_DisparityImage.py

Go to the documentation of this file.

"""autogