00001 """autogenerated by genpy from cob_object_detection_msgs/Detection.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006
00007 import geometry_msgs.msg
00008 import cob_object_detection_msgs.msg
00009 import sensor_msgs.msg
00010 import std_msgs.msg
00011
00012 class Detection(genpy.Message):
00013 _md5sum = "0e10cbf79379d085e3459569bbe22c63"
00014 _type = "cob_object_detection_msgs/Detection"
00015 _has_header = True
00016 _full_text = """Header header
00017 string label
00018 string detector
00019 float32 score
00020 Mask mask
00021 geometry_msgs/PoseStamped pose
00022 geometry_msgs/Point bounding_box_lwh
00023
00024 ================================================================================
00025 MSG: std_msgs/Header
00026 # Standard metadata for higher-level stamped data types.
00027 # This is generally used to communicate timestamped data
00028 # in a particular coordinate frame.
00029 #
00030 # sequence ID: consecutively increasing ID
00031 uint32 seq
00032 #Two-integer timestamp that is expressed as:
00033 # * stamp.secs: seconds (stamp_secs) since epoch
00034 # * stamp.nsecs: nanoseconds since stamp_secs
00035 # time-handling sugar is provided by the client library
00036 time stamp
00037 #Frame this data is associated with
00038 # 0: no frame
00039 # 1: global frame
00040 string frame_id
00041
00042 ================================================================================
00043 MSG: cob_object_detection_msgs/Mask
00044 # this message is used to mark where an object is present in an image
00045 # this can be done either by a roi region on the image (less precise) or a mask (more precise)
00046
00047 Rect roi
00048
00049 # in the case when mask is used, 'roi' specifies the image region and 'mask'
00050 # (which should be of the same size) a binary mask in that region
00051 sensor_msgs/Image mask
00052
00053 # in the case there is 3D data available, 'indices' are used to index the
00054 # part of the point cloud representing the object
00055 #pcl/PointIndices indices
00056
00057 ================================================================================
00058 MSG: cob_object_detection_msgs/Rect
00059 int32 x
00060 int32 y
00061 int32 width
00062 int32 height
00063
00064 ================================================================================
00065 MSG: sensor_msgs/Image
00066 # This message contains an uncompressed image
00067 # (0, 0) is at top-left corner of image
00068 #
00069
00070 Header header # Header timestamp should be acquisition time of image
00071 # Header frame_id should be optical frame of camera
00072 # origin of frame should be optical center of cameara
00073 # +x should point to the right in the image
00074 # +y should point down in the image
00075 # +z should point into to plane of the image
00076 # If the frame_id here and the frame_id of the CameraInfo
00077 # message associated with the image conflict
00078 # the behavior is undefined
00079
00080 uint32 height # image height, that is, number of rows
00081 uint32 width # image width, that is, number of columns
00082
00083 # The legal values for encoding are in file src/image_encodings.cpp
00084 # If you want to standardize a new string format, join
00085 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.
00086
00087 string encoding # Encoding of pixels -- channel meaning, ordering, size
00088 # taken from the list of strings in src/image_encodings.cpp
00089
00090 uint8 is_bigendian # is this data bigendian?
00091 uint32 step # Full row length in bytes
00092 uint8[] data # actual matrix data, size is (step * rows)
00093
00094 ================================================================================
00095 MSG: geometry_msgs/PoseStamped
00096 # A Pose with reference coordinate frame and timestamp
00097 Header header
00098 Pose pose
00099
00100 ================================================================================
00101 MSG: geometry_msgs/Pose
00102 # A representation of pose in free space, composed of postion and orientation.
00103 Point position
00104 Quaternion orientation
00105
00106 ================================================================================
00107 MSG: geometry_msgs/Point
00108 # This contains the position of a point in free space
00109 float64 x
00110 float64 y
00111 float64 z
00112
00113 ================================================================================
00114 MSG: geometry_msgs/Quaternion
00115 # This represents an orientation in free space in quaternion form.
