00001
00002 #ifndef CHECKERBOARD_DETECTOR2_SERVICE_DETECT_H
00003 #define CHECKERBOARD_DETECTOR2_SERVICE_DETECT_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 "ros/service_traits.h"
00018
00019 #include "sensor_msgs/Image.h"
00020 #include "sensor_msgs/CameraInfo.h"
00021
00022
00023 #include "checkerboard_detector2/ObjectDetection.h"
00024
00025 namespace checkerboard_detector2
00026 {
00027 template <class ContainerAllocator>
00028 struct DetectRequest_ {
00029 typedef DetectRequest_<ContainerAllocator> Type;
00030
00031 DetectRequest_()
00032 : image()
00033 , camera_info()
00034 {
00035 }
00036
00037 DetectRequest_(const ContainerAllocator& _alloc)
00038 : image(_alloc)
00039 , camera_info(_alloc)
00040 {
00041 }
00042
00043 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00044 ::sensor_msgs::Image_<ContainerAllocator> image;
00045
00046 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _camera_info_type;
00047 ::sensor_msgs::CameraInfo_<ContainerAllocator> camera_info;
00048
00049
00050 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > Ptr;
00051 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> const> ConstPtr;
00052 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00053 };
00054 typedef ::checkerboard_detector2::DetectRequest_<std::allocator<void> > DetectRequest;
00055
00056 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest> DetectRequestPtr;
00057 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest const> DetectRequestConstPtr;
00058
00059
00060 template <class ContainerAllocator>
00061 struct DetectResponse_ {
00062 typedef DetectResponse_<ContainerAllocator> Type;
00063
00064 DetectResponse_()
00065 : object_detection()
00066 {
00067 }
00068
00069 DetectResponse_(const ContainerAllocator& _alloc)
00070 : object_detection(_alloc)
00071 {
00072 }
00073
00074 typedef ::checkerboard_detector2::ObjectDetection_<ContainerAllocator> _object_detection_type;
00075 ::checkerboard_detector2::ObjectDetection_<ContainerAllocator> object_detection;
00076
00077
00078 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > Ptr;
00079 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> const> ConstPtr;
00080 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00081 };
00082 typedef ::checkerboard_detector2::DetectResponse_<std::allocator<void> > DetectResponse;
00083
00084 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse> DetectResponsePtr;
00085 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse const> DetectResponseConstPtr;
00086
00087 struct Detect
00088 {
00089
00090 typedef DetectRequest Request;
00091 typedef DetectResponse Response;
00092 Request request;
00093 Response response;
00094
00095 typedef Request RequestType;
00096 typedef Response ResponseType;
00097 };
00098 }
00099
00100 namespace ros
00101 {
00102 namespace message_traits
00103 {
00104 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > : public TrueType {};
00105 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> const> : public TrueType {};
00106 template<class ContainerAllocator>
00107 struct MD5Sum< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00108 static const char* value()
00109 {
00110 return "bfee1901edaf2aa4d9f0844a03ff634f";
00111 }
00112
00113 static const char* value(const ::checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00114 static const uint64_t static_value1 = 0xbfee1901edaf2aa4ULL;
00115 static const uint64_t static_value2 = 0xd9f0844a03ff634fULL;
00116 };
00117
00118 template<class ContainerAllocator>
00119 struct DataType< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00120 static const char* value()
00121 {
00122 return "checkerboard_detector2/DetectRequest";
00123 }
00124
00125 static const char* value(const ::checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00126 };
00127
00128 template<class ContainerAllocator>
00129 struct Definition< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00130 static const char* value()
00131 {
00132 return "\n\
00133 sensor_msgs/Image image\n\
00134 sensor_msgs/CameraInfo camera_info\n\
00135 \n\
00136 ================================================================================\n\
00137 MSG: sensor_msgs/Image\n\
00138 # This message contains an uncompressed image\n\
00139 # (0, 0) is at top-left corner of image\n\
00140 #\n\
00141 \n\
00142 Header header # Header timestamp should be acquisition time of image\n\
00143 # Header frame_id should be optical frame of camera\n\
00144 # origin of frame should be optical center of cameara\n\
00145 # +x should point to the right in the image\n\
00146 # +y should point down in the image\n\
00147 # +z should point into to plane of the image\n\
00148 # If the frame_id here and the frame_id of the CameraInfo\n\
00149 # message associated with the image conflict\n\
00150 # the behavior is undefined\n\
00151 \n\
00152 uint32 height # image height, that is, number of rows\n\
00153 uint32 width # image width, that is, number of columns\n\
00154 \n\
00155 # The legal values for encoding are in file src/image_encodings.cpp\n\
00156 # If you want to standardize a new string format, join\n\
00157 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00158 \n\
