CameraInfo.h

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// Generated by gencpp from file sensor_msgs/CameraInfo.msg
// DO NOT EDIT!
 
 
#ifndef SENSOR_MSGS_MESSAGE_CAMERAINFO_H
#define SENSOR_MSGS_MESSAGE_CAMERAINFO_H
 
#include <memory>
#include <array>
#include <string>
#include <vector>
#include <map>
 
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
 
#include <std_msgs/Header.h>
#include <sensor_msgs/RegionOfInterest.h>
 
namespace sensor_msgs
{
template <class ContainerAllocator>
struct CameraInfo_
{
  typedef CameraInfo_<ContainerAllocator> Type;
 
  CameraInfo_()
    : header()
    , height(0)
    , width(0)
    , distortion_model()
    , D()
    , K()
    , R()
    , P()
    , binning_x(0)
    , binning_y(0)
    , roi()  {
      K.fill(0.0);
 
      R.fill(0.0);
 
      P.fill(0.0);
  }
  CameraInfo_(const ContainerAllocator& _alloc)
    : header(_alloc)
    , height(0)
    , width(0)
    , distortion_model(_alloc)
    , D(_alloc)
    , K()
    , R()
    , P()
    , binning_x(0)
    , binning_y(0)
    , roi(_alloc)  {
  (void)_alloc;
      K.fill(0.0);
 
      R.fill(0.0);
 
      P.fill(0.0);
  }
 
 
 
   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
  _header_type header;
 
   typedef uint32_t _height_type;
  _height_type height;
 
   typedef uint32_t _width_type;
  _width_type width;
 
   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits< ContainerAllocator >::template rebind_alloc< char > >  _distortion_model_type;
  _distortion_model_type distortion_model;
 
   typedef std::vector<double, typename std::allocator_traits< ContainerAllocator >::template rebind_alloc< double > >  _D_type;
  _D_type D;
 
   typedef std::array<double, 9>  _K_type;
  _K_type K;
 
   typedef std::array<double, 9>  _R_type;
  _R_type R;
 
   typedef std::array<double, 12>  _P_type;
  _P_type P;
 
   typedef uint32_t _binning_x_type;
  _binning_x_type binning_x;
 
   typedef uint32_t _binning_y_type;
  _binning_y_type binning_y;
 
   typedef  ::sensor_msgs::RegionOfInterest_<ContainerAllocator>  _roi_type;
  _roi_type roi;
 
 
 
 
  typedef std::shared_ptr< ::sensor_msgs::CameraInfo_<ContainerAllocator> > Ptr;
  typedef std::shared_ptr< ::sensor_msgs::CameraInfo_<ContainerAllocator> const> ConstPtr;
 
}; // struct CameraInfo_
 
typedef ::sensor_msgs::CameraInfo_<std::allocator<void> > CameraInfo;
 
typedef std::shared_ptr< ::sensor_msgs::CameraInfo > CameraInfoPtr;
typedef std::shared_ptr< ::sensor_msgs::CameraInfo const> CameraInfoConstPtr;
 
// constants requiring out of line definition
 
 
 
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::sensor_msgs::CameraInfo_<ContainerAllocator> & v)
{
rs2rosinternal::message_operations::Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >::stream(s, "", v);
return s;
}
 
} // namespace sensor_msgs
 
namespace rs2rosinternal
{
namespace message_traits
{
 
 
 
// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True}
// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'sensor_msgs': ['/tmp/binarydeb/ros-kinetic-sensor-msgs-1.12.5/msg']}
 
// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
 
 
 
 
template <class ContainerAllocator>
struct IsFixedSize< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
  : std::false_type
  { };
 
template <class ContainerAllocator>
struct IsFixedSize< ::sensor_msgs::CameraInfo_<ContainerAllocator> const>
  : std::false_type
  { };
 
template <class ContainerAllocator>
struct IsMessage< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
  : std::true_type
  { };
 
template <class ContainerAllocator>
struct IsMessage< ::sensor_msgs::CameraInfo_<ContainerAllocator> const>
  : std::true_type
  { };
 
template <class ContainerAllocator>
struct HasHeader< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
  : std::true_type
  { };
 
template <class ContainerAllocator>
struct HasHeader< ::sensor_msgs::CameraInfo_<ContainerAllocator> const>
  : std::true_type
  { };
 
 
template<class ContainerAllocator>
struct MD5Sum< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
{
  static const char* value()
  {
    return "c9a58c1b0b154e0e6da7578cb991d214";
  }
 
  static const char* value(const ::sensor_msgs::CameraInfo_<ContainerAllocator>&) { return value(); }
  static const uint64_t static_value1 = 0xc9a58c1b0b154e0eULL;
  static const uint64_t static_value2 = 0x6da7578cb991d214ULL;
};
 
template<class ContainerAllocator>
struct DataType< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
{
  static const char* value()
  {
    return "sensor_msgs/CameraInfo";
  }
 
  static const char* value(const ::sensor_msgs::CameraInfo_<ContainerAllocator>&) { return value(); }
};
 
template<class ContainerAllocator>
struct Definition< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
{
  static const char* value()
  {
    return "# This message defines meta information for a camera. It should be in a\n\
# camera namespace on topic \"camera_info\" and accompanied by up to five\n\
# image topics named:\n\
#\n\
#   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
#   image            - monochrome, distorted\n\
#   image_color      - color, distorted\n\
#   image_rect       - monochrome, rectified\n\
#   image_rect_color - color, rectified\n\
#\n\
# The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
# for producing the four processed image topics from image_raw and\n\
# camera_info. The meaning of the camera parameters are described in\n\
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
#\n\
# The image_geometry package provides a user-friendly interface to\n\
# common operations using this meta information. If you want to, e.g.,\n\
# project a 3d point into image coordinates, we strongly recommend\n\
# using image_geometry.\n\
#\n\
# If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
# zeroed out. In particular, clients may assume that K[0] == 0.0\n\
# indicates an uncalibrated camera.\n\
\n\
#######################################################################\n\
#                     Image acquisition info                          #\n\
#######################################################################\n\
\n\
# Time of image acquisition, camera coordinate frame ID\n\
Header header    # Header timestamp should be acquisition time of image\n\
                 # Header frame_id should be optical frame of camera\n\
                 # origin of frame should be optical center of camera\n\
                 # +x should point to the right in the image\n\
                 # +y should point down in the image\n\
                 # +z should point into the plane of the image\n\
\n\
\n\
#######################################################################\n\
#                      Calibration Parameters                         #\n\
#######################################################################\n\
# These are fixed during camera calibration. Their values will be the #\n\
# same in all messages until the camera is recalibrated. Note that    #\n\
# self-calibrating systems may \"recalibrate\" frequently.              #\n\
#                                                                     #\n\
# The internal parameters can be used to warp a raw (distorted) image #\n\
# to:                                                                 #\n\
#   1. An undistorted image (requires D and K)                        #\n\
#   2. A rectified image (requires D, K, R)                           #\n\
# The projection matrix P projects 3D points into the rectified image.#\n\
#######################################################################\n\
\n\
# The image dimensions with which the camera was calibrated. Normally\n\
# this will be the full camera resolution in pixels.\n\
uint32 height\n\
uint32 width\n\
\n\
# The distortion model used. Supported models are listed in\n\
# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
# simple model of radial and tangential distortion - is sufficient.\n\
string distortion_model\n\
\n\
# The distortion parameters, size depending on the distortion model.\n\
# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
float64[] D\n\
\n\
# Intrinsic camera matrix for the raw (distorted) images.\n\
#     [fx  0 cx]\n\
# K = [ 0 fy cy]\n\
#     [ 0  0  1]\n\
# Projects 3D points in the camera coordinate frame to 2D pixel\n\
# coordinates using the focal lengths (fx, fy) and principal point\n\
# (cx, cy).\n\
float64[9]  K # 3x3 row-major matrix\n\
\n\
# Rectification matrix (stereo cameras only)\n\
# A rotation matrix aligning the camera coordinate system to the ideal\n\
# stereo image plane so that epipolar lines in both stereo images are\n\
# parallel.\n\
float64[9]  R # 3x3 row-major matrix\n\
\n\
# Projection/camera matrix\n\
#     [fx'  0  cx' Tx]\n\
# P = [ 0  fy' cy' Ty]\n\
#     [ 0   0   1   0]\n\
# By convention, this matrix specifies the intrinsic (camera) matrix\n\
#  of the processed (rectified) image. That is, the left 3x3 portion\n\
#  is the normal camera intrinsic matrix for the rectified image.\n\
# It projects 3D points in the camera coordinate frame to 2D pixel\n\
#  coordinates using the focal lengths (fx', fy') and principal point\n\
#  (cx', cy') - these may differ from the values in K.\n\
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
#  also have R = the identity and P[1:3,1:3] = K.\n\
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
#  position of the optical center of the second camera in the first\n\
#  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
#  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
#  Tx = -fx' * B, where B is the baseline between the cameras.\n\
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
#  the rectified image is given by:\n\
#  [u v w]' = P * [X Y Z 1]'\n\
#         x = u / w\n\
#         y = v / w\n\
#  This holds for both images of a stereo pair.\n\
float64[12] P # 3x4 row-major matrix\n\
\n\
\n\
#######################################################################\n\
#                      Operational Parameters                         #\n\
#######################################################################\n\
# These define the image region actually captured by the camera       #\n\
# driver. Although they affect the geometry of the output image, they #\n\
# may be changed freely without recalibrating the camera.             #\n\
#######################################################################\n\
\n\
# Binning refers here to any camera setting which combines rectangular\n\
#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
#  resolution of the output image to\n\
#  (width / binning_x) x (height / binning_y).\n\
# The default values binning_x = binning_y = 0 is considered the same\n\
#  as binning_x = binning_y = 1 (no subsampling).\n\
uint32 binning_x\n\
uint32 binning_y\n\
\n\
# Region of interest (subwindow of full camera resolution), given in\n\
#  full resolution (unbinned) image coordinates. A particular ROI\n\
#  always denotes the same window of pixels on the camera sensor,\n\
#  regardless of binning settings.\n\
# The default setting of roi (all values 0) is considered the same as\n\
#  full resolution (roi.width = width, roi.height = height).\n\
RegionOfInterest roi\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: sensor_msgs/RegionOfInterest\n\
# This message is used to specify a region of interest within an image.\n\
#\n\
# When used to specify the ROI setting of the camera when the image was\n\
# taken, the height and width fields should either match the height and\n\
# width fields for the associated image; or height = width = 0\n\
# indicates that the full resolution image was captured.\n\
\n\
uint32 x_offset  # Leftmost pixel of the ROI\n\
                 # (0 if the ROI includes the left edge of the image)\n\
uint32 y_offset  # Topmost pixel of the ROI\n\
                 # (0 if the ROI includes the top edge of the image)\n\
uint32 height    # Height of ROI\n\
uint32 width     # Width of ROI\n\
\n\
# True if a distinct rectified ROI should be calculated from the \"raw\"\n\
# ROI in this message. Typically this should be False if the full image\n\
# is captured (ROI not used), and True if a subwindow is captured (ROI\n\
# used).\n\
bool do_rectify\n\
";
  }
 
