ObjectRecognitionGuiGoal.h
Go to the documentation of this file.
00001 /* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-pr2_object_manipulation/doc_stacks/2014-10-06_11-30-38.833395/pr2_object_manipulation/perception/interactive_perception_msgs/msg/ObjectRecognitionGuiGoal.msg */
00002 #ifndef INTERACTIVE_PERCEPTION_MSGS_MESSAGE_OBJECTRECOGNITIONGUIGOAL_H
00003 #define INTERACTIVE_PERCEPTION_MSGS_MESSAGE_OBJECTRECOGNITIONGUIGOAL_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 "sensor_msgs/Image.h"
00018 #include "sensor_msgs/CameraInfo.h"
00019 #include "interactive_perception_msgs/ModelHypothesisList.h"
00020 
00021 namespace interactive_perception_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct ObjectRecognitionGuiGoal_ {
00025   typedef ObjectRecognitionGuiGoal_<ContainerAllocator> Type;
00026 
00027   ObjectRecognitionGuiGoal_()
00028   : image()
00029   , camera_info()
00030   , model_hypotheses()
00031   {
00032   }
00033 
00034   ObjectRecognitionGuiGoal_(const ContainerAllocator& _alloc)
00035   : image(_alloc)
00036   , camera_info(_alloc)
00037   , model_hypotheses(_alloc)
00038   {
00039   }
00040 
00041   typedef  ::sensor_msgs::Image_<ContainerAllocator>  _image_type;
00042    ::sensor_msgs::Image_<ContainerAllocator>  image;
00043 
00044   typedef  ::sensor_msgs::CameraInfo_<ContainerAllocator>  _camera_info_type;
00045    ::sensor_msgs::CameraInfo_<ContainerAllocator>  camera_info;
00046 
00047   typedef std::vector< ::interactive_perception_msgs::ModelHypothesisList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::interactive_perception_msgs::ModelHypothesisList_<ContainerAllocator> >::other >  _model_hypotheses_type;
00048   std::vector< ::interactive_perception_msgs::ModelHypothesisList_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::interactive_perception_msgs::ModelHypothesisList_<ContainerAllocator> >::other >  model_hypotheses;
00049 
00050 
00051   typedef boost::shared_ptr< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> > Ptr;
00052   typedef boost::shared_ptr< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator>  const> ConstPtr;
00053   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00054 }; // struct ObjectRecognitionGuiGoal
00055 typedef  ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<std::allocator<void> > ObjectRecognitionGuiGoal;
00056 
00057 typedef boost::shared_ptr< ::interactive_perception_msgs::ObjectRecognitionGuiGoal> ObjectRecognitionGuiGoalPtr;
00058 typedef boost::shared_ptr< ::interactive_perception_msgs::ObjectRecognitionGuiGoal const> ObjectRecognitionGuiGoalConstPtr;
00059 
00060 
00061 template<typename ContainerAllocator>
00062 std::ostream& operator<<(std::ostream& s, const  ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> & v)
00063 {
00064   ros::message_operations::Printer< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> >::stream(s, "", v);
00065   return s;}
00066 
00067 } // namespace interactive_perception_msgs
00068 
00069 namespace ros
00070 {
00071 namespace message_traits
00072 {
00073 template<class ContainerAllocator> struct IsMessage< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> > : public TrueType {};
00074 template<class ContainerAllocator> struct IsMessage< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator>  const> : public TrueType {};
00075 template<class ContainerAllocator>
00076 struct MD5Sum< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> > {
00077   static const char* value() 
00078   {
00079     return "9971b18121fb4c5c8caedc975ff0023a";
00080   }
00081 
00082   static const char* value(const  ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> &) { return value(); } 
00083   static const uint64_t static_value1 = 0x9971b18121fb4c5cULL;
00084   static const uint64_t static_value2 = 0x8caedc975ff0023aULL;
00085 };
00086 
00087 template<class ContainerAllocator>
00088 struct DataType< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> > {
00089   static const char* value() 
00090   {
00091     return "interactive_perception_msgs/ObjectRecognitionGuiGoal";
00092   }
00093 
00094   static const char* value(const  ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> &) { return value(); } 
00095 };
00096 
00097 template<class ContainerAllocator>
00098 struct Definition< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> > {
00099   static const char* value() 
00100   {
00101     return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00102 \n\
00103 #the original sensor data (depth/disparity image)\n\
00104 sensor_msgs/Image image\n\
00105 sensor_msgs/CameraInfo camera_info\n\
00106 \n\
00107 #list of mesh/pose hypotheses for each recognized point cluster\n\
00108 ModelHypothesisList[] model_hypotheses\n\
00109 \n\
00110 ================================================================================\n\
00111 MSG: sensor_msgs/Image\n\
00112 # This message contains an uncompressed image\n\
00113 # (0, 0) is at top-left corner of image\n\
