navigation_msgs/Shape convex_hull
00054
00055 ================================================================================
00056 MSG: geometry_msgs/PoseStamped
00057 # A Pose with reference coordinate frame and timestamp
00058 Header header
00059 Pose pose
00060
00061 ================================================================================
00062 MSG: std_msgs/Header
00063 # Standard metadata for higher-level stamped data types.
00064 # This is generally used to communicate timestamped data
00065 # in a particular coordinate frame.
00066 #
00067 # sequence ID: consecutively increasing ID
00068 uint32 seq
00069 #Two-integer timestamp that is expressed as:
00070 # * stamp.secs: seconds (stamp_secs) since epoch
00071 # * stamp.nsecs: nanoseconds since stamp_secs
00072 # time-handling sugar is provided by the client library
00073 time stamp
00074 #Frame this data is associated with
00075 # 0: no frame
00076 # 1: global frame
00077 string frame_id
00078
00079 ================================================================================
00080 MSG: geometry_msgs/Pose
00081 # A representation of pose in free space, composed of postion and orientation.
00082 Point position
00083 Quaternion orientation
00084
00085 ================================================================================
00086 MSG: geometry_msgs/Point
00087 # This contains the position of a point in free space
00088 float64 x
00089 float64 y
00090 float64 z
00091
00092 ================================================================================
00093 MSG: geometry_msgs/Quaternion
00094 # This represents an orientation in free space in quaternion form.
00095
00096 float64 x
00097 float64 y
00098 float64 z
00099 float64 w
00100
00101 ================================================================================
00102 MSG: arm_navigation_msgs/Shape
00103 byte SPHERE=0
00104 byte BOX=1
00105 byte CYLINDER=2
00106 byte MESH=3
00107
00108 byte type
00109
00110
00111 #### define sphere, box, cylinder ####
00112 # the origin of each shape is considered at the shape's center
00113
00114 # for sphere
00115 # radius := dimensions[0]
00116
00117 # for cylinder
00118 # radius := dimensions[0]
00119 # length := dimensions[1]
00120 # the length is along the Z axis
00121
00122 # for box
00123 # size_x := dimensions[0]
00124 # size_y := dimensions[1]
00125 # size_z := dimensions[2]
00126 float64[] dimensions
00127
00128
00129 #### define mesh ####
00130
00131 # list of triangles; triangle k is defined by tre vertices located
00132 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]
00133 int32[] triangles
00134 geometry_msgs/Point[] vertices
00135
00136 ================================================================================
00137 MSG: sensor_msgs/PointCloud
00138 # This message holds a collection of 3d points, plus optional additional
00139 # information about each point.
00140
00141 # Time of sensor data acquisition, coordinate frame ID.
00142 Header header
00143
00144 # Array of 3d points. Each Point32 should be interpreted as a 3d point
00145 # in the frame given in the header.
00146 geometry_msgs/Point32[] points
00147
00148 # Each channel should have the same number of elements as points array,
00149 # and the data in each channel should correspond 1:1 with each point.
00150 # Channel names in common practice are listed in ChannelFloat32.msg.
00151 ChannelFloat32[] channels
00152
00153 ================================================================================
00154 MSG: geometry_msgs/Point32
00155 # This contains the position of a point in free space(with 32 bits of precision).
00156 # It is recommeded to use Point wherever possible instead of Point32.
00157 #
00158 # This recommendation is to promote interoperability.
00159 #
00160 # This message is designed to take up less space when sending
00161 # lots of points at once, as in the case of a PointCloud.
00162
00163 float32 x
00164 float32 y
00165 float32 z
00166 ================================================================================
00167 MSG: sensor_msgs/ChannelFloat32
00168 # This message is used by the PointCloud message to hold optional data
00169 # associated with each point in the cloud. The length of the values
00170 # array should be the same as the length of the points array in the
00171 # PointCloud, and each value should be associated with the corresponding
00172 # point.
00173
00174 # Channel names in existing practice include:
00175 # "u", "v" - row and column (respectively) in the left stereo image.
00176 # This is opposite to usual conventions but remains for
00177 # historical reasons. The newer PointCloud2 message has no
00178 # such problem.