00159 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00160 # taken from the list of strings in src/image_encodings.cpp\n\
00161 \n\
00162 uint8 is_bigendian # is this data bigendian?\n\
00163 uint32 step # Full row length in bytes\n\
00164 uint8[] data # actual matrix data, size is (step * rows)\n\
00165 \n\
00166 ================================================================================\n\
00167 MSG: std_msgs/Header\n\
00168 # Standard metadata for higher-level stamped data types.\n\
00169 # This is generally used to communicate timestamped data \n\
00170 # in a particular coordinate frame.\n\
00171 # \n\
00172 # sequence ID: consecutively increasing ID \n\
00173 uint32 seq\n\
00174 #Two-integer timestamp that is expressed as:\n\
00175 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00176 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00177 # time-handling sugar is provided by the client library\n\
00178 time stamp\n\
00179 #Frame this data is associated with\n\
00180 # 0: no frame\n\
00181 # 1: global frame\n\
00182 string frame_id\n\
00183 \n\
00184 ================================================================================\n\
00185 MSG: sensor_msgs/CameraInfo\n\
00186 # This message defines meta information for a camera. It should be in a\n\
00187 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00188 # image topics named:\n\
00189 #\n\
00190 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00191 # image - monochrome, distorted\n\
00192 # image_color - color, distorted\n\
00193 # image_rect - monochrome, rectified\n\
00194 # image_rect_color - color, rectified\n\
00195 #\n\
00196 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00197 # for producing the four processed image topics from image_raw and\n\
00198 # camera_info. The meaning of the camera parameters are described in\n\
00199 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00200 #\n\
00201 # The image_geometry package provides a user-friendly interface to\n\
00202 # common operations using this meta information. If you want to, e.g.,\n\
00203 # project a 3d point into image coordinates, we strongly recommend\n\
00204 # using image_geometry.\n\
00205 #\n\
00206 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00207 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00208 # indicates an uncalibrated camera.\n\
00209 \n\
00210 #######################################################################\n\
00211 # Image acquisition info #\n\
00212 #######################################################################\n\
00213 \n\
00214 # Time of image acquisition, camera coordinate frame ID\n\
00215 Header header # Header timestamp should be acquisition time of image\n\
00216 # Header frame_id should be optical frame of camera\n\
00217 # origin of frame should be optical center of camera\n\
00218 # +x should point to the right in the image\n\
00219 # +y should point down in the image\n\
00220 # +z should point into the plane of the image\n\
00221 \n\
00222 \n\
00223 #######################################################################\n\
00224 # Calibration Parameters #\n\
00225 #######################################################################\n\
00226 # These are fixed during camera calibration. Their values will be the #\n\
00227 # same in all messages until the camera is recalibrated. Note that #\n\
00228 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00229 # #\n\
00230 # The internal parameters can be used to warp a raw (distorted) image #\n\
00231 # to: #\n\
00232 # 1. An undistorted image (requires D and K) #\n\
00233 # 2. A rectified image (requires D, K, R) #\n\
00234 # The projection matrix P projects 3D points into the rectified image.#\n\
00235 #######################################################################\n\
00236 \n\
00237 # The image dimensions with which the camera was calibrated. Normally\n\
00238 # this will be the full camera resolution in pixels.\n\
00239 uint32 height\n\
00240 uint32 width\n\
00241 \n\
00242 # The distortion model used. Supported models are listed in\n\
00243 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00244 # simple model of radial and tangential distortion - is sufficent.\n\
00245 string distortion_model\n\
00246 \n\
00247 # The distortion parameters, size depending on the distortion model.\n\
00248 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00249 float64[] D\n\
00250 \n\
00251 # Intrinsic camera matrix for the raw (distorted) images.\n\
00252 # [fx 0 cx]\n\
00253 # K = [ 0 fy cy]\n\
00254 # [ 0 0 1]\n\
00255 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00256 # coordinates using the focal lengths (fx, fy) and principal point\n\
00257 # (cx, cy).\n\
00258 float64[9] K # 3x3 row-major matrix\n\
00259 \n\
00260 # Rectification matrix (stereo cameras only)\n\
00261 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00262 # stereo image plane so that epipolar lines in both stereo images are\n\
00263 # parallel.\n\
00264 float64[9] R # 3x3 row-major matrix\n\
00265 \n\
00266 # Projection/camera matrix\n\
00267 # [fx' 0 cx' Tx]\n\
00268 # P = [ 0 fy' cy' Ty]\n\
00269 # [ 0 0 1 0]\n\
