00001
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 };
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 };
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 };
00096 }
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 }
00140 }
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 }
00359 }
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 };
00376 }
00377 }
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 };
00394 }
00395 }
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 }
00462 }
00463
00464 #endif // PR2_CLUTTER_HELPER_SERVICE_GETCAMERAINFO_H
00465