5 #ifndef realsense_legacy_msgs_MESSAGE_STREAM_INFO_H 6 #define realsense_legacy_msgs_MESSAGE_STREAM_INFO_H 23 template <
class ContainerAllocator>
50 typedef std::basic_string<char, std::char_traits<char>,
typename ContainerAllocator::template rebind<char>::other >
_stream_type_type;
68 typedef std::basic_string<char, std::char_traits<char>,
typename ContainerAllocator::template rebind<char>::other >
_encoding_type;
74 typedef std::shared_ptr< ::realsense_legacy_msgs::stream_info_<ContainerAllocator> >
Ptr;
75 typedef std::shared_ptr< ::realsense_legacy_msgs::stream_info_<ContainerAllocator>
const>
ConstPtr;
79 typedef ::realsense_legacy_msgs::stream_info_<std::allocator<void> >
stream_info;
81 typedef std::shared_ptr< ::realsense_legacy_msgs::stream_info >
stream_infoPtr;
88 template<
typename ContainerAllocator>
89 std::ostream& operator<<(std::ostream& s, const ::realsense_legacy_msgs::stream_info_<ContainerAllocator> &
v)
99 namespace message_traits
112 template <
class ContainerAllocator>
117 template <
class ContainerAllocator>
122 template <
class ContainerAllocator>
127 template <
class ContainerAllocator>
132 template <
class ContainerAllocator>
137 template <
class ContainerAllocator>
143 template<
class ContainerAllocator>
148 return "bb1936d2159196ee8329f39f35277eb4";
151 static const char*
value(const ::realsense_legacy_msgs::stream_info_<ContainerAllocator>&) {
return value(); }
152 static const uint64_t static_value1 = 0xbb1936d2159196eeULL;
153 static const uint64_t static_value2 = 0x8329f39f35277eb4ULL;
156 template<
class ContainerAllocator>
161 return "realsense_legacy_msgs/stream_info";
164 static const char*
value(const ::realsense_legacy_msgs::stream_info_<ContainerAllocator>&) {
return value(); }
167 template<
class ContainerAllocator>
172 return "string stream_type\n\ 174 sensor_msgs/CameraInfo camera_info\n\ 175 realsense_legacy_msgs/stream_extrinsics stream_extrinsics\n\ 180 ================================================================================\n\ 181 MSG: sensor_msgs/CameraInfo\n\ 182 # This message defines meta information for a camera. It should be in a\n\ 183 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\ 184 # image topics named:\n\ 186 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\ 187 # image - monochrome, distorted\n\ 188 # image_color - color, distorted\n\ 189 # image_rect - monochrome, rectified\n\ 190 # image_rect_color - color, rectified\n\ 192 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\ 193 # for producing the four processed image topics from image_raw and\n\ 194 # camera_info. The meaning of the camera parameters are described in\n\ 195 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\ 197 # The image_geometry package provides a user-friendly interface to\n\ 198 # common operations using this meta information. If you want to, e.g.,\n\ 199 # project a 3d point into image coordinates, we strongly recommend\n\ 200 # using image_geometry.\n\ 202 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\ 203 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\ 204 # indicates an uncalibrated camera.\n\ 206 #######################################################################\n\ 207 # Image acquisition info #\n\ 208 #######################################################################\n\ 210 # Time of image acquisition, camera coordinate frame ID\n\ 211 Header header # Header timestamp should be acquisition time of image\n\ 212 # Header frame_id should be optical frame of camera\n\ 213 # origin of frame should be optical center of camera\n\ 214 # +x should point to the right in the image\n\ 215 # +y should point down in the image\n\ 216 # +z should point into the plane of the image\n\ 219 #######################################################################\n\ 220 # Calibration Parameters #\n\ 221 #######################################################################\n\ 222 # These are fixed during camera calibration. Their values will be the #\n\ 223 # same in all messages until the camera is recalibrated. Note that #\n\ 224 # self-calibrating systems may \"recalibrate\" frequently. #\n\ 226 # The internal parameters can be used to warp a raw (distorted) image #\n\ 228 # 1. An undistorted image (requires D and K) #\n\ 229 # 2. A rectified image (requires D, K, R) #\n\ 230 # The projection matrix P projects 3D points into the rectified image.#\n\ 231 #######################################################################\n\ 233 # The image dimensions with which the camera was calibrated. Normally\n\ 234 # this will be the full camera resolution in pixels.\n\ 238 # The distortion model used. Supported models are listed in\n\ 239 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\ 240 # simple model of radial and tangential distortion - is sufficient.\n\ 241 string distortion_model\n\ 243 # The distortion parameters, size depending on the distortion model.\n\ 244 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\ 247 # Intrinsic camera matrix for the raw (distorted) images.\n\ 251 # Projects 3D points in the camera coordinate frame to 2D pixel\n\ 252 # coordinates using the focal lengths (fx, fy) and principal point\n\ 254 float64[9] K # 3x3 row-major matrix\n\ 256 # Rectification matrix (stereo cameras only)\n\ 257 # A rotation matrix aligning the camera coordinate system to the ideal\n\ 258 # stereo image plane so that epipolar lines in both stereo images are\n\ 260 float64[9] R # 3x3 row-major matrix\n\ 262 # Projection/camera matrix\n\ 264 # P = [ 0 fy' cy' Ty]\n\ 266 # By convention, this matrix specifies the intrinsic (camera) matrix\n\ 267 # of the processed (rectified) image. That is, the left 3x3 portion\n\ 268 # is the normal camera intrinsic matrix for the rectified image.\n\ 269 # It projects 3D points in the camera coordinate frame to 2D pixel\n\ 270 # coordinates using the focal lengths (fx', fy') and principal point\n\ 271 # (cx', cy') - these may differ from the values in K.\n\ 272 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\ 273 # also have R = the identity and P[1:3,1:3] = K.\n\ 274 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\ 275 # position of the optical center of the second camera in the first\n\ 276 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\ 277 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\ 278 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\ 279 # Tx = -fx' * B, where B is the baseline between the cameras.\n\ 280 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\ 281 # the rectified image is given by:\n\ 282 # [u v w]' = P * [X Y Z 1]'\n\ 285 # This holds for both images of a stereo pair.\n\ 286 float64[12] P # 3x4 row-major matrix\n\ 289 #######################################################################\n\ 290 # Operational Parameters #\n\ 291 #######################################################################\n\ 292 # These define the image region actually captured by the camera #\n\ 293 # driver. Although they affect the geometry of the output image, they #\n\ 294 # may be changed freely without recalibrating the camera. #\n\ 295 #######################################################################\n\ 297 # Binning refers here to any camera setting which combines rectangular\n\ 298 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\ 299 # resolution of the output image to\n\ 300 # (width / binning_x) x (height / binning_y).\n\ 301 # The default values binning_x = binning_y = 0 is considered the same\n\ 302 # as binning_x = binning_y = 1 (no subsampling).\n\ 306 # Region of interest (subwindow of full camera resolution), given in\n\ 307 # full resolution (unbinned) image coordinates. A particular ROI\n\ 308 # always denotes the same window of pixels on the camera sensor,\n\ 309 # regardless of binning settings.\n\ 310 # The default setting of roi (all values 0) is considered the same as\n\ 311 # full resolution (roi.width = width, roi.height = height).\n\ 312 RegionOfInterest roi\n\ 314 ================================================================================\n\ 315 MSG: std_msgs/Header\n\ 316 # Standard metadata for higher-level stamped data types.\n\ 317 # This is generally used to communicate timestamped data \n\ 318 # in a particular coordinate frame.\n\ 320 # sequence ID: consecutively increasing ID \n\ 322 #Two-integer timestamp that is expressed as:\n\ 323 # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\ 324 # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\ 325 # time-handling sugar is provided by the client library\n\ 327 #Frame this data is associated with\n\ 332 ================================================================================\n\ 333 MSG: sensor_msgs/RegionOfInterest\n\ 334 # This message is used to specify a region of interest within an image.\n\ 336 # When used to specify the ROI setting of the camera when the image was\n\ 337 # taken, the height and width fields should either match the height and\n\ 338 # width fields for the associated image; or height = width = 0\n\ 339 # indicates that the full resolution image was captured.\n\ 341 uint32 x_offset # Leftmost pixel of the ROI\n\ 342 # (0 if the ROI includes the left edge of the image)\n\ 343 uint32 y_offset # Topmost pixel of the ROI\n\ 344 # (0 if the ROI includes the top edge of the image)\n\ 345 uint32 height # Height of ROI\n\ 346 uint32 width # Width of ROI\n\ 348 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\ 349 # ROI in this message. Typically this should be False if the full image\n\ 350 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\ 354 ================================================================================\n\ 355 MSG: realsense_legacy_msgs/stream_extrinsics\n\ 356 realsense_legacy_msgs/extrinsics extrinsics\n\ 357 uint64 reference_point_id\n\ 359 ================================================================================\n\ 360 MSG: realsense_legacy_msgs/extrinsics\n\ 361 float32[9] rotation # column-major 3x3 rotation matrix \n\ 362 float32[3] translation # 3 element translation vector, in meters \n\ 366 static const char*
value(const ::realsense_legacy_msgs::stream_info_<ContainerAllocator>&) {
return value(); }
374 namespace serialization
381 stream.next(m.stream_type);
383 stream.next(m.camera_info);
384 stream.next(m.stream_extrinsics);
385 stream.next(m.width);
386 stream.next(m.height);
387 stream.next(m.encoding);
398 namespace message_operations
401 template<
class ContainerAllocator>
404 template<
typename Stream>
static void stream(Stream&
s,
const std::string& indent, const ::realsense_legacy_msgs::stream_info_<ContainerAllocator>&
v)
406 s << indent <<
"stream_type: ";
408 s << indent <<
"fps: ";
410 s << indent <<
"camera_info: ";
413 s << indent <<
"stream_extrinsics: ";
416 s << indent <<
"width: ";
418 s << indent <<
"height: ";
420 s << indent <<
"encoding: ";
428 #endif // realsense_legacy_msgs_MESSAGE_STREAM_INFO_H
typedef void(APIENTRY *GLDEBUGPROC)(GLenum source
Base type for compile-type true/false tests. Compatible with Boost.MPL. classes inheriting from this ...
_stream_type_type stream_type
::sensor_msgs::CameraInfo_< ContainerAllocator > _camera_info_type
Specialize to provide the md5sum for a message.
static const char * value(const ::realsense_legacy_msgs::stream_info_< ContainerAllocator > &)
stream_info_(const ContainerAllocator &_alloc)
Base type for compile-type true/false tests. Compatible with Boost.MPL. classes inheriting from this ...
GLsizei const GLchar *const * string
static void allInOne(Stream &stream, T m)
Specialize to provide the datatype for a message.
A fixed-size datatype is one whose size is constant, i.e. it has no variable-length arrays or strings...
Stream base-class, provides common functionality for IStream and OStream.
static const char * value(const ::realsense_legacy_msgs::stream_info_< ContainerAllocator > &)
GLint GLsizei GLsizei height
static const char * value()
static const char * value()
std::basic_string< char, std::char_traits< char >, typename ContainerAllocator::template rebind< char >::other > _encoding_type
#define ROS_DECLARE_ALLINONE_SERIALIZER
Declare your serializer to use an allInOne member instead of requiring 3 different serialization func...
static void stream(Stream &s, const std::string &indent, const ::realsense_legacy_msgs::stream_info_< ContainerAllocator > &v)
unsigned __int64 uint64_t
Specialize to provide the definition for a message.
stream_info_< ContainerAllocator > Type
_stream_extrinsics_type stream_extrinsics
std::shared_ptr< ::realsense_legacy_msgs::stream_info > stream_infoPtr
std::basic_string< char, std::char_traits< char >, typename ContainerAllocator::template rebind< char >::other > _stream_type_type
std::shared_ptr< ::realsense_legacy_msgs::stream_info_< ContainerAllocator > const > ConstPtr
static const char * value()
static const char * value(const ::realsense_legacy_msgs::stream_info_< ContainerAllocator > &)
Templated serialization class. Default implementation provides backwards compatibility with old messa...
std::shared_ptr< ::realsense_legacy_msgs::stream_info_< ContainerAllocator > > Ptr
std::shared_ptr< ::realsense_legacy_msgs::stream_info const > stream_infoConstPtr
::realsense_legacy_msgs::stream_extrinsics_< ContainerAllocator > _stream_extrinsics_type
::realsense_legacy_msgs::stream_info_< std::allocator< void > > stream_info
_camera_info_type camera_info