00116
00117 float64 x
00118 float64 y
00119 float64 z
00120 float64 w
00121
00122 """
00123 __slots__ = ['header','label','detector','score','mask','pose','bounding_box_lwh']
00124 _slot_types = ['std_msgs/Header','string','string','float32','cob_object_detection_msgs/Mask','geometry_msgs/PoseStamped','geometry_msgs/Point']
00125
00126 def __init__(self, *args, **kwds):
00127 """
00128 Constructor. Any message fields that are implicitly/explicitly
00129 set to None will be assigned a default value. The recommend
00130 use is keyword arguments as this is more robust to future message
00131 changes. You cannot mix in-order arguments and keyword arguments.
00132
00133 The available fields are:
00134 header,label,detector,score,mask,pose,bounding_box_lwh
00135
00136 :param args: complete set of field values, in .msg order
00137 :param kwds: use keyword arguments corresponding to message field names
00138 to set specific fields.
00139 """
00140 if args or kwds:
00141 super(Detection, self).__init__(*args, **kwds)
00142
00143 if self.header is None:
00144 self.header = std_msgs.msg.Header()
00145 if self.label is None:
00146 self.label = ''
00147 if self.detector is None:
00148 self.detector = ''
00149 if self.score is None:
00150 self.score = 0.
00151 if self.mask is None:
00152 self.mask = cob_object_detection_msgs.msg.Mask()
00153 if self.pose is None:
00154 self.pose = geometry_msgs.msg.PoseStamped()
00155 if self.bounding_box_lwh is None:
00156 self.bounding_box_lwh = geometry_msgs.msg.Point()
00157 else:
00158 self.header = std_msgs.msg.Header()
00159 self.label = ''
00160 self.detector = ''
00161 self.score = 0.
00162 self.mask = cob_object_detection_msgs.msg.Mask()
00163 self.pose = geometry_msgs.msg.PoseStamped()
00164 self.bounding_box_lwh = geometry_msgs.msg.Point()
00165
00166 def _get_types(self):
00167 """
00168 internal API method
00169 """
00170 return self._slot_types
00171
00172 def serialize(self, buff):
00173 """
00174 serialize message into buffer
00175 :param buff: buffer, ``StringIO``
00176 """
00177 try:
00178 _x = self
00179 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00180 _x = self.header.frame_id
00181 length = len(_x)
00182 if python3 or type(_x) == unicode:
00183 _x = _x.encode('utf-8')
00184 length = len(_x)
00185 buff.write(struct.pack('<I%ss'%length, length, _x))
00186 _x = self.label
00187 length = len(_x)
00188 if python3 or type(_x) == unicode:
00189 _x = _x.encode('utf-8')
00190 length = len(_x)
00191 buff.write(struct.pack('<I%ss'%length, length, _x))
00192 _x = self.detector
00193 length = len(_x)
00194 if python3 or type(_x) == unicode:
00195 _x = _x.encode('utf-8')
00196 length = len(_x)
00197 buff.write(struct.pack('<I%ss'%length, length, _x))
00198 _x = self
00199 buff.write(_struct_f4i3I.pack(_x.score, _x.mask.roi.x, _x.mask.roi.y, _x.mask.roi.width, _x.mask.roi.height, _x.mask.mask.header.seq, _x.mask.mask.header.stamp.secs, _x.mask.mask.header.stamp.nsecs))
00200 _x = self.mask.mask.header.frame_id
00201 length = len(_x)
00202 if python3 or type(_x) == unicode:
00203 _x = _x.encode('utf-8')
00204 length = len(_x)
00205 buff.write(struct.pack('<I%ss'%length, length, _x))
00206 _x = self
00207 buff.write(_struct_2I.pack(_x.mask.mask.height, _x.mask.mask.width))
00208 _x = self.mask.mask.encoding
00209 length = len(_x)
00210 if python3 or type(_x) == unicode:
00211 _x = _x.encode('utf-8')
00212 length = len(_x)
00213 buff.write(struct.pack('<I%ss'%length, length, _x))
00214 _x = self