00179 # "rgb" - For point clouds produced by color stereo cameras. uint8
00180 # (R,G,B) values packed into the least significant 24 bits,
00181 # in order.
00182 # "intensity" - laser or pixel intensity.
00183 # "distance"
00184
00185 # The channel name should give semantics of the channel (e.g.
00186 # "intensity" instead of "value").
00187 string name
00188
00189 # The values array should be 1-1 with the elements of the associated
00190 # PointCloud.
00191 float32[] values
00192
00193 """
00194 # Pseudo-constants
00195 NO_CLOUD_RECEIVED = 1
00196 NO_TABLE = 2
00197 OTHER_ERROR = 3
00198 SUCCESS = 4
00199
00200 __slots__ = ['table','clusters','result']
00201 _slot_types = ['tabletop_object_detector/Table','sensor_msgs/PointCloud[]','int32']
00202
00203 def __init__(self, *args, **kwds):
00204 """
00205 Constructor. Any message fields that are implicitly/explicitly
00206 set to None will be assigned a default value. The recommend
00207 use is keyword arguments as this is more robust to future message
00208 changes. You cannot mix in-order arguments and keyword arguments.
00209
00210 The available fields are:
00211 table,clusters,result
00212
00213 @param args: complete set of field values, in .msg order
00214 @param kwds: use keyword arguments corresponding to message field names
00215 to set specific fields.
00216 """
00217 if args or kwds:
00218 super(ObjectSegmentationGuiResult, self).__init__(*args, **kwds)
00219 #message fields cannot be None, assign default values for those that are
00220 if self.table is None:
00221 self.table = tabletop_object_detector.msg.Table()
00222 if self.clusters is None:
00223 self.clusters = []
00224 if self.result is None:
00225 self.result = 0
00226 else:
00227 self.table = tabletop_object_detector.msg.Table()
00228 self.clusters = []
00229 self.result = 0
00230
00231 def _get_types(self):
00232 """
00233 internal API method
00234 """
00235 return self._slot_types
00236
00237 def serialize(self, buff):
00238 """
00239 serialize message into buffer
00240 @param buff: buffer
00241 @type buff: StringIO
00242 """
00243 try:
00244 _x = self
00245 buff.write(_struct_3I.pack(_x.table.pose.header.seq, _x.table.pose.header.stamp.secs, _x.table.pose.header.stamp.nsecs))
00246 _x = self.table.pose.header.frame_id
00247 length = len(_x)
00248 buff.write(struct.pack('<I%ss'%length, length, _x))
00249 _x = self
00250 buff.write(_struct_7d4fb.pack(_x.table.pose.pose.position.x, _x.table.pose.pose.position.y, _x.table.pose.pose.position.z, _x.table.pose.pose.orientation.x, _x.table.pose.pose.orientation.y, _x.table.pose.pose.orientation.z, _x.table.pose.pose.orientation.w, _x.table.x_min, _x.table.x_max, _x.table.y_min, _x.table.y_max, _x.table.convex_hull.type))
00251 length = len(self.table.convex_hull.dimensions)
00252 buff.write(_struct_I.pack(length))
00253 pattern = '<%sd'%length
00254 buff.write(struct.pack(pattern, *self.table.convex_hull.dimensions))
00255 length = len(self.table.convex_hull.triangles)
00256 buff.write(_struct_I.pack(length))
00257 pattern = '<%si'%length
00258 buff.write(struct.pack(pattern, *self.table.convex_hull.triangles))
00259 length = len(self.table.convex_hull.vertices)
00260 buff.write(_struct_I.pack(length))
00261 for val1 in self.table.convex_hull.vertices:
00262 _x = val1
00263 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00264 length = len(self.clusters)
00265 buff.write(_struct_I.pack(length))
00266 for val1 in self.clusters:
00267 _v1 = val1.header
00268 buff.write(_struct_I.pack(_v1.seq))
00269 _v2 = _v1.stamp
00270 _x = _v2
00271 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00272 _x = _v1.frame_id
00273 length = len(_x)
00274 buff.write(struct.pack('<I%ss'%length, length, _x))