00114 #\n\
00115 \n\
00116 Header header        # Header timestamp should be acquisition time of image\n\
00117                      # Header frame_id should be optical frame of camera\n\
00118                      # origin of frame should be optical center of cameara\n\
00119                      # +x should point to the right in the image\n\
00120                      # +y should point down in the image\n\
00121                      # +z should point into to plane of the image\n\
00122                      # If the frame_id here and the frame_id of the CameraInfo\n\
00123                      # message associated with the image conflict\n\
00124                      # the behavior is undefined\n\
00125 \n\
00126 uint32 height         # image height, that is, number of rows\n\
00127 uint32 width          # image width, that is, number of columns\n\
00128 \n\
00129 # The legal values for encoding are in file src/image_encodings.cpp\n\
00130 # If you want to standardize a new string format, join\n\
00131 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00132 \n\
00133 string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
00134                       # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\
00135 \n\
00136 uint8 is_bigendian    # is this data bigendian?\n\
00137 uint32 step           # Full row length in bytes\n\
00138 uint8[] data          # actual matrix data, size is (step * rows)\n\
00139 \n\
00140 ================================================================================\n\
00141 MSG: std_msgs/Header\n\
00142 # Standard metadata for higher-level stamped data types.\n\
00143 # This is generally used to communicate timestamped data \n\
00144 # in a particular coordinate frame.\n\
00145 # \n\
00146 # sequence ID: consecutively increasing ID \n\
00147 uint32 seq\n\
00148 #Two-integer timestamp that is expressed as:\n\
00149 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00150 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00151 # time-handling sugar is provided by the client library\n\
00152 time stamp\n\
00153 #Frame this data is associated with\n\
00154 # 0: no frame\n\
00155 # 1: global frame\n\
00156 string frame_id\n\
00157 \n\
00158 ================================================================================\n\
00159 MSG: sensor_msgs/CameraInfo\n\
00160 # This message defines meta information for a camera. It should be in a\n\
00161 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00162 # image topics named:\n\
00163 #\n\
00164 #   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00165 #   image            - monochrome, distorted\n\
00166 #   image_color      - color, distorted\n\
00167 #   image_rect       - monochrome, rectified\n\
00168 #   image_rect_color - color, rectified\n\
00169 #\n\
00170 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00171 # for producing the four processed image topics from image_raw and\n\
00172 # camera_info. The meaning of the camera parameters are described in\n\
00173 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00174 #\n\
00175 # The image_geometry package provides a user-friendly interface to\n\
00176 # common operations using this meta information. If you want to, e.g.,\n\
00177 # project a 3d point into image coordinates, we strongly recommend\n\
00178 # using image_geometry.\n\
00179 #\n\
00180 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00181 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00182 # indicates an uncalibrated camera.\n\
00183 \n\
00184 #######################################################################\n\
00185 #                     Image acquisition info                          #\n\
00186 #######################################################################\n\
00187 \n\
00188 # Time of image acquisition, camera coordinate frame ID\n\
00189 Header header    # Header timestamp should be acquisition time of image\n\
00190                  # Header frame_id should be optical frame of camera\n\
00191                  # origin of frame should be optical center of camera\n\
00192                  # +x should point to the right in the image\n\
00193                  # +y should point down in the image\n\
00194                  # +z should point into the plane of the image\n\
00195 \n\
00196 \n\
00197 #######################################################################\n\
00198 #                      Calibration Parameters                         #\n\
00199 #######################################################################\n\
00200 # These are fixed during camera calibration. Their values will be the #\n\
00201 # same in all messages until the camera is recalibrated. Note that    #\n\
00202 # self-calibrating systems may \"recalibrate\" frequently.              #\n\
00203 #                                                                     #\n\
00204 # The internal parameters can be used to warp a raw (distorted) image #\n\
00205 # to:                                                                 #\n\
00206 #   1. An undistorted image (requires D and K)                        #\n\
00207 #   2. A rectified image (requires D, K, R)                           #\n\
00208 # The projection matrix P projects 3D points into the rectified image.#\n\
00209 #######################################################################\n\
00210 \n\
00211 # The image dimensions with which the camera was calibrated. Normally\n\
00212 # this will be the full camera resolution in pixels.\n\
00213 uint32 height\n\
00214 uint32 width\n\
00215 \n\
00216 # The distortion model used. Supported models are listed in\n\
00217 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00218 # simple model of radial and tangential distortion - is sufficent.\n\
00219 string distortion_model\n\
00220 \n\
00221 # The distortion parameters, size depending on the distortion model.\n\
00222 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00223 float64[] D\n\
00224 \n\
00225 # Intrinsic camera matrix for the raw (distorted) images.\n\
00226 #     [fx  0 cx]\n\
00227 # K = [ 0 fy cy]\n\
00228 #     [ 0  0  1]\n\
00229 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00230 # coordinates using the focal lengths (fx, fy) and principal point\n\
00231 # (cx, cy).\n\
00232 float64[9]  K # 3x3 row-major matrix\n\
00233 \n\
00234 # Rectification matrix (stereo cameras only)\n\
00235 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00236 # stereo image plane so that epipolar lines in both stereo images are\n\
00237 # parallel.\n\
00238 float64[9]  R # 3x3 row-major matrix\n\
00239 \n\
00240 # Projection/camera matrix\n\
00241 #     [fx'  0  cx' Tx]\n\
00242 # P = [ 0  fy' cy' Ty]\n\
00243 #     [ 0   0   1   0]\n\
00244 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00245 #  of the processed (rectified) image. That is, the left 3x3 portion\n\
00246 #  is the normal camera intrinsic matrix for the rectified image.\n\
00247 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00248 #  coordinates using the focal lengths (fx', fy') and principal point\n\
00249 #  (cx', cy') - these may differ from the values in K.\n\
00250 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00251 #  also have R = the identity and P[1:3,1:3] = K.\n\
00252 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00253 #  position of the optical center of the second camera in the first\n\
00254 #  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00255 #  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00256 #  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00257 #  Tx = -fx' * B, where B is the baseline between the cameras.\n\
00258 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00259 #  the rectified image is given by:\n\
00260 #  [u v w]' = P * [X Y Z 1]'\n\
00261 #         x = u / w\n\
00262 #         y = v / w\n\
00263 #  This holds for both images of a stereo pair.\n\
00264 float64[12] P # 3x4 row-major matrix\n\
00265 \n\
00266 \n\
00267 #######################################################################\n\
00268 #                      Operational Parameters                         #\n\
00269 #######################################################################\n\
00270 # These define the image region actually captured by the camera       #\n\
00271 # driver. Although they affect the geometry of the output image, they #\n\
00272 # may be changed freely without recalibrating the camera.             #\n\
00273 #######################################################################\n\
00274 \n\
00275 # Binning refers here to any camera setting which combines rectangular\n\
00276 #  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00277 #  resolution of the output image to\n\
00278 #  (width / binning_x) x (height / binning_y).\n\
00279 # The default values binning_x = binning_y = 0 is considered the same\n\
00280 #  as binning_x = binning_y = 1 (no subsampling).\n\
00281 uint32 binning_x\n\
00282 uint32 binning_y\n\
00283 \n\
00284 # Region of interest (subwindow of full camera resolution), given in\n\
00285 #  full resolution (unbinned) image coordinates. A particular ROI\n\
00286 #  always denotes the same window of pixels on the camera sensor,\n\
00287 #  regardless of binning settings.\n\
00288 # The default setting of roi (all values 0) is considered the same as\n\
00289 #  full resolution (roi.width = width, roi.height = height).\n\
00290 RegionOfInterest roi\n\
00291 \n\
00292 ================================================================================\n\
00293 MSG: sensor_msgs/RegionOfInterest\n\
00294 # This message is used to specify a region of interest within an image.\n\
00295 #\n\
00296 # When used to specify the ROI setting of the camera when the image was\n\
00297 # taken, the height and width fields should either match the height and\n\
00298 # width fields for the associated image; or height = width = 0\n\
00299 # indicates that the full resolution image was captured.\n\
00300 \n\