00215 buff.write(_struct_BI.pack(_x.mask.mask.is_bigendian, _x.mask.mask.step))
00216 _x = self.mask.mask.data
00217 length = len(_x)
00218
00219 if type(_x) in [list, tuple]:
00220 buff.write(struct.pack('<I%sB'%length, length, *_x))
00221 else:
00222 buff.write(struct.pack('<I%ss'%length, length, _x))
00223 _x = self
00224 buff.write(_struct_3I.pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
00225 _x = self.pose.header.frame_id
00226 length = len(_x)
00227 if python3 or type(_x) == unicode:
00228 _x = _x.encode('utf-8')
00229 length = len(_x)
00230 buff.write(struct.pack('<I%ss'%length, length, _x))
00231 _x = self
00232 buff.write(_struct_10d.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.bounding_box_lwh.x, _x.bounding_box_lwh.y, _x.bounding_box_lwh.z))
00233 except struct.error as se: self._check_types(se)
00234 except TypeError as te: self._check_types(te)
00235
00236 def deserialize(self, str):
00237 """
00238 unpack serialized message in str into this message instance
00239 :param str: byte array of serialized message, ``str``
00240 """
00241 try:
00242 if self.header is None:
00243 self.header = std_msgs.msg.Header()
00244 if self.mask is None:
00245 self.mask = cob_object_detection_msgs.msg.Mask()
00246 if self.pose is None:
00247 self.pose = geometry_msgs.msg.PoseStamped()
00248 if self.bounding_box_lwh is None:
00249 self.bounding_box_lwh = geometry_msgs.msg.Point()
00250 end = 0
00251 _x = self
00252 start = end
00253 end += 12
00254 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00255 start = end
00256 end += 4
00257 (length,) = _struct_I.unpack(str[start:end])
00258 start = end
00259 end += length
00260 if python3:
00261 self.header.frame_id = str[start:end].decode('utf-8')
00262 else:
00263 self.header.frame_id = str[start:end]
00264 start = end
00265 end += 4
00266 (length,) = _struct_I.unpack(str[start:end])
00267 start = end
00268 end += length
00269 if python3:
00270 self.label = str[start:end].decode('utf-8')
00271 else:
00272 self.label = str[start:end]
00273 start = end
00274 end += 4
00275 (length,) = _struct_I.unpack(str[start:end])
00276 start = end
00277 end += length
00278 if python3:
00279 self.detector = str[start:end].decode('utf-8')
00280 else:
00281 self.detector = str[start:end]
00282 _x = self
00283 start = end
00284 end += 32
00285 (_x.score, _x.mask.roi.x, _x.mask.roi.y, _x.mask.roi.width, _x.mask.roi.height, _x.mask.mask.header.seq, _x.mask.mask.header.stamp.secs, _x.mask.mask.header.stamp.nsecs,) = _struct_f4i3I.unpack(str[start:end])
00286 start = end
00287 end += 4
00288 (length,) = _struct_I.unpack(str[start:end])
00289 start = end
00290 end += length
00291 if python3:
00292 self.mask.mask.header.frame_id = str[start:end].decode('utf-8')
00293 else:
00294 self.mask.mask.header.frame_id = str[start:end]
00295 _x = self
00296 start = end
00297 end += 8
00298 (_x.mask.mask.height, _x.mask.mask.width,) = _struct_2I.unpack(str[start:end])
00299 start = end
00300 end += 4
00301 (length,) = _struct_I.unpack(str[start:end])
00302 start = end
00303 end += length
00304 if python3:
00305 self.mask.mask.encoding = str[start:end].decode('utf-8')
00306 else:
00307 self.mask.mask.encoding = str[start:end]
00308 _x = self
00309 start = end
00310 end += 5
00311 (_x.mask.mask.is_bigendian, _x.mask.mask.step,) = _struct_BI.unpack(str[start:end])
00312 start = end
00313 end += 4
00314 (length,) = _struct_I.unpack(str[start:end])
00315 start = end
00316 end += length
00317 if python3:
00318 self.mask.mask.data = str[start:end].decode('utf-8')
00319 else:
