_DetectionResult.py

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"""autogenerated by genpy from re_kinect_object_detector/DetectionResult.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import re_msgs.msg
import geometry_msgs.msg
import std_msgs.msg
import sensor_msgs.msg

class DetectionResult(genpy.Message):
  _md5sum = "ff5eaa0c7838288761622bd26a33514f"
  _type = "re_kinect_object_detector/DetectionResult"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """sensor_msgs/Image Image
string[] ObjectNames
re_msgs/DetectedObject[] Detections


================================================================================
MSG: sensor_msgs/Image
# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#

Header header        # Header timestamp should be acquisition time of image
                     # Header frame_id should be optical frame of camera
                     # origin of frame should be optical center of cameara
                     # +x should point to the right in the image
                     # +y should point down in the image
                     # +z should point into to plane of the image
                     # If the frame_id here and the frame_id of the CameraInfo
                     # message associated with the image conflict
                     # the behavior is undefined

uint32 height         # image height, that is, number of rows
uint32 width          # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in src/image_encodings.cpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: re_msgs/DetectedObject
# Information of object detected in an image by re_vision
#

# detected points in the image
Pixel[] points2d
# detected 3d points in the camera reference
geometry_msgs/Point[] points3d
# pose of the object in the camera reference
geometry_msgs/Pose pose
# detected 3d points in the model reference
geometry_msgs/Point[] points3d_model
# detected 3d points octave
int32[] octave

================================================================================
MSG: re_msgs/Pixel
# top-left corner: (0,0)

int32 x
int32 y
================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation

================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w

"""
  __slots__ = ['Image','ObjectNames','Detections']
  _slot_types = ['sensor_msgs/Image','string[]','re_msgs/DetectedObject[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       Image,ObjectNames,Detections

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(DetectionResult, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.Image is None:
        self.Image = sensor_msgs.msg.Image()
      if self.ObjectNames is None:
        self.ObjectNames = []
      if self.Detections is None:
        self.Detections = []
    else:
      self.Image = sensor_msgs.msg.Image()
      self.ObjectNames = []
      self.Detections = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.Image.header.seq, _x.Image.header.stamp.secs, _x.Image.header.stamp.nsecs))
      _x = self.Image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.Image.height, _x.Image.width))
      _x = self.Image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.Image.is_bigendian, _x.Image.step))
      _x = self.Image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.ObjectNames)
      buff.write(_struct_I.pack(length))
      for val1 in self.ObjectNames:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.Detections)
      buff.write(_struct_I.pack(length))
      for val1 in self.Detections:
        length = len(val1.points2d)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points2d:
          _x = val2
          buff.write(_struct_2i.pack(_x.x, _x.y))
        length = len(val1.points3d)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points3d:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v1 = val1.pose
        _v2 = _v1.position
        _x = _v2
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v3 = _v1.orientation
        _x = _v3
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.points3d_model)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points3d_model:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.octave)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(struct.pack(pattern, *val1.octave))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.Image is None:
        self.Image = sensor_msgs.msg.Image()
      if self.Detections is None:
        self.Detections = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.Image.header.seq, _x.Image.header.stamp.secs, _x.Image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.Image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.Image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.Image.height, _x.Image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.Image.encoding = str[start:end].decode('utf-8')
      else:
        self.Image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.Image.is_bigendian, _x.Image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.Image.data = str[start:end].decode('utf-8')
      else:
        self.Image.data = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.ObjectNames = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.ObjectNames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.Detections = []
      for i in range(0, length):
        val1 = re_msgs.msg.DetectedObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points2d = []
        for i in range(0, length):
          val2 = re_msgs.msg.Pixel()
          _x = val2
          start = end
          end += 8
          (_x.x, _x.y,) = _struct_2i.unpack(str[start:end])
          val1.points2d.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points3d = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.points3d.append(val2)
        _v4 = val1.pose
        _v5 = _v4.position
        _x = _v5
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v6 = _v4.orientation
        _x = _v6
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points3d_model = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.points3d_model.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        val1.octave = struct.unpack(pattern, str[start:end])
        self.Detections.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.Image.header.seq, _x.Image.header.stamp.secs, _x.Image.header.stamp.nsecs))
      _x = self.Image.header.frame_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.Image.height, _x.Image.width))
      _x = self.Image.encoding
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.Image.is_bigendian, _x.Image.step))
      _x = self.Image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.ObjectNames)
      buff.write(_struct_I.pack(length))
      for val1 in self.ObjectNames:
        length = len(val1)
        if python3 or type(val1) == unicode:
          val1 = val1.encode('utf-8')
          length = len(val1)
        buff.write(struct.pack('<I%ss'%length, length, val1))
      length = len(self.Detections)
      buff.write(_struct_I.pack(length))
      for val1 in self.Detections:
        length = len(val1.points2d)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points2d:
          _x = val2
          buff.write(_struct_2i.pack(_x.x, _x.y))
        length = len(val1.points3d)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points3d:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v7 = val1.pose
        _v8 = _v7.position
        _x = _v8
        buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v9 = _v7.orientation
        _x = _v9
        buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
        length = len(val1.points3d_model)
        buff.write(_struct_I.pack(length))
        for val2 in val1.points3d_model:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(val1.octave)
        buff.write(_struct_I.pack(length))
        pattern = '<%si'%length
        buff.write(val1.octave.tostring())
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.Image is None:
        self.Image = sensor_msgs.msg.Image()
      if self.Detections is None:
        self.Detections = None
      end = 0
      _x = self
      start = end
      end += 12
      (_x.Image.header.seq, _x.Image.header.stamp.secs, _x.Image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.Image.header.frame_id = str[start:end].decode('utf-8')
      else:
        self.Image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.Image.height, _x.Image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.Image.encoding = str[start:end].decode('utf-8')
      else:
        self.Image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.Image.is_bigendian, _x.Image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.Image.data = str[start:end].decode('utf-8')
      else:
        self.Image.data = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.ObjectNames = []
      for i in range(0, length):
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1 = str[start:end].decode('utf-8')
        else:
          val1 = str[start:end]
        self.ObjectNames.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.Detections = []
      for i in range(0, length):
        val1 = re_msgs.msg.DetectedObject()
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points2d = []
        for i in range(0, length):
          val2 = re_msgs.msg.Pixel()
          _x = val2
          start = end
          end += 8
          (_x.x, _x.y,) = _struct_2i.unpack(str[start:end])
          val1.points2d.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points3d = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.points3d.append(val2)
        _v10 = val1.pose
        _v11 = _v10.position
        _x = _v11
        start = end
        end += 24
        (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
        _v12 = _v10.orientation
        _x = _v12
        start = end
        end += 32
        (_x.x, _x.y, _x.z, _x.w,) = _struct_4d.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.points3d_model = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.points3d_model.append(val2)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%si'%length
        start = end
        end += struct.calcsize(pattern)
        val1.octave = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
        self.Detections.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_BI = struct.Struct("<BI")
_struct_2I = struct.Struct("<2I")
_struct_3I = struct.Struct("<3I")
_struct_4d = struct.Struct("<4d")
_struct_2i = struct.Struct("<2i")
_struct_3d = struct.Struct("<3d")