GetCameraInfo.h
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00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl/pr2_clutter_helper/srv/GetCameraInfo.srv */
00002 #ifndef PR2_CLUTTER_HELPER_SERVICE_GETCAMERAINFO_H
00003 #define PR2_CLUTTER_HELPER_SERVICE_GETCAMERAINFO_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 
00020 
00021 #include "sensor_msgs/CameraInfo.h"
00022 
00023 namespace pr2_clutter_helper
00024 {
00025 template <class ContainerAllocator>
00026 struct GetCameraInfoRequest_ {
00027   typedef GetCameraInfoRequest_<ContainerAllocator> Type;
00028 
00029   GetCameraInfoRequest_()
00030   : topic_name()
00031   , msg_type()
00032   {
00033   }
00034 
00035   GetCameraInfoRequest_(const ContainerAllocator& _alloc)
00036   : topic_name(_alloc)
00037   , msg_type(_alloc)
00038   {
00039   }
00040 
00041   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _topic_name_type;
00042   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  topic_name;
00043 
00044   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _msg_type_type;
00045   std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  msg_type;
00046 
00047 
00048   typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> > Ptr;
00049   typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator>  const> ConstPtr;
00050   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00051 }; // struct GetCameraInfoRequest
00052 typedef  ::pr2_clutter_helper::GetCameraInfoRequest_<std::allocator<void> > GetCameraInfoRequest;
00053 
00054 typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoRequest> GetCameraInfoRequestPtr;
00055 typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoRequest const> GetCameraInfoRequestConstPtr;
00056 
00057 
00058 template <class ContainerAllocator>
00059 struct GetCameraInfoResponse_ {
00060   typedef GetCameraInfoResponse_<ContainerAllocator> Type;
00061 
00062   GetCameraInfoResponse_()
00063   : info()
00064   {
00065   }
00066 
00067   GetCameraInfoResponse_(const ContainerAllocator& _alloc)
00068   : info(_alloc)
00069   {
00070   }
00071 
00072   typedef  ::sensor_msgs::CameraInfo_<ContainerAllocator>  _info_type;
00073    ::sensor_msgs::CameraInfo_<ContainerAllocator>  info;
00074 
00075 
00076   typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> > Ptr;
00077   typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator>  const> ConstPtr;
00078   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00079 }; // struct GetCameraInfoResponse
00080 typedef  ::pr2_clutter_helper::GetCameraInfoResponse_<std::allocator<void> > GetCameraInfoResponse;
00081 
00082 typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoResponse> GetCameraInfoResponsePtr;
00083 typedef boost::shared_ptr< ::pr2_clutter_helper::GetCameraInfoResponse const> GetCameraInfoResponseConstPtr;
00084 
00085 struct GetCameraInfo
00086 {
00087 
00088 typedef GetCameraInfoRequest Request;
00089 typedef GetCameraInfoResponse Response;
00090 Request request;
00091 Response response;
00092 
00093 typedef Request RequestType;
00094 typedef Response ResponseType;
00095 }; // struct GetCameraInfo
00096 } // namespace pr2_clutter_helper
00097 
00098 namespace ros
00099 {
00100 namespace message_traits
00101 {
00102 template<class ContainerAllocator> struct IsMessage< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> > : public TrueType {};
00103 template<class ContainerAllocator> struct IsMessage< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator>  const> : public TrueType {};
00104 template<class ContainerAllocator>
00105 struct MD5Sum< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> > {
00106   static const char* value() 
00107   {
00108     return "13abbc87c0c0b2fc9a6d87f74375a5d7";
00109   }
00110 
00111   static const char* value(const  ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> &) { return value(); } 
00112   static const uint64_t static_value1 = 0x13abbc87c0c0b2fcULL;
00113   static const uint64_t static_value2 = 0x9a6d87f74375a5d7ULL;
00114 };
00115 
00116 template<class ContainerAllocator>
00117 struct DataType< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> > {
00118   static const char* value() 
00119   {
00120     return "pr2_clutter_helper/GetCameraInfoRequest";
00121   }
00122 
00123   static const char* value(const  ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> &) { return value(); } 
00124 };
00125 
00126 template<class ContainerAllocator>
00127 struct Definition< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> > {
00128   static const char* value() 
00129   {
00130     return "string topic_name\n\
00131 string msg_type\n\
00132 \n\
00133 ";
00134   }
00135 
00136   static const char* value(const  ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> &) { return value(); } 
