ImagePercept.h

Go to the documentation of this file.

/* Auto-generated by genmsg_cpp for file /home/rosbuild/hudson/workspace/doc-groovy-hector_worldmodel/doc_stacks/2014-10-06_00-33-41.120387/hector_worldmodel/hector_worldmodel_msgs/msg/ImagePercept.msg */
#ifndef HECTOR_WORLDMODEL_MSGS_MESSAGE_IMAGEPERCEPT_H
#define HECTOR_WORLDMODEL_MSGS_MESSAGE_IMAGEPERCEPT_H
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"

#include "ros/macros.h"

#include "ros/assert.h"

#include "std_msgs/Header.h"
#include "sensor_msgs/CameraInfo.h"
#include "hector_worldmodel_msgs/PerceptInfo.h"

namespace hector_worldmodel_msgs
{
template <class ContainerAllocator>
struct ImagePercept_ {
  typedef ImagePercept_<ContainerAllocator> Type;

  ImagePercept_()
  : header()
  , camera_info()
  , x(0.0)
  , y(0.0)
  , width(0.0)
  , height(0.0)
  , distance(0.0)
  , info()
  {
  }

  ImagePercept_(const ContainerAllocator& _alloc)
  : header(_alloc)
  , camera_info(_alloc)
  , x(0.0)
  , y(0.0)
  , width(0.0)
  , height(0.0)
  , distance(0.0)
  , info(_alloc)
  {
  }

  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
   ::std_msgs::Header_<ContainerAllocator>  header;

  typedef  ::sensor_msgs::CameraInfo_<ContainerAllocator>  _camera_info_type;
   ::sensor_msgs::CameraInfo_<ContainerAllocator>  camera_info;

  typedef float _x_type;
  float x;

  typedef float _y_type;
  float y;

  typedef float _width_type;
  float width;

  typedef float _height_type;
  float height;

  typedef float _distance_type;
  float distance;

  typedef  ::hector_worldmodel_msgs::PerceptInfo_<ContainerAllocator>  _info_type;
   ::hector_worldmodel_msgs::PerceptInfo_<ContainerAllocator>  info;


  typedef boost::shared_ptr< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator>  const> ConstPtr;
  boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
}; // struct ImagePercept
typedef  ::hector_worldmodel_msgs::ImagePercept_<std::allocator<void> > ImagePercept;

typedef boost::shared_ptr< ::hector_worldmodel_msgs::ImagePercept> ImagePerceptPtr;
typedef boost::shared_ptr< ::hector_worldmodel_msgs::ImagePercept const> ImagePerceptConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace hector_worldmodel_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator> struct IsMessage< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct IsMessage< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator>  const> : public TrueType {};
template<class ContainerAllocator>
struct MD5Sum< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> > {
  static const char* value() 
  {
    return "cfe1ba9ccbb3e43950b420f7336a3c6c";
  }

  static const char* value(const  ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0xcfe1ba9ccbb3e439ULL;
  static const uint64_t static_value2 = 0x50b420f7336a3c6cULL;
};

template<class ContainerAllocator>
struct DataType< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> > {
  static const char* value() 
  {
    return "hector_worldmodel_msgs/ImagePercept";
  }

  static const char* value(const  ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# hector_worldmodel_msgs/ImagePercept\n\
# This message represents an observation of an object in a single image.\n\
\n\
# The header should equal the header of the corresponding image.\n\
Header header\n\
\n\
# The camera info which is needed to project from image coordinates to world coordinates\n\
sensor_msgs/CameraInfo camera_info\n\
\n\
# Center coordinates of the percept in image coordinates\n\
# x: axis points to the right in the image\n\
# y: axis points downward in the image\n\
float32 x\n\
float32 y\n\
\n\
# Normalized size of the percept in image coordinates (or 0.0)\n\
float32 width\n\
float32 height\n\
\n\
# Distance estimate (slope distance) (or 0.0)\n\
float32 distance\n\
\n\
# Additional information about the percept\n\
PerceptInfo info\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.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\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/CameraInfo\n\
# 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 sufficent.\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: 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\
\n\
================================================================================\n\
MSG: hector_worldmodel_msgs/PerceptInfo\n\
# hector_worldmodel_msgs/PerceptInfo\n\
# This message contains information about the estimated class and object identity \n\
\n\
# A string identifying the object's class (all objects of a class look the same)\n\
string class_id\n\
\n\
# The class association support of the observation\n\
# The support is the log odd likelihood ratio given by log(p(y/observation y belongs to object of class class_id) / p(y/observation y is a false positive))\n\
float32 class_support\n\
\n\
# A string identifying a specific object\n\
string object_id\n\
\n\
# The object association support of the observation\n\
# The support is the log odd likelihood ratio given by log(p(observation belongs to object object_id) / p(observation is false positive or belongs to another object))\n\
float32 object_support\n\
\n\
# A string that contains the name or a description of the specific object\n\
string name\n\
\n\
";
  }

  static const char* value(const  ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator> struct HasHeader< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> > : public TrueType {};
template<class ContainerAllocator> struct HasHeader< const ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> > : public TrueType {};
} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.header);
    stream.next(m.camera_info);
    stream.next(m.x);
    stream.next(m.y);
    stream.next(m.width);
    stream.next(m.height);
    stream.next(m.distance);
    stream.next(m.info);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct ImagePercept_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::hector_worldmodel_msgs::ImagePercept_<ContainerAllocator> & v) 
  {
    s << indent << "header: ";
s << std::endl;
    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
    s << indent << "camera_info: ";
s << std::endl;
    Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >::stream(s, indent + "  ", v.camera_info);
    s << indent << "x: ";
    Printer<float>::stream(s, indent + "  ", v.x);
    s << indent << "y: ";
    Printer<float>::stream(s, indent + "  ", v.y);
    s << indent << "width: ";
    Printer<float>::stream(s, indent + "  ", v.width);
    s << indent << "height: ";
    Printer<float>::stream(s, indent + "  ", v.height);
    s << indent << "distance: ";
    Printer<float>::stream(s, indent + "  ", v.distance);
    s << indent << "info: ";
s << std::endl;
    Printer< ::hector_worldmodel_msgs::PerceptInfo_<ContainerAllocator> >::stream(s, indent + "  ", v.info);
  }
};


} // namespace message_operations
} // namespace ros

#endif // HECTOR_WORLDMODEL_MSGS_MESSAGE_IMAGEPERCEPT_H