00001
00002 #ifndef RGBD_ASSEMBLER_SERVICE_RGBDASSEMBLY_H
00003 #define RGBD_ASSEMBLER_SERVICE_RGBDASSEMBLY_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 "ros/service_traits.h"
00018
00019
00020
00021 #include "sensor_msgs/PointCloud2.h"
00022 #include "sensor_msgs/Image.h"
00023 #include "stereo_msgs/DisparityImage.h"
00024 #include "sensor_msgs/CameraInfo.h"
00025
00026 namespace rgbd_assembler
00027 {
00028 template <class ContainerAllocator>
00029 struct RgbdAssemblyRequest_ {
00030 typedef RgbdAssemblyRequest_<ContainerAllocator> Type;
00031
00032 RgbdAssemblyRequest_()
00033 {
00034 }
00035
00036 RgbdAssemblyRequest_(const ContainerAllocator& _alloc)
00037 {
00038 }
00039
00040
00041 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > Ptr;
00042 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> const> ConstPtr;
00043 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00044 };
00045 typedef ::rgbd_assembler::RgbdAssemblyRequest_<std::allocator<void> > RgbdAssemblyRequest;
00046
00047 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest> RgbdAssemblyRequestPtr;
00048 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyRequest const> RgbdAssemblyRequestConstPtr;
00049
00050
00051
00052 template <class ContainerAllocator>
00053 struct RgbdAssemblyResponse_ {
00054 typedef RgbdAssemblyResponse_<ContainerAllocator> Type;
00055
00056 RgbdAssemblyResponse_()
00057 : point_cloud()
00058 , image()
00059 , disparity_image()
00060 , camera_info()
00061 , result(0)
00062 {
00063 }
00064
00065 RgbdAssemblyResponse_(const ContainerAllocator& _alloc)
00066 : point_cloud(_alloc)
00067 , image(_alloc)
00068 , disparity_image(_alloc)
00069 , camera_info(_alloc)
00070 , result(0)
00071 {
00072 }
00073
00074 typedef ::sensor_msgs::PointCloud2_<ContainerAllocator> _point_cloud_type;
00075 ::sensor_msgs::PointCloud2_<ContainerAllocator> point_cloud;
00076
00077 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00078 ::sensor_msgs::Image_<ContainerAllocator> image;
00079
00080 typedef ::stereo_msgs::DisparityImage_<ContainerAllocator> _disparity_image_type;
00081 ::stereo_msgs::DisparityImage_<ContainerAllocator> disparity_image;
00082
00083 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _camera_info_type;
00084 ::sensor_msgs::CameraInfo_<ContainerAllocator> camera_info;
00085
00086 typedef int32_t _result_type;
00087 int32_t result;
00088
00089 enum { OTHER_ERROR = 1 };
00090 enum { SUCCESS = 2 };
00091
00092 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > Ptr;
00093 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> const> ConstPtr;
00094 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00095 };
00096 typedef ::rgbd_assembler::RgbdAssemblyResponse_<std::allocator<void> > RgbdAssemblyResponse;
00097
00098 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse> RgbdAssemblyResponsePtr;
00099 typedef boost::shared_ptr< ::rgbd_assembler::RgbdAssemblyResponse const> RgbdAssemblyResponseConstPtr;
00100
00101
00102 struct RgbdAssembly
00103 {
00104
00105 typedef RgbdAssemblyRequest Request;
00106 typedef RgbdAssemblyResponse Response;
00107 Request request;
00108 Response response;
00109
00110 typedef Request RequestType;
00111 typedef Response ResponseType;
00112 };
00113 }
00114
00115 namespace ros
00116 {
00117 namespace message_traits
00118 {
00119 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > : public TrueType {};
00120 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> const> : public TrueType {};
00121 template<class ContainerAllocator>
00122 struct MD5Sum< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00123 static const char* value()
00124 {
00125 return "d41d8cd98f00b204e9800998ecf8427e";
00126 }
00127
00128 static const char* value(const ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00129 static const uint64_t static_value1 = 0xd41d8cd98f00b204ULL;
00130 static const uint64_t static_value2 = 0xe9800998ecf8427eULL;
00131 };
00132
00133 template<class ContainerAllocator>
00134 struct DataType< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00135 static const char* value()
00136 {
00137 return "rgbd_assembler/RgbdAssemblyRequest";
00138 }
00139
00140 static const char* value(const ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00141 };
00142
00143 template<class ContainerAllocator>
00144 struct Definition< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00145 static const char* value()
00146 {
00147 return "\n\
00148 \n\
00149 \n\
00150 ";
00151 }
00152
00153 static const char* value(const ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00154 };