00320 self.mask.mask.data = str[start:end]
00321 _x = self
00322 start = end
00323 end += 12
00324 (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00325 start = end
00326 end += 4
00327 (length,) = _struct_I.unpack(str[start:end])
00328 start = end
00329 end += length
00330 if python3:
00331 self.pose.header.frame_id = str[start:end].decode('utf-8')
00332 else:
00333 self.pose.header.frame_id = str[start:end]
00334 _x = self
00335 start = end
00336 end += 80
00337 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.bounding_box_lwh.x, _x.bounding_box_lwh.y, _x.bounding_box_lwh.z,) = _struct_10d.unpack(str[start:end])
00338 return self
00339 except struct.error as e:
00340 raise genpy.DeserializationError(e)
00341
00342
00343 def serialize_numpy(self, buff, numpy):
00344 """
00345 serialize message with numpy array types into buffer
00346 :param buff: buffer, ``StringIO``
00347 :param numpy: numpy python module
00348 """
00349 try:
00350 _x = self
00351 buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00352 _x = self.header.frame_id
00353 length = len(_x)
00354 if python3 or type(_x) == unicode:
00355 _x = _x.encode('utf-8')
00356 length = len(_x)
00357 buff.write(struct.pack('<I%ss'%length, length, _x))
00358 _x = self.label
00359 length = len(_x)
00360 if python3 or type(_x) == unicode:
00361 _x = _x.encode('utf-8')
00362 length = len(_x)
00363 buff.write(struct.pack('<I%ss'%length, length, _x))
00364 _x = self.detector
00365 length = len(_x)
00366 if python3 or type(_x) == unicode:
00367 _x = _x.encode('utf-8')
00368 length = len(_x)
00369 buff.write(struct.pack('<I%ss'%length, length, _x))
00370 _x = self
00371 buff.write(_struct_f4i3I.pack(_x.score, _x.mask.roi.x, _x.mask.roi.y, _x.mask.roi.width, _x.mask.roi.height, _x.mask.mask.header.seq, _x.mask.mask.header.stamp.secs, _x.mask.mask.header.stamp.nsecs))
00372 _x = self.mask.mask.header.frame_id
00373 length = len(_x)
00374 if python3 or type(_x) == unicode:
00375 _x = _x.encode('utf-8')
00376 length = len(_x)
00377 buff.write(struct.pack('<I%ss'%length, length, _x))
00378 _x = self
00379 buff.write(_struct_2I.pack(_x.mask.mask.height, _x.mask.mask.width))
00380 _x = self.mask.mask.encoding
00381 length = len(_x)
00382 if python3 or type(_x) == unicode:
00383 _x = _x.encode('utf-8')
00384 length = len(_x)
00385 buff.write(struct.pack('<I%ss'%length, length, _x))
00386 _x = self
00387 buff.write(_struct_BI.pack(_x.mask.mask.is_bigendian, _x.mask.mask.step))
00388 _x = self.mask.mask.data
00389 length = len(_x)
00390
00391 if type(_x) in [list, tuple]:
00392 buff.write(struct.pack('<I%sB'%length, length, *_x))
00393 else:
00394 buff.write(struct.pack('<I%ss'%length, length, _x))
00395 _x = self
00396 buff.write(_struct_3I.pack(_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs))
00397 _x = self.pose.header.frame_id
00398 length = len(_x)
00399 if python3 or type(_x) == unicode:
00400 _x = _x.encode('utf-8')
00401 length = len(_x)
00402 buff.write(struct.pack('<I%ss'%length, length, _x))
00403 _x = self
00404 buff.write(_struct_10d.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.bounding_box_lwh.x, _x.bounding_box_lwh.y, _x.bounding_box_lwh.z))
00405 except struct.error as se: self._check_types(se)
00406 except TypeError as te: self._check_types(te)
00407
00408 def deserialize_numpy(self, str, numpy):
00409 """
00410 unpack serialized message in str into this message instance using numpy for array types
00411 :param str: byte array of serialized message, ``str``
00412 :param numpy: numpy python module