  static const char* value(const ::sensor_msgs::CameraInfo_<ContainerAllocator>&) { return value(); }
};
 
} // namespace message_traits
} // namespace rs2rosinternal
 
namespace rs2rosinternal
{
namespace serialization
{
 
  template<class ContainerAllocator> struct Serializer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
  {
    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
    {
      stream.next(m.header);
      stream.next(m.height);
      stream.next(m.width);
      stream.next(m.distortion_model);
      stream.next(m.D);
      stream.next(m.K);
      stream.next(m.R);
      stream.next(m.P);
      stream.next(m.binning_x);
      stream.next(m.binning_y);
      stream.next(m.roi);
    }
 
    ROS_DECLARE_ALLINONE_SERIALIZER
  }; // struct CameraInfo_
 
} // namespace serialization
} // namespace rs2rosinternal
 
namespace rs2rosinternal
{
namespace message_operations
{
 
template<class ContainerAllocator>
struct Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sensor_msgs::CameraInfo_<ContainerAllocator>& v)
  {
    s << indent << "header: ";
    s << std::endl;
    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
    s << indent << "height: ";
    Printer<uint32_t>::stream(s, indent + "  ", v.height);
    s << indent << "width: ";
    Printer<uint32_t>::stream(s, indent + "  ", v.width);
    s << indent << "distortion_model: ";
    Printer<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits< ContainerAllocator >::template rebind_alloc< char > > >::stream(s, indent + "  ", v.distortion_model);
    s << indent << "D[]" << std::endl;
    for (size_t i = 0; i < v.D.size(); ++i)
    {
      s << indent << "  D[" << i << "]: ";
      Printer<double>::stream(s, indent + "  ", v.D[i]);
    }
    s << indent << "K[]" << std::endl;
    for (size_t i = 0; i < v.K.size(); ++i)
    {
      s << indent << "  K[" << i << "]: ";
      Printer<double>::stream(s, indent + "  ", v.K[i]);
    }
    s << indent << "R[]" << std::endl;
    for (size_t i = 0; i < v.R.size(); ++i)
    {
      s << indent << "  R[" << i << "]: ";
      Printer<double>::stream(s, indent + "  ", v.R[i]);
    }
    s << indent << "P[]" << std::endl;
    for (size_t i = 0; i < v.P.size(); ++i)
    {
      s << indent << "  P[" << i << "]: ";
      Printer<double>::stream(s, indent + "  ", v.P[i]);
    }
    s << indent << "binning_x: ";
    Printer<uint32_t>::stream(s, indent + "  ", v.binning_x);
    s << indent << "binning_y: ";
    Printer<uint32_t>::stream(s, indent + "  ", v.binning_y);
    s << indent << "roi: ";
    s << std::endl;
    Printer< ::sensor_msgs::RegionOfInterest_<ContainerAllocator> >::stream(s, indent + "  ", v.roi);
  }
};
 
} // namespace message_operations
} // namespace rs2rosinternal
 
#endif // SENSOR_MSGS_MESSAGE_CAMERAINFO_H