00155
00156 template<class ContainerAllocator> struct IsFixedSize< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > : public TrueType {};
00157 }
00158 }
00159
00160
00161 namespace ros
00162 {
00163 namespace message_traits
00164 {
00165 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > : public TrueType {};
00166 template<class ContainerAllocator> struct IsMessage< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> const> : public TrueType {};
00167 template<class ContainerAllocator>
00168 struct MD5Sum< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00169 static const char* value()
00170 {
00171 return "258b6f93e1876c2777ab914303667a41";
00172 }
00173
00174 static const char* value(const ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00175 static const uint64_t static_value1 = 0x258b6f93e1876c27ULL;
00176 static const uint64_t static_value2 = 0x77ab914303667a41ULL;
00177 };
00178
00179 template<class ContainerAllocator>
00180 struct DataType< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00181 static const char* value()
00182 {
00183 return "rgbd_assembler/RgbdAssemblyResponse";
00184 }
00185
00186 static const char* value(const ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00187 };
00188
00189 template<class ContainerAllocator>
00190 struct Definition< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00191 static const char* value()
00192 {
00193 return "\n\
00194 \n\
00195 \n\
00196 \n\
00197 sensor_msgs/PointCloud2 point_cloud\n\
00198 \n\
00199 \n\
00200 sensor_msgs/Image image\n\
00201 \n\
00202 \n\
00203 stereo_msgs/DisparityImage disparity_image\n\
00204 \n\
00205 \n\
00206 sensor_msgs/CameraInfo camera_info\n\
00207 \n\
00208 \n\
00209 int32 OTHER_ERROR = 1\n\
00210 int32 SUCCESS = 2\n\
00211 int32 result\n\
00212 \n\
00213 ================================================================================\n\
00214 MSG: sensor_msgs/PointCloud2\n\
00215 # This message holds a collection of N-dimensional points, which may\n\
00216 # contain additional information such as normals, intensity, etc. The\n\
00217 # point data is stored as a binary blob, its layout described by the\n\
00218 # contents of the \"fields\" array.\n\
00219 \n\
00220 # The point cloud data may be organized 2d (image-like) or 1d\n\
00221 # (unordered). Point clouds organized as 2d images may be produced by\n\
00222 # camera depth sensors such as stereo or time-of-flight.\n\
00223 \n\
00224 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00225 # points).\n\
00226 Header header\n\
00227 \n\
00228 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00229 # 1 and width is the length of the point cloud.\n\
00230 uint32 height\n\
00231 uint32 width\n\
00232 \n\
00233 # Describes the channels and their layout in the binary data blob.\n\
00234 PointField[] fields\n\
00235 \n\
00236 bool is_bigendian # Is this data bigendian?\n\
00237 uint32 point_step # Length of a point in bytes\n\
00238 uint32 row_step # Length of a row in bytes\n\
00239 uint8[] data # Actual point data, size is (row_step*height)\n\
00240 \n\
00241 bool is_dense # True if there are no invalid points\n\
00242 \n\
00243 ================================================================================\n\
00244 MSG: std_msgs/Header\n\
00245 # Standard metadata for higher-level stamped data types.\n\
00246 # This is generally used to communicate timestamped data \n\
00247 # in a particular coordinate frame.\n\
00248 # \n\
00249 # sequence ID: consecutively increasing ID \n\
00250 uint32 seq\n\
00251 #Two-integer timestamp that is expressed as:\n\
00252 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00253 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00254 # time-handling sugar is provided by the client library\n\
00255 time stamp\n\
00256 #Frame this data is associated with\n\
00257 # 0: no frame\n\
00258 # 1: global frame\n\
00259 string frame_id\n\
00260 \n\
00261 ================================================================================\n\
00262 MSG: sensor_msgs/PointField\n\
00263 # This message holds the description of one point entry in the\n\
00264 # PointCloud2 message format.\n\
00265 uint8 INT8 = 1\n\
00266 uint8 UINT8 = 2\n\
00267 uint8 INT16 = 3\n\
00268 uint8 UINT16 = 4\n\
00269 uint8 INT32 = 5\n\
00270 uint8 UINT32 = 6\n\
00271 uint8 FLOAT32 = 7\n\
00272 uint8 FLOAT64 = 8\n\
00273 \n\
00274 string name # Name of field\n\
00275 uint32 offset # Offset from start of point struct\n\
00276 uint8 datatype # Datatype enumeration, see above\n\
00277 uint32 count # How many elements in the field\n\