00137 };
00138 
00139 } // namespace message_traits
00140 } // namespace ros
00141 
00142 
00143 namespace ros
00144 {
00145 namespace message_traits
00146 {
00147 template<class ContainerAllocator> struct IsMessage< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> > : public TrueType {};
00148 template<class ContainerAllocator> struct IsMessage< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator>  const> : public TrueType {};
00149 template<class ContainerAllocator>
00150 struct MD5Sum< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> > {
00151   static const char* value() 
00152   {
00153     return "1802ea5c04df755ec7e68bc4bf07a06d";
00154   }
00155 
00156   static const char* value(const  ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> &) { return value(); } 
00157   static const uint64_t static_value1 = 0x1802ea5c04df755eULL;
00158   static const uint64_t static_value2 = 0xc7e68bc4bf07a06dULL;
00159 };
00160 
00161 template<class ContainerAllocator>
00162 struct DataType< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> > {
00163   static const char* value() 
00164   {
00165     return "pr2_clutter_helper/GetCameraInfoResponse";
00166   }
00167 
00168   static const char* value(const  ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> &) { return value(); } 
00169 };
00170 
00171 template<class ContainerAllocator>
00172 struct Definition< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> > {
00173   static const char* value() 
00174   {
00175     return "sensor_msgs/CameraInfo info\n\
00176 \n\
00177 \n\
00178 ================================================================================\n\
00179 MSG: sensor_msgs/CameraInfo\n\
00180 # This message defines meta information for a camera. It should be in a\n\
00181 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00182 # image topics named:\n\
00183 #\n\
00184 #   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00185 #   image            - monochrome, distorted\n\
00186 #   image_color      - color, distorted\n\
00187 #   image_rect       - monochrome, rectified\n\
00188 #   image_rect_color - color, rectified\n\
00189 #\n\
00190 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00191 # for producing the four processed image topics from image_raw and\n\
00192 # camera_info. The meaning of the camera parameters are described in\n\
00193 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00194 #\n\
00195 # The image_geometry package provides a user-friendly interface to\n\
00196 # common operations using this meta information. If you want to, e.g.,\n\
00197 # project a 3d point into image coordinates, we strongly recommend\n\
00198 # using image_geometry.\n\
00199 #\n\
00200 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00201 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00202 # indicates an uncalibrated camera.\n\
00203 \n\
00204 #######################################################################\n\
00205 #                     Image acquisition info                          #\n\
00206 #######################################################################\n\
00207 \n\
00208 # Time of image acquisition, camera coordinate frame ID\n\
00209 Header header    # Header timestamp should be acquisition time of image\n\
00210                  # Header frame_id should be optical frame of camera\n\
00211                  # origin of frame should be optical center of camera\n\
00212                  # +x should point to the right in the image\n\
00213                  # +y should point down in the image\n\
00214                  # +z should point into the plane of the image\n\
00215 \n\
00216 \n\
00217 #######################################################################\n\
00218 #                      Calibration Parameters                         #\n\
00219 #######################################################################\n\
00220 # These are fixed during camera calibration. Their values will be the #\n\
00221 # same in all messages until the camera is recalibrated. Note that    #\n\
00222 # self-calibrating systems may \"recalibrate\" frequently.              #\n\
00223 #                                                                     #\n\
00224 # The internal parameters can be used to warp a raw (distorted) image #\n\
00225 # to:                                                                 #\n\
00226 #   1. An undistorted image (requires D and K)                        #\n\
00227 #   2. A rectified image (requires D, K, R)                           #\n\
00228 # The projection matrix P projects 3D points into the rectified image.#\n\
00229 #######################################################################\n\
00230 \n\
00231 # The image dimensions with which the camera was calibrated. Normally\n\
00232 # this will be the full camera resolution in pixels.\n\
00233 uint32 height\n\
00234 uint32 width\n\
00235 \n\
00236 # The distortion model used. Supported models are listed in\n\
00237 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00238 # simple model of radial and tangential distortion - is sufficent.\n\
00239 string distortion_model\n\
00240 \n\
00241 # The distortion parameters, size depending on the distortion model.\n\
00242 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00243 float64[] D\n\
00244 \n\
00245 # Intrinsic camera matrix for the raw (distorted) images.\n\
00246 #     [fx  0 cx]\n\
00247 # K = [ 0 fy cy]\n\
00248 #     [ 0  0  1]\n\
00249 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00250 # coordinates using the focal lengths (fx, fy) and principal point\n\
00251 # (cx, cy).\n\
00252 float64[9]  K # 3x3 row-major matrix\n\
00253 \n\
00254 # Rectification matrix (stereo cameras only)\n\
00255 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00256 # stereo image plane so that epipolar lines in both stereo images are\n\
00257 # parallel.\n\
00258 float64[9]  R # 3x3 row-major matrix\n\
00259 \n\
00260 # Projection/camera matrix\n\
00261 #     [fx'  0  cx' Tx]\n\
00262 # P = [ 0  fy' cy' Ty]\n\
00263 #     [ 0   0   1   0]\n\
00264 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00265 #  of the processed (rectified) image. That is, the left 3x3 portion\n\
00266 #  is the normal camera intrinsic matrix for the rectified image.\n\
00267 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00268 #  coordinates using the focal lengths (fx', fy') and principal point\n\
00269 #  (cx', cy') - these may differ from the values in K.\n\
00270 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00271 #  also have R = the identity and P[1:3,1:3] = K.\n\
00272 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00273 #  position of the optical center of the second camera in the first\n\
00274 #  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00275 #  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00276 #  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00277 #  Tx = -fx' * B, where B is the baseline between the cameras.\n\
00278 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00279 #  the rectified image is given by:\n\
00280 #  [u v w]' = P * [X Y Z 1]'\n\
00281 #         x = u / w\n\
00282 #         y = v / w\n\
00283 #  This holds for both images of a stereo pair.\n\
00284 float64[12] P # 3x4 row-major matrix\n\
00285 \n\
00286 \n\
00287 #######################################################################\n\
00288 #                      Operational Parameters                         #\n\
00289 #######################################################################\n\
00290 # These define the image region actually captured by the camera       #\n\
00291 # driver. Although they affect the geometry of the output image, they #\n\
00292 # may be changed freely without recalibrating the camera.             #\n\
00293 #######################################################################\n\
00294 \n\
00295 # Binning refers here to any camera setting which combines rectangular\n\
00296 #  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00297 #  resolution of the output image to\n\
00298 #  (width / binning_x) x (height / binning_y).\n\
00299 # The default values binning_x = binning_y = 0 is considered the same\n\
00300 #  as binning_x = binning_y = 1 (no subsampling).\n\
00301 uint32 binning_x\n\
00302 uint32 binning_y\n\
00303 \n\
00304 # Region of interest (subwindow of full camera resolution), given in\n\
00305 #  full resolution (unbinned) image coordinates. A particular ROI\n\
00306 #  always denotes the same window of pixels on the camera sensor,\n\
00307 #  regardless of binning settings.\n\
00308 # The default setting of roi (all values 0) is considered the same as\n\
00309 #  full resolution (roi.width = width, roi.height = height).\n\
00310 RegionOfInterest roi\n\
00311 \n\
00312 ================================================================================\n\
00313 MSG: std_msgs/Header\n\
00314 # Standard metadata for higher-level stamped data types.\n\
00315 # This is generally used to communicate timestamped data \n\
00316 # in a particular coordinate frame.\n\
00317 # \n\
00318 # sequence ID: consecutively increasing ID \n\
00319 uint32 seq\n\
00320 #Two-integer timestamp that is expressed as:\n\
00321 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00322 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00323 # time-handling sugar is provided by the client library\n\
00324 time stamp\n\
00325 #Frame this data is associated with\n\
00326 # 0: no frame\n\
00327 # 1: global frame\n\
00328 string frame_id\n\
00329 \n\
00330 ================================================================================\n\
00331 MSG: sensor_msgs/RegionOfInterest\n\
00332 # This message is used to specify a region of interest within an image.\n\
00333 #\n\
00334 # When used to specify the ROI setting of the camera when the image was\n\
00335 # taken, the height and width fields should either match the height and\n\
00336 # width fields for the associated image; or height = width = 0\n\
00337 # indicates that the full resolution image was captured.\n\
00338 \n\
00339 uint32 x_offset  # Leftmost pixel of the ROI\n\
00340                  # (0 if the ROI includes the left edge of the image)\n\
00341 uint32 y_offset  # Topmost pixel of the ROI\n\
00342                  # (0 if the ROI includes the top edge of the image)\n\
00343 uint32 height    # Height of ROI\n\
00344 uint32 width     # Width of ROI\n\
00345 \n\
00346 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00347 # ROI in this message. Typically this should be False if the full image\n\
00348 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00349 # used).\n\
00350 bool do_rectify\n\
00351 \n\
00352 ";
00353   }
00354 
00355   static const char* value(const  ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> &) { return value(); } 
00356 };
00357 
00358 } // namespace message_traits
00359 } // namespace ros
00360 
00361 namespace ros
00362 {
00363 namespace serialization
00364 {
00365 
00366 template<class ContainerAllocator> struct Serializer< ::pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> >
00367 {
00368   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00369   {
00370     stream.next(m.topic_name);
00371     stream.next(m.msg_type);
00372   }
00373 
00374   ROS_DECLARE_ALLINONE_SERIALIZER;
00375 }; // struct GetCameraInfoRequest_
00376 } // namespace serialization
00377 } // namespace ros
00378 
00379 
00380 namespace ros
00381 {
00382 namespace serialization
00383 {
00384 
00385 template<class ContainerAllocator> struct Serializer< ::pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> >
00386 {
00387   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00388   {
00389     stream.next(m.info);
00390   }
00391 
00392   ROS_DECLARE_ALLINONE_SERIALIZER;
00393 }; // struct GetCameraInfoResponse_
00394 } // namespace serialization
00395 } // namespace ros
00396 
00397 namespace ros
00398 {
00399 namespace service_traits
00400 {
00401 template<>
00402 struct MD5Sum<pr2_clutter_helper::GetCameraInfo> {
00403   static const char* value() 
00404   {
00405     return "75a8d4fa267e2c751b523292013a06ab";
00406   }
00407 
00408   static const char* value(const pr2_clutter_helper::GetCameraInfo&) { return value(); } 
00409 };
00410 
00411 template<>
00412 struct DataType<pr2_clutter_helper::GetCameraInfo> {
00413   static const char* value() 
00414   {
00415     return "pr2_clutter_helper/GetCameraInfo";
00416   }
00417 
00418   static const char* value(const pr2_clutter_helper::GetCameraInfo&) { return value(); } 
00419 };
00420 
00421 template<class ContainerAllocator>
00422 struct MD5Sum<pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> > {
00423   static const char* value() 
00424   {
00425     return "75a8d4fa267e2c751b523292013a06ab";
00426   }
00427 
00428   static const char* value(const pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> &) { return value(); } 
00429 };
00430 
00431 template<class ContainerAllocator>
00432 struct DataType<pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> > {
00433   static const char* value() 
00434   {
00435     return "pr2_clutter_helper/GetCameraInfo";
00436   }
00437 
00438   static const char* value(const pr2_clutter_helper::GetCameraInfoRequest_<ContainerAllocator> &) { return value(); } 
00439 };
00440 
00441 template<class ContainerAllocator>
00442 struct MD5Sum<pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> > {
00443   static const char* value() 
00444   {
00445     return "75a8d4fa267e2c751b523292013a06ab";
00446   }
00447 
00448   static const char* value(const pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> &) { return value(); } 
00449 };
00450 
00451 template<class ContainerAllocator>
00452 struct DataType<pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> > {
00453   static const char* value() 
00454   {
00455     return "pr2_clutter_helper/GetCameraInfo";
00456   }
00457 
00458   static const char* value(const pr2_clutter_helper::GetCameraInfoResponse_<ContainerAllocator> &) { return value(); } 
00459 };
00460 
00461 } // namespace service_traits
00462 } // namespace ros
00463 
00464 #endif // PR2_CLUTTER_HELPER_SERVICE_GETCAMERAINFO_H
00465 


pr2_clutter_helper
Author(s): Jason Okerman, Advisors: Prof. Charlie Kemp and Jim Regh, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:53:06