DisparityImage.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-common-msgs-1.4.0/debian/ros-diamondback-common-msgs/opt/ros/diamondback/stacks/common_msgs/stereo_msgs/msg/DisparityImage.msg */
#ifndef STEREO_MSGS_MESSAGE_DISPARITYIMAGE_H
#define STEREO_MSGS_MESSAGE_DISPARITYIMAGE_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "std_msgs/Header.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/RegionOfInterest.h"

namespace stereo_msgs
{
template <class ContainerAllocator>
struct DisparityImage_ : public ros::Message
{
  typedef DisparityImage_<ContainerAllocator> Type;

  DisparityImage_()
  : header()
  , image()
  , f(0.0)
  , T(0.0)
  , valid_window()
  , min_disparity(0.0)
  , max_disparity(0.0)
  , delta_d(0.0)
  {
  }

  DisparityImage_(const ContainerAllocator& _alloc)
  : header(_alloc)
  , image(_alloc)
  , f(0.0)
  , T(0.0)
  , valid_window(_alloc)
  , min_disparity(0.0)
  , max_disparity(0.0)
  , delta_d(0.0)
  {
  }

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

  typedef  ::sensor_msgs::Image_<ContainerAllocator>  _image_type;
   ::sensor_msgs::Image_<ContainerAllocator>  image;

  typedef float _f_type;
  float f;

  typedef float _T_type;
  float T;

  typedef  ::sensor_msgs::RegionOfInterest_<ContainerAllocator>  _valid_window_type;
   ::sensor_msgs::RegionOfInterest_<ContainerAllocator>  valid_window;

  typedef float _min_disparity_type;
  float min_disparity;

  typedef float _max_disparity_type;
  float max_disparity;

  typedef float _delta_d_type;
  float delta_d;


private:
  static const char* __s_getDataType_() { return "stereo_msgs/DisparityImage"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "04a177815f75271039fa21f16acad8c9"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "# Separate header for compatibility with current TimeSynchronizer.\n\
# Likely to be removed in a later release, use image.header instead.\n\
Header header\n\
\n\
# Floating point disparity image. The disparities are pre-adjusted for any\n\
# x-offset between the principal points of the two cameras (in the case\n\
# that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)\n\
sensor_msgs/Image image\n\
\n\
# Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.\n\
float32 f # Focal length, pixels\n\
float32 T # Baseline, world units\n\
\n\
# Subwindow of (potentially) valid disparity values.\n\
sensor_msgs/RegionOfInterest valid_window\n\
\n\
# The range of disparities searched.\n\
# In the disparity image, any disparity less than min_disparity is invalid.\n\
# The disparity search range defines the horopter, or 3D volume that the\n\
# stereo algorithm can \"see\". Points with Z outside of:\n\
#     Z_min = fT / max_disparity\n\
#     Z_max = fT / min_disparity\n\
# could not be found.\n\
float32 min_disparity\n\
float32 max_disparity\n\
\n\
# Smallest allowed disparity increment. The smallest achievable depth range\n\
# resolution is delta_Z = (Z^2/fT)*delta_d.\n\
float32 delta_d\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/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\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 cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\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\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, header);
    ros::serialization::serialize(stream, image);
    ros::serialization::serialize(stream, f);
    ros::serialization::serialize(stream, T);
    ros::serialization::serialize(stream, valid_window);
    ros::serialization::serialize(stream, min_disparity);
    ros::serialization::serialize(stream, max_disparity);
    ros::serialization::serialize(stream, delta_d);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, header);
    ros::serialization::deserialize(stream, image);
    ros::serialization::deserialize(stream, f);
    ros::serialization::deserialize(stream, T);
    ros::serialization::deserialize(stream, valid_window);
    ros::serialization::deserialize(stream, min_disparity);
    ros::serialization::deserialize(stream, max_disparity);
    ros::serialization::deserialize(stream, delta_d);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(header);
    size += ros::serialization::serializationLength(image);
    size += ros::serialization::serializationLength(f);
    size += ros::serialization::serializationLength(T);
    size += ros::serialization::serializationLength(valid_window);
    size += ros::serialization::serializationLength(min_disparity);
    size += ros::serialization::serializationLength(max_disparity);
    size += ros::serialization::serializationLength(delta_d);
    return size;
  }

  typedef boost::shared_ptr< ::stereo_msgs::DisparityImage_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::stereo_msgs::DisparityImage_<ContainerAllocator>  const> ConstPtr;
}; // struct DisparityImage
typedef  ::stereo_msgs::DisparityImage_<std::allocator<void> > DisparityImage;

typedef boost::shared_ptr< ::stereo_msgs::DisparityImage> DisparityImagePtr;
typedef boost::shared_ptr< ::stereo_msgs::DisparityImage const> DisparityImageConstPtr;