00278 \n\
00279 ================================================================================\n\
00280 MSG: sensor_msgs/Image\n\
00281 # This message contains an uncompressed image\n\
00282 # (0, 0) is at top-left corner of image\n\
00283 #\n\
00284 \n\
00285 Header header # Header timestamp should be acquisition time of image\n\
00286 # Header frame_id should be optical frame of camera\n\
00287 # origin of frame should be optical center of cameara\n\
00288 # +x should point to the right in the image\n\
00289 # +y should point down in the image\n\
00290 # +z should point into to plane of the image\n\
00291 # If the frame_id here and the frame_id of the CameraInfo\n\
00292 # message associated with the image conflict\n\
00293 # the behavior is undefined\n\
00294 \n\
00295 uint32 height # image height, that is, number of rows\n\
00296 uint32 width # image width, that is, number of columns\n\
00297 \n\
00298 # The legal values for encoding are in file src/image_encodings.cpp\n\
00299 # If you want to standardize a new string format, join\n\
00300 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00301 \n\
00302 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00303 # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\
00304 \n\
00305 uint8 is_bigendian # is this data bigendian?\n\
00306 uint32 step # Full row length in bytes\n\
00307 uint8[] data # actual matrix data, size is (step * rows)\n\
00308 \n\
00309 ================================================================================\n\
00310 MSG: stereo_msgs/DisparityImage\n\
00311 # Separate header for compatibility with current TimeSynchronizer.\n\
00312 # Likely to be removed in a later release, use image.header instead.\n\
00313 Header header\n\
00314 \n\
00315 # Floating point disparity image. The disparities are pre-adjusted for any\n\
00316 # x-offset between the principal points of the two cameras (in the case\n\
00317 # that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)\n\
00318 sensor_msgs/Image image\n\
00319 \n\
00320 # Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.\n\
00321 float32 f # Focal length, pixels\n\
00322 float32 T # Baseline, world units\n\
00323 \n\
00324 # Subwindow of (potentially) valid disparity values.\n\
00325 sensor_msgs/RegionOfInterest valid_window\n\
00326 \n\
00327 # The range of disparities searched.\n\
00328 # In the disparity image, any disparity less than min_disparity is invalid.\n\
00329 # The disparity search range defines the horopter, or 3D volume that the\n\
00330 # stereo algorithm can \"see\". Points with Z outside of:\n\
00331 # Z_min = fT / max_disparity\n\
00332 # Z_max = fT / min_disparity\n\
00333 # could not be found.\n\
00334 float32 min_disparity\n\
00335 float32 max_disparity\n\
00336 \n\
00337 # Smallest allowed disparity increment. The smallest achievable depth range\n\
00338 # resolution is delta_Z = (Z^2/fT)*delta_d.\n\
00339 float32 delta_d\n\
00340 \n\
00341 ================================================================================\n\
00342 MSG: sensor_msgs/RegionOfInterest\n\
00343 # This message is used to specify a region of interest within an image.\n\
00344 #\n\
00345 # When used to specify the ROI setting of the camera when the image was\n\
00346 # taken, the height and width fields should either match the height and\n\
00347 # width fields for the associated image; or height = width = 0\n\
00348 # indicates that the full resolution image was captured.\n\
00349 \n\
00350 uint32 x_offset # Leftmost pixel of the ROI\n\
00351 # (0 if the ROI includes the left edge of the image)\n\
00352 uint32 y_offset # Topmost pixel of the ROI\n\
00353 # (0 if the ROI includes the top edge of the image)\n\
00354 uint32 height # Height of ROI\n\
00355 uint32 width # Width of ROI\n\
00356 \n\
00357 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00358 # ROI in this message. Typically this should be False if the full image\n\
00359 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00360 # used).\n\
00361 bool do_rectify\n\
00362 \n\
00363 ================================================================================\n\
00364 MSG: sensor_msgs/CameraInfo\n\
00365 # This message defines meta information for a camera. It should be in a\n\
00366 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00367 # image topics named:\n\
00368 #\n\
00369 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00370 # image - monochrome, distorted\n\
00371 # image_color - color, distorted\n\
00372 # image_rect - monochrome, rectified\n\
00373 # image_rect_color - color, rectified\n\
00374 #\n\