00275 length = len(val1.points)
00276 buff.write(_struct_I.pack(length))
00277 for val2 in val1.points:
00278 _x = val2
00279 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00280 length = len(val1.channels)
00281 buff.write(_struct_I.pack(length))
00282 for val2 in val1.channels:
00283 _x = val2.name
00284 length = len(_x)
00285 buff.write(struct.pack('<I%ss'%length, length, _x))
00286 length = len(val2.values)
00287 buff.write(_struct_I.pack(length))
00288 pattern = '<%sf'%length
00289 buff.write(struct.pack(pattern, *val2.values))
00290 buff.write(_struct_i.pack(self.result))
00291 except struct.error as se: self._check_types(se)
00292 except TypeError as te: self._check_types(te)
00293
00294 def deserialize(self, str):
00295 """
00296 unpack serialized message in str into this message instance
00297 @param str: byte array of serialized message
00298 @type str: str
00299 """
00300 try:
00301 if self.table is None:
00302 self.table = tabletop_object_detector.msg.Table()
00303 end = 0
00304 _x = self
00305 start = end
00306 end += 12
00307 (_x.table.pose.header.seq, _x.table.pose.header.stamp.secs, _x.table.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00308 start = end
00309 end += 4
00310 (length,) = _struct_I.unpack(str[start:end])
00311 start = end
00312 end += length
00313 self.table.pose.header.frame_id = str[start:end]
00314 _x = self
00315 start = end
00316 end += 73
00317 (_x.table.pose.pose.position.x, _x.table.pose.pose.position.y, _x.table.pose.pose.position.z, _x.table.pose.pose.orientation.x, _x.table.pose.pose.orientation.y, _x.table.pose.pose.orientation.z, _x.table.pose.pose.orientation.w, _x.table.x_min, _x.table.x_max, _x.table.y_min, _x.table.y_max, _x.table.convex_hull.type,) = _struct_7d4fb.unpack(str[start:end])
00318 start = end
00319 end += 4
00320 (length,) = _struct_I.unpack(str[start:end])
00321 pattern = '<%sd'%length
00322 start = end
00323 end += struct.calcsize(pattern)
00324 self.table.convex_hull.dimensions = struct.unpack(pattern, str[start:end])
00325 start = end
00326 end += 4
00327 (length,) = _struct_I.unpack(str[start:end])
00328 pattern = '<%si'%length
00329 start = end
00330 end += struct.calcsize(pattern)
00331 self.table.convex_hull.triangles = struct.unpack(pattern, str[start:end])
00332 start = end
00333 end += 4
00334 (length,) = _struct_I.unpack(str[start:end])
00335 self.table.convex_hull.vertices = []
00336 for i in range(0, length):
00337 val1 = geometry_msgs.msg.Point()
00338 _x = val1
00339 start = end
00340 end += 24
00341 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00342 self.table.convex_hull.vertices.append(val1)
00343 start = end
00344 end += 4
00345 (length,) = _struct_I.unpack(str[start:end])
00346 self.clusters = []
00347 for i in range(0, length):
00348 val1 = sensor_msgs.msg.PointCloud()
00349 _v3 = val1.header
00350 start = end
00351 end += 4
00352 (_v3.seq,) = _struct_I.unpack(str[start:end])
00353 _v4 = _v3.stamp
00354 _x = _v4
00355 start = end
00356 end += 8
00357 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00358 start = end
00359 end += 4
00360 (length,) = _struct_I.unpack(str[start:end])
00361 start = end
00362 end += length
00363 _v3.frame_id = str[start:end]
00364 start = end
00365 end += 4
00366 (length,) = _struct_I.unpack(str[start:end])
00367 val1.points = []
00368 for i in range(0, length):
00369 val2 = geometry_msgs.msg.Point32()
00370 _x = val2
00371 start = end
00372 end += 12
00373 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00374 val1.points.append(val2)
00375 start = end
00376 end += 4
00377 (length,) = _struct_I.unpack(str[start:end])
00378 val1.channels = []
00379 for i in range(0, length):