00301 uint32 x_offset  # Leftmost pixel of the ROI\n\
00302                  # (0 if the ROI includes the left edge of the image)\n\
00303 uint32 y_offset  # Topmost pixel of the ROI\n\
00304                  # (0 if the ROI includes the top edge of the image)\n\
00305 uint32 height    # Height of ROI\n\
00306 uint32 width     # Width of ROI\n\
00307 \n\
00308 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00309 # ROI in this message. Typically this should be False if the full image\n\
00310 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00311 # used).\n\
00312 bool do_rectify\n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: interactive_perception_msgs/ModelHypothesisList\n\
00316 ModelHypothesis[] hypotheses\n\
00317 \n\
00318 #initial guess if this can be a correct recognition result at all\n\
00319 bool accept\n\
00320 ================================================================================\n\
00321 MSG: interactive_perception_msgs/ModelHypothesis\n\
00322 #describes a hypothesis about a recognized object (mesh+pose)\n\
00323 \n\
00324 shape_msgs/Mesh mesh\n\
00325 geometry_msgs/PoseStamped pose\n\
00326 \n\
00327 ================================================================================\n\
00328 MSG: shape_msgs/Mesh\n\
00329 # Definition of a mesh\n\
00330 \n\
00331 # list of triangles; the index values refer to positions in vertices[]\n\
00332 MeshTriangle[] triangles\n\
00333 \n\
00334 # the actual vertices that make up the mesh\n\
00335 geometry_msgs/Point[] vertices\n\
00336 \n\
00337 ================================================================================\n\
00338 MSG: shape_msgs/MeshTriangle\n\
00339 # Definition of a triangle's vertices\n\
00340 uint32[3] vertex_indices\n\
00341 \n\
00342 ================================================================================\n\
00343 MSG: geometry_msgs/Point\n\
00344 # This contains the position of a point in free space\n\
00345 float64 x\n\
00346 float64 y\n\
00347 float64 z\n\
00348 \n\
00349 ================================================================================\n\
00350 MSG: geometry_msgs/PoseStamped\n\
00351 # A Pose with reference coordinate frame and timestamp\n\
00352 Header header\n\
00353 Pose pose\n\
00354 \n\
00355 ================================================================================\n\
00356 MSG: geometry_msgs/Pose\n\
00357 # A representation of pose in free space, composed of postion and orientation. \n\
00358 Point position\n\
00359 Quaternion orientation\n\
00360 \n\
00361 ================================================================================\n\
00362 MSG: geometry_msgs/Quaternion\n\
00363 # This represents an orientation in free space in quaternion form.\n\
00364 \n\
00365 float64 x\n\
00366 float64 y\n\
00367 float64 z\n\
00368 float64 w\n\
00369 \n\
00370 ";
00371   }
00372 
00373   static const char* value(const  ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> &) { return value(); } 
00374 };
00375 
00376 } // namespace message_traits
00377 } // namespace ros
00378 
00379 namespace ros
00380 {
00381 namespace serialization
00382 {
00383 
00384 template<class ContainerAllocator> struct Serializer< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> >
00385 {
00386   template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00387   {
00388     stream.next(m.image);
00389     stream.next(m.camera_info);
00390     stream.next(m.model_hypotheses);
00391   }
00392 
00393   ROS_DECLARE_ALLINONE_SERIALIZER;
00394 }; // struct ObjectRecognitionGuiGoal_
00395 } // namespace serialization
00396 } // namespace ros
00397 
00398 namespace ros
00399 {
00400 namespace message_operations
00401 {
00402 
00403 template<class ContainerAllocator>
00404 struct Printer< ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> >
00405 {
00406   template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::interactive_perception_msgs::ObjectRecognitionGuiGoal_<ContainerAllocator> & v) 
00407   {
00408     s << indent << "image: ";
00409 s << std::endl;
00410     Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + "  ", v.image);
00411     s << indent << "camera_info: ";
00412 s << std::endl;
00413     Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >::stream(s, indent + "  ", v.camera_info);
00414     s << indent << "model_hypotheses[]" << std::endl;
00415     for (size_t i = 0; i < v.model_hypotheses.size(); ++i)
00416     {
00417       s << indent << "  model_hypotheses[" << i << "]: ";
00418       s << std::endl;
00419       s << indent;
00420       Printer< ::interactive_perception_msgs::ModelHypothesisList_<ContainerAllocator> >::stream(s, indent + "    ", v.model_hypotheses[i]);
00421     }
00422   }
00423 };
00424 
00425 
00426 } // namespace message_operations
00427 } // namespace ros
00428 
00429 #endif // INTERACTIVE_PERCEPTION_MSGS_MESSAGE_OBJECTRECOGNITIONGUIGOAL_H
00430 


interactive_perception_msgs
Author(s): jbinney
autogenerated on Mon Oct 6 2014 11:51:21