00375 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00376 # for producing the four processed image topics from image_raw and\n\
00377 # camera_info. The meaning of the camera parameters are described in\n\
00378 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00379 #\n\
00380 # The image_geometry package provides a user-friendly interface to\n\
00381 # common operations using this meta information. If you want to, e.g.,\n\
00382 # project a 3d point into image coordinates, we strongly recommend\n\
00383 # using image_geometry.\n\
00384 #\n\
00385 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00386 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00387 # indicates an uncalibrated camera.\n\
00388 \n\
00389 #######################################################################\n\
00390 # Image acquisition info #\n\
00391 #######################################################################\n\
00392 \n\
00393 # Time of image acquisition, camera coordinate frame ID\n\
00394 Header header # Header timestamp should be acquisition time of image\n\
00395 # Header frame_id should be optical frame of camera\n\
00396 # origin of frame should be optical center of camera\n\
00397 # +x should point to the right in the image\n\
00398 # +y should point down in the image\n\
00399 # +z should point into the plane of the image\n\
00400 \n\
00401 \n\
00402 #######################################################################\n\
00403 # Calibration Parameters #\n\
00404 #######################################################################\n\
00405 # These are fixed during camera calibration. Their values will be the #\n\
00406 # same in all messages until the camera is recalibrated. Note that #\n\
00407 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00408 # #\n\
00409 # The internal parameters can be used to warp a raw (distorted) image #\n\
00410 # to: #\n\
00411 # 1. An undistorted image (requires D and K) #\n\
00412 # 2. A rectified image (requires D, K, R) #\n\
00413 # The projection matrix P projects 3D points into the rectified image.#\n\
00414 #######################################################################\n\
00415 \n\
00416 # The image dimensions with which the camera was calibrated. Normally\n\
00417 # this will be the full camera resolution in pixels.\n\
00418 uint32 height\n\
00419 uint32 width\n\
00420 \n\
00421 # The distortion model used. Supported models are listed in\n\
00422 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00423 # simple model of radial and tangential distortion - is sufficent.\n\
00424 string distortion_model\n\
00425 \n\
00426 # The distortion parameters, size depending on the distortion model.\n\
00427 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00428 float64[] D\n\
00429 \n\
00430 # Intrinsic camera matrix for the raw (distorted) images.\n\
00431 # [fx 0 cx]\n\
00432 # K = [ 0 fy cy]\n\
00433 # [ 0 0 1]\n\
00434 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00435 # coordinates using the focal lengths (fx, fy) and principal point\n\
00436 # (cx, cy).\n\
00437 float64[9] K # 3x3 row-major matrix\n\
00438 \n\
00439 # Rectification matrix (stereo cameras only)\n\
00440 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00441 # stereo image plane so that epipolar lines in both stereo images are\n\
00442 # parallel.\n\
00443 float64[9] R # 3x3 row-major matrix\n\
00444 \n\
00445 # Projection/camera matrix\n\
00446 # [fx' 0 cx' Tx]\n\
00447 # P = [ 0 fy' cy' Ty]\n\
00448 # [ 0 0 1 0]\n\
00449 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00450 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00451 # is the normal camera intrinsic matrix for the rectified image.\n\
00452 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00453 # coordinates using the focal lengths (fx', fy') and principal point\n\
00454 # (cx', cy') - these may differ from the values in K.\n\
00455 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00456 # also have R = the identity and P[1:3,1:3] = K.\n\
00457 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00458 # position of the optical center of the second camera in the first\n\
00459 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00460 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00461 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00462 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00463 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00464 # the rectified image is given by:\n\
00465 # [u v w]' = P * [X Y Z 1]'\n\
00466 # x = u / w\n\
00467 # y = v / w\n\