00380 val2 = sensor_msgs.msg.ChannelFloat32()
00381 start = end
00382 end += 4
00383 (length,) = _struct_I.unpack(str[start:end])
00384 start = end
00385 end += length
00386 val2.name = str[start:end]
00387 start = end
00388 end += 4
00389 (length,) = _struct_I.unpack(str[start:end])
00390 pattern = '<%sf'%length
00391 start = end
00392 end += struct.calcsize(pattern)
00393 val2.values = struct.unpack(pattern, str[start:end])
00394 val1.channels.append(val2)
00395 self.clusters.append(val1)
00396 start = end
00397 end += 4
00398 (self.result,) = _struct_i.unpack(str[start:end])
00399 return self
00400 except struct.error as e:
00401 raise roslib.message.DeserializationError(e) #most likely buffer underfill
00402
00403
00404 def serialize_numpy(self, buff, numpy):
00405 """
00406 serialize message with numpy array types into buffer
00407 @param buff: buffer
00408 @type buff: StringIO
00409 @param numpy: numpy python module
00410 @type numpy module
00411 """
00412 try:
00413 _x = self
00414 buff.write(_struct_3I.pack(_x.table.pose.header.seq, _x.table.pose.header.stamp.secs, _x.table.pose.header.stamp.nsecs))
00415 _x = self.table.pose.header.frame_id
00416 length = len(_x)
00417 buff.write(struct.pack('<I%ss'%length, length, _x))
00418 _x = self
00419 buff.write(_struct_7d4fb.pack(_x.table.pose.pose.position.x, _x.table.pose.pose.position.y, _x.table.pose.pose.position.z, _x.table.pose.pose.orientation.x, _x.table.pose.pose.orientation.y, _x.table.pose.pose.orientation.z, _x.table.pose.pose.orientation.w, _x.table.x_min, _x.table.x_max, _x.table.y_min, _x.table.y_max, _x.table.convex_hull.type))
00420 length = len(self.table.convex_hull.dimensions)
00421 buff.write(_struct_I.pack(length))
00422 pattern = '<%sd'%length
00423 buff.write(self.table.convex_hull.dimensions.tostring())
00424 length = len(self.table.convex_hull.triangles)
00425 buff.write(_struct_I.pack(length))
00426 pattern = '<%si'%length
00427 buff.write(self.table.convex_hull.triangles.tostring())
00428 length = len(self.table.convex_hull.vertices)
00429 buff.write(_struct_I.pack(length))
00430 for val1 in self.table.convex_hull.vertices:
00431 _x = val1
00432 buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
00433 length = len(self.clusters)
00434 buff.write(_struct_I.pack(length))
00435 for val1 in self.clusters:
00436 _v5 = val1.header
00437 buff.write(_struct_I.pack(_v5.seq))
00438 _v6 = _v5.stamp
00439 _x = _v6
00440 buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
00441 _x = _v5.frame_id
00442 length = len(_x)
00443 buff.write(struct.pack('<I%ss'%length, length, _x))
00444 length = len(val1.points)
00445 buff.write(_struct_I.pack(length))
00446 for val2 in val1.points:
00447 _x = val2
00448 buff.write(_struct_3f.pack(_x.x, _x.y, _x.z))
00449 length = len(val1.channels)
00450 buff.write(_struct_I.pack(length))
00451 for val2 in val1.channels:
00452 _x = val2.name
00453 length = len(_x)
00454 buff.write(struct.pack('<I%ss'%length, length, _x))
00455 length = len(val2.values)
00456 buff.write(_struct_I.pack(length))
00457 pattern = '<%sf'%length
00458 buff.write(val2.values.tostring())
00459 buff.write(_struct_i.pack(self.result))
00460 except struct.error as se: self._check_types(se)
00461 except TypeError as te: self._check_types(te)
00462
00463 def deserialize_numpy(self, str, numpy):
00464 """
00465 unpack serialized message in str into this message instance using numpy for array types
00466 @param str: byte array of serialized message
00467 @type str: str
00468 @param numpy: numpy python module
00469 @type numpy: module
00470 """
00471 try:
00472 if self.table is None:
00473 self.table = tabletop_object_detector.msg.Table()
00474 end = 0
00475 _x = self