00413 """
00414 try:
00415 if self.header is None:
00416 self.header = std_msgs.msg.Header()
00417 if self.mask is None:
00418 self.mask = cob_object_detection_msgs.msg.Mask()
00419 if self.pose is None:
00420 self.pose = geometry_msgs.msg.PoseStamped()
00421 if self.bounding_box_lwh is None:
00422 self.bounding_box_lwh = geometry_msgs.msg.Point()
00423 end = 0
00424 _x = self
00425 start = end
00426 end += 12
00427 (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00428 start = end
00429 end += 4
00430 (length,) = _struct_I.unpack(str[start:end])
00431 start = end
00432 end += length
00433 if python3:
00434 self.header.frame_id = str[start:end].decode('utf-8')
00435 else:
00436 self.header.frame_id = str[start:end]
00437 start = end
00438 end += 4
00439 (length,) = _struct_I.unpack(str[start:end])
00440 start = end
00441 end += length
00442 if python3:
00443 self.label = str[start:end].decode('utf-8')
00444 else:
00445 self.label = str[start:end]
00446 start = end
00447 end += 4
00448 (length,) = _struct_I.unpack(str[start:end])
00449 start = end
00450 end += length
00451 if python3:
00452 self.detector = str[start:end].decode('utf-8')
00453 else:
00454 self.detector = str[start:end]
00455 _x = self
00456 start = end
00457 end += 32
00458 (_x.score, _x.mask.roi.x, _x.mask.roi.y, _x.mask.roi.width, _x.mask.roi.height, _x.mask.mask.header.seq, _x.mask.mask.header.stamp.secs, _x.mask.mask.header.stamp.nsecs,) = _struct_f4i3I.unpack(str[start:end])
00459 start = end
00460 end += 4
00461 (length,) = _struct_I.unpack(str[start:end])
00462 start = end
00463 end += length
00464 if python3:
00465 self.mask.mask.header.frame_id = str[start:end].decode('utf-8')
00466 else:
00467 self.mask.mask.header.frame_id = str[start:end]
00468 _x = self
00469 start = end
00470 end += 8
00471 (_x.mask.mask.height, _x.mask.mask.width,) = _struct_2I.unpack(str[start:end])
00472 start = end
00473 end += 4
00474 (length,) = _struct_I.unpack(str[start:end])
00475 start = end
00476 end += length
00477 if python3:
00478 self.mask.mask.encoding = str[start:end].decode('utf-8')
00479 else:
00480 self.mask.mask.encoding = str[start:end]
00481 _x = self
00482 start = end
00483 end += 5
00484 (_x.mask.mask.is_bigendian, _x.mask.mask.step,) = _struct_BI.unpack(str[start:end])
00485 start = end
00486 end += 4
00487 (length,) = _struct_I.unpack(str[start:end])
00488 start = end
00489 end += length
00490 if python3:
00491 self.mask.mask.data = str[start:end].decode('utf-8')
00492 else:
00493 self.mask.mask.data = str[start:end]
00494 _x = self
00495 start = end
00496 end += 12
00497 (_x.pose.header.seq, _x.pose.header.stamp.secs, _x.pose.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00498 start = end
00499 end += 4
00500 (length,) = _struct_I.unpack(str[start:end])
00501 start = end
00502 end += length
00503 if python3:
00504 self.pose.header.frame_id = str[start:end].decode('utf-8')
00505 else:
00506 self.pose.header.frame_id = str[start:end]
00507 _x = self
00508 start = end
00509 end += 80
00510 (_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w, _x.bounding_box_lwh.x, _x.bounding_box_lwh.y, _x.bounding_box_lwh.z,) = _struct_10d.unpack(str[start:end])
00511 return self
00512 except struct.error as e:
00513 raise genpy.DeserializationError(e)
00514
00515 _struct_I = genpy.struct_I
00516 _struct_3I = struct.Struct("<3I")
00517 _struct_BI = struct.Struct("<BI")
00518 _struct_f4i3I = struct.Struct("<f4i3I")
00519 _struct_10d = struct.Struct("<10d")
00520 _struct_2I = struct.Struct("<2I")