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

} // namespace stereo_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::stereo_msgs::DisparityImage_<ContainerAllocator> > {
  static const char* value() 
  {
    return "04a177815f75271039fa21f16acad8c9";
  }

  static const char* value(const  ::stereo_msgs::DisparityImage_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x04a177815f752710ULL;
  static const uint64_t static_value2 = 0x39fa21f16acad8c9ULL;
};

template<class ContainerAllocator>
struct DataType< ::stereo_msgs::DisparityImage_<ContainerAllocator> > {
  static const char* value() 
  {
    return "stereo_msgs/DisparityImage";
  }

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

template<class ContainerAllocator>
struct Definition< ::stereo_msgs::DisparityImage_<ContainerAllocator> > {
  static const char* value() 
  {
    return "# Separate header for compatibility with current TimeSynchronizer.\n\
# Likely to be removed in a later release, use image.header instead.\n\
Header header\n\
\n\
# Floating point disparity image. The disparities are pre-adjusted for any\n\
# x-offset between the principal points of the two cameras (in the case\n\
# that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)\n\
sensor_msgs/Image image\n\
\n\
# Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.\n\
float32 f # Focal length, pixels\n\
float32 T # Baseline, world units\n\
\n\
# Subwindow of (potentially) valid disparity values.\n\
sensor_msgs/RegionOfInterest valid_window\n\
\n\
# The range of disparities searched.\n\
# In the disparity image, any disparity less than min_disparity is invalid.\n\
# The disparity search range defines the horopter, or 3D volume that the\n\
# stereo algorithm can \"see\". Points with Z outside of:\n\
#     Z_min = fT / max_disparity\n\
#     Z_max = fT / min_disparity\n\
# could not be found.\n\
float32 min_disparity\n\
float32 max_disparity\n\
\n\
# Smallest allowed disparity increment. The smallest achievable depth range\n\
# resolution is delta_Z = (Z^2/fT)*delta_d.\n\
float32 delta_d\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/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\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 cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\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\
";
  }

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

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

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::stereo_msgs::DisparityImage_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.header);
    stream.next(m.image);
    stream.next(m.f);
    stream.next(m.T);
    stream.next(m.valid_window);
    stream.next(m.min_disparity);
    stream.next(m.max_disparity);
    stream.next(m.delta_d);
  }

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

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::stereo_msgs::DisparityImage_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::stereo_msgs::DisparityImage_<ContainerAllocator> & v) 
  {
    s << indent << "header: ";
s << std::endl;
    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
    s << indent << "image: ";
s << std::endl;
    Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + "  ", v.image);
    s << indent << "f: ";
    Printer<float>::stream(s, indent + "  ", v.f);
    s << indent << "T: ";
    Printer<float>::stream(s, indent + "  ", v.T);
    s << indent << "valid_window: ";
s << std::endl;
    Printer< ::sensor_msgs::RegionOfInterest_<ContainerAllocator> >::stream(s, indent + "  ", v.valid_window);
    s << indent << "min_disparity: ";
    Printer<float>::stream(s, indent + "  ", v.min_disparity);
    s << indent << "max_disparity: ";
    Printer<float>::stream(s, indent + "  ", v.max_disparity);
    s << indent << "delta_d: ";
    Printer<float>::stream(s, indent + "  ", v.delta_d);
  }
};


} // namespace message_operations
} // namespace ros

#endif // STEREO_MSGS_MESSAGE_DISPARITYIMAGE_H

---

stereo_msgs
Author(s): Patrick Mihelich, Kurt Konolige
autogenerated on Fri Jan 11 09:39:27 2013