00476 start = end
00477 end += 12
00478 (_x.table.pose.header.seq, _x.table.pose.header.stamp.secs, _x.table.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00479 start = end
00480 end += 4
00481 (length,) = _struct_I.unpack(str[start:end])
00482 start = end
00483 end += length
00484 self.table.pose.header.frame_id = str[start:end]
00485 _x = self
00486 start = end
00487 end += 73
00488 (_x.table.pose.pose.position.x, _x.table.pose.pose.position.y, _x.table.pose.pose.position.z, _x.table.pose.pose.orientation.x, _x.table.pose.pose.orientation.y, _x.table.pose.pose.orientation.z, _x.table.pose.pose.orientation.w, _x.table.x_min, _x.table.x_max, _x.table.y_min, _x.table.y_max, _x.table.convex_hull.type,) = _struct_7d4fb.unpack(str[start:end])
00489 start = end
00490 end += 4
00491 (length,) = _struct_I.unpack(str[start:end])
00492 pattern = '<%sd'%length
00493 start = end
00494 end += struct.calcsize(pattern)
00495 self.table.convex_hull.dimensions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
00496 start = end
00497 end += 4
00498 (length,) = _struct_I.unpack(str[start:end])
00499 pattern = '<%si'%length
00500 start = end
00501 end += struct.calcsize(pattern)
00502 self.table.convex_hull.triangles = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
00503 start = end
00504 end += 4
00505 (length,) = _struct_I.unpack(str[start:end])
00506 self.table.convex_hull.vertices = []
00507 for i in range(0, length):
00508 val1 = geometry_msgs.msg.Point()
00509 _x = val1
00510 start = end
00511 end += 24
00512 (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
00513 self.table.convex_hull.vertices.append(val1)
00514 start = end
00515 end += 4
00516 (length,) = _struct_I.unpack(str[start:end])
00517 self.clusters = []
00518 for i in range(0, length):
00519 val1 = sensor_msgs.msg.PointCloud()
00520 _v7 = val1.header
00521 start = end
00522 end += 4
00523 (_v7.seq,) = _struct_I.unpack(str[start:end])
00524 _v8 = _v7.stamp
00525 _x = _v8
00526 start = end
00527 end += 8
00528 (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
00529 start = end
00530 end += 4
00531 (length,) = _struct_I.unpack(str[start:end])
00532 start = end
00533 end += length
00534 _v7.frame_id = str[start:end]
00535 start = end
00536 end += 4
00537 (length,) = _struct_I.unpack(str[start:end])
00538 val1.points = []
00539 for i in range(0, length):
00540 val2 = geometry_msgs.msg.Point32()
00541 _x = val2
00542 start = end
00543 end += 12
00544 (_x.x, _x.y, _x.z,) = _struct_3f.unpack(str[start:end])
00545 val1.points.append(val2)
00546 start = end
00547 end += 4
00548 (length,) = _struct_I.unpack(str[start:end])
00549 val1.channels = []
00550 for i in range(0, length):
00551 val2 = sensor_msgs.msg.ChannelFloat32()
00552 start = end
00553 end += 4
00554 (length,) = _struct_I.unpack(str[start:end])
00555 start = end
00556 end += length
00557 val2.name = str[start:end]
00558 start = end
00559 end += 4
00560 (length,) = _struct_I.unpack(str[start:end])
00561 pattern = '<%sf'%length
00562 start = end
00563 end += struct.calcsize(pattern)
00564 val2.values = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
00565 val1.channels.append(val2)
00566 self.clusters.append(val1)
00567 start = end
00568 end += 4
00569 (self.result,) = _struct_i.unpack(str[start:end])
00570 return self
00571 except struct.error as e:
00572 raise roslib.message.DeserializationError(e) #most likely buffer underfill
00573
00574 _struct_I = roslib.message.struct_I
00575 _struct_7d4fb = struct.Struct("<7d4fb")
00576 _struct_2I = struct.Struct("<2I")
00577 _struct_i = struct.Struct("<i")
00578 _struct_3I = struct.Struct("<3I")
00579 _struct_3f = struct.Struct("<3f")
00580 _struct_3d = struct.Struct("<3d")