00468 # This holds for both images of a stereo pair.\n\
00469 float64[12] P # 3x4 row-major matrix\n\
00470 \n\
00471 \n\
00472 #######################################################################\n\
00473 # Operational Parameters #\n\
00474 #######################################################################\n\
00475 # These define the image region actually captured by the camera #\n\
00476 # driver. Although they affect the geometry of the output image, they #\n\
00477 # may be changed freely without recalibrating the camera. #\n\
00478 #######################################################################\n\
00479 \n\
00480 # Binning refers here to any camera setting which combines rectangular\n\
00481 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00482 # resolution of the output image to\n\
00483 # (width / binning_x) x (height / binning_y).\n\
00484 # The default values binning_x = binning_y = 0 is considered the same\n\
00485 # as binning_x = binning_y = 1 (no subsampling).\n\
00486 uint32 binning_x\n\
00487 uint32 binning_y\n\
00488 \n\
00489 # Region of interest (subwindow of full camera resolution), given in\n\
00490 # full resolution (unbinned) image coordinates. A particular ROI\n\
00491 # always denotes the same window of pixels on the camera sensor,\n\
00492 # regardless of binning settings.\n\
00493 # The default setting of roi (all values 0) is considered the same as\n\
00494 # full resolution (roi.width = width, roi.height = height).\n\
00495 RegionOfInterest roi\n\
00496 \n\
00497 ";
00498 }
00499
00500 static const char* value(const ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00501 };
00502
00503 }
00504 }
00505
00506 namespace ros
00507 {
00508 namespace serialization
00509 {
00510
00511 template<class ContainerAllocator> struct Serializer< ::rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> >
00512 {
00513 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00514 {
00515 }
00516
00517 ROS_DECLARE_ALLINONE_SERIALIZER;
00518 };
00519 }
00520 }
00521
00522
00523 namespace ros
00524 {
00525 namespace serialization
00526 {
00527
00528 template<class ContainerAllocator> struct Serializer< ::rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> >
00529 {
00530 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00531 {
00532 stream.next(m.point_cloud);
00533 stream.next(m.image);
00534 stream.next(m.disparity_image);
00535 stream.next(m.camera_info);
00536 stream.next(m.result);
00537 }
00538
00539 ROS_DECLARE_ALLINONE_SERIALIZER;
00540 };
00541 }
00542 }
00543
00544 namespace ros
00545 {
00546 namespace service_traits
00547 {
00548 template<>
00549 struct MD5Sum<rgbd_assembler::RgbdAssembly> {
00550 static const char* value()
00551 {
00552 return "258b6f93e1876c2777ab914303667a41";
00553 }
00554
00555 static const char* value(const rgbd_assembler::RgbdAssembly&) { return value(); }
00556 };
00557
00558 template<>
00559 struct DataType<rgbd_assembler::RgbdAssembly> {
00560 static const char* value()
00561 {
00562 return "rgbd_assembler/RgbdAssembly";
00563 }
00564
00565 static const char* value(const rgbd_assembler::RgbdAssembly&) { return value(); }
00566 };
00567
00568 template<class ContainerAllocator>
00569 struct MD5Sum<rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00570 static const char* value()
00571 {
00572 return "258b6f93e1876c2777ab914303667a41";
00573 }
00574
00575 static const char* value(const rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00576 };
00577
00578 template<class ContainerAllocator>
00579 struct DataType<rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> > {
00580 static const char* value()
00581 {
00582 return "rgbd_assembler/RgbdAssembly";
00583 }
00584
00585 static const char* value(const rgbd_assembler::RgbdAssemblyRequest_<ContainerAllocator> &) { return value(); }
00586 };
00587
00588 template<class ContainerAllocator>
00589 struct MD5Sum<rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00590 static const char* value()
00591 {
00592 return "258b6f93e1876c2777ab914303667a41";
00593 }
00594
00595 static const char* value(const rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00596 };
00597
00598 template<class ContainerAllocator>
00599 struct DataType<rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> > {
00600 static const char* value()
00601 {
00602 return "rgbd_assembler/RgbdAssembly";
00603 }
00604
00605 static const char* value(const rgbd_assembler::RgbdAssemblyResponse_<ContainerAllocator> &) { return value(); }
00606 };
00607
00608 }
00609 }
00610
00611 #endif // RGBD_ASSEMBLER_SERVICE_RGBDASSEMBLY_H
00612