00270 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00271 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00272 # is the normal camera intrinsic matrix for the rectified image.\n\
00273 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00274 # coordinates using the focal lengths (fx', fy') and principal point\n\
00275 # (cx', cy') - these may differ from the values in K.\n\
00276 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00277 # also have R = the identity and P[1:3,1:3] = K.\n\
00278 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00279 # position of the optical center of the second camera in the first\n\
00280 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00281 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00282 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00283 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00284 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00285 # the rectified image is given by:\n\
00286 # [u v w]' = P * [X Y Z 1]'\n\
00287 # x = u / w\n\
00288 # y = v / w\n\
00289 # This holds for both images of a stereo pair.\n\
00290 float64[12] P # 3x4 row-major matrix\n\
00291 \n\
00292 \n\
00293 #######################################################################\n\
00294 # Operational Parameters #\n\
00295 #######################################################################\n\
00296 # These define the image region actually captured by the camera #\n\
00297 # driver. Although they affect the geometry of the output image, they #\n\
00298 # may be changed freely without recalibrating the camera. #\n\
00299 #######################################################################\n\
00300 \n\
00301 # Binning refers here to any camera setting which combines rectangular\n\
00302 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00303 # resolution of the output image to\n\
00304 # (width / binning_x) x (height / binning_y).\n\
00305 # The default values binning_x = binning_y = 0 is considered the same\n\
00306 # as binning_x = binning_y = 1 (no subsampling).\n\
00307 uint32 binning_x\n\
00308 uint32 binning_y\n\
00309 \n\
00310 # Region of interest (subwindow of full camera resolution), given in\n\
00311 # full resolution (unbinned) image coordinates. A particular ROI\n\
00312 # always denotes the same window of pixels on the camera sensor,\n\
00313 # regardless of binning settings.\n\
00314 # The default setting of roi (all values 0) is considered the same as\n\
00315 # full resolution (roi.width = width, roi.height = height).\n\
00316 RegionOfInterest roi\n\
00317 \n\
00318 ================================================================================\n\
00319 MSG: sensor_msgs/RegionOfInterest\n\
00320 # This message is used to specify a region of interest within an image.\n\
00321 #\n\
00322 # When used to specify the ROI setting of the camera when the image was\n\
00323 # taken, the height and width fields should either match the height and\n\
00324 # width fields for the associated image; or height = width = 0\n\
00325 # indicates that the full resolution image was captured.\n\
00326 \n\
00327 uint32 x_offset # Leftmost pixel of the ROI\n\
00328 # (0 if the ROI includes the left edge of the image)\n\
00329 uint32 y_offset # Topmost pixel of the ROI\n\
00330 # (0 if the ROI includes the top edge of the image)\n\
00331 uint32 height # Height of ROI\n\
00332 uint32 width # Width of ROI\n\
00333 \n\
00334 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00335 # ROI in this message. Typically this should be False if the full image\n\
00336 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00337 # used).\n\
00338 bool do_rectify\n\
00339 \n\
00340 ";
00341 }
00342
00343 static const char* value(const ::checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00344 };
00345
00346 }
00347 }
00348
00349
00350 namespace ros
00351 {
00352 namespace message_traits
00353 {
00354 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > : public TrueType {};
00355 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> const> : public TrueType {};
00356 template<class ContainerAllocator>
00357 struct MD5Sum< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00358 static const char* value()
00359 {
00360 return "fa5565282e26025bb768b1b949144e94";
00361 }
00362
00363 static const char* value(const ::checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00364 static const uint64_t static_value1 = 0xfa5565282e26025bULL;
00365 static const uint64_t static_value2 = 0xb768b1b949144e94ULL;
00366 };
00367
00368 template<class ContainerAllocator>
00369 struct DataType< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00370 static const char* value()
00371 {
00372 return "checkerboard_detector2/DetectResponse";
00373 }
00374
00375 static const char* value(const ::checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00376 };
00377
00378 template<class ContainerAllocator>
00379 struct Definition< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00380 static const char* value()
00381 {
00382 return "ObjectDetection object_detection\n\
00383 \n\
00384 \n\
00385 ================================================================================\n\
00386 MSG: checkerboard_detector2/ObjectDetection\n\
00387 Header header\n\
00388 Object6DPose[] objects\n\
00389 # unique image id these objects were taken from\n\
00390 \n\
00391 ================================================================================\n\
00392 MSG: std_msgs/Header\n\
00393 # Standard metadata for higher-level stamped data types.\n\
00394 # This is generally used to communicate timestamped data \n\
00395 # in a particular coordinate frame.\n\
00396 # \n\
00397 # sequence ID: consecutively increasing ID \n\
00398 uint32 seq\n\
00399 #Two-integer timestamp that is expressed as:\n\
00400 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00401 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00402 # time-handling sugar is provided by the client library\n\
00403 time stamp\n\
00404 #Frame this data is associated with\n\
00405 # 0: no frame\n\
00406 # 1: global frame\n\
00407 string frame_id\n\
00408 \n\
00409 ================================================================================\n\
00410 MSG: checkerboard_detector2/Object6DPose\n\
00411 # 6D pose of object\n\
00412 geometry_msgs/Pose pose\n\
00413 \n\
00414 # type of object, usually contains the filename of the object that allows the receiving side to visualize it\n\
00415 # can also be used as a unique type id\n\
00416 string type \n\
00417 uint32 id\n\
00418 ================================================================================\n\
00419 MSG: geometry_msgs/Pose\n\
00420 # A representation of pose in free space, composed of postion and orientation. \n\
00421 Point position\n\
00422 Quaternion orientation\n\
00423 \n\
00424 ================================================================================\n\
00425 MSG: geometry_msgs/Point\n\
00426 # This contains the position of a point in free space\n\
00427 float64 x\n\
00428 float64 y\n\
00429 float64 z\n\
00430 \n\
00431 ================================================================================\n\
00432 MSG: geometry_msgs/Quaternion\n\
00433 # This represents an orientation in free space in quaternion form.\n\
00434 \n\
00435 float64 x\n\
00436 float64 y\n\
00437 float64 z\n\
00438 float64 w\n\
00439 \n\
00440 ";
00441 }
00442
00443 static const char* value(const ::checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00444 };
00445
00446 }
00447 }
00448
00449 namespace ros
00450 {
00451 namespace serialization
00452 {
00453
00454 template<class ContainerAllocator> struct Serializer< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> >
00455 {
00456 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00457 {
00458 stream.next(m.image);
00459 stream.next(m.camera_info);
00460 }
00461
00462 ROS_DECLARE_ALLINONE_SERIALIZER;
00463 };
00464 }
00465 }
00466
00467
00468 namespace ros
00469 {
00470 namespace serialization
00471 {
00472
00473 template<class ContainerAllocator> struct Serializer< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> >
00474 {
00475 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00476 {
00477 stream.next(m.object_detection);
00478 }
00479
00480 ROS_DECLARE_ALLINONE_SERIALIZER;
00481 };
00482 }
00483 }
00484
00485 namespace ros
00486 {
00487 namespace service_traits
00488 {
00489 template<>
00490 struct MD5Sum<checkerboard_detector2::Detect> {
00491 static const char* value()
00492 {
00493 return "7d2841c5eef2578fbb718be68316c081";
00494 }
00495
00496 static const char* value(const checkerboard_detector2::Detect&) { return value(); }
00497 };
00498
00499 template<>
00500 struct DataType<checkerboard_detector2::Detect> {
00501 static const char* value()
00502 {
00503 return "checkerboard_detector2/Detect";
00504 }
00505
00506 static const char* value(const checkerboard_detector2::Detect&) { return value(); }
00507 };
00508
00509 template<class ContainerAllocator>
00510 struct MD5Sum<checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00511 static const char* value()
00512 {
00513 return "7d2841c5eef2578fbb718be68316c081";
00514 }
00515
00516 static const char* value(const checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00517 };
00518
00519 template<class ContainerAllocator>
00520 struct DataType<checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00521 static const char* value()
00522 {
00523 return "checkerboard_detector2/Detect";
00524 }
00525
00526 static const char* value(const checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00527 };
00528
00529 template<class ContainerAllocator>
00530 struct MD5Sum<checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00531 static const char* value()
00532 {
00533 return "7d2841c5eef2578fbb718be68316c081";
00534 }
00535
00536 static const char* value(const checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00537 };
00538
00539 template<class ContainerAllocator>
00540 struct DataType<checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00541 static const char* value()
00542 {
00543 return "checkerboard_detector2/Detect";
00544 }
00545
00546 static const char* value(const checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00547 };
00548
00549 }
00550 }
00551
00552 #endif // CHECKERBOARD_DETECTOR2_SERVICE_DETECT_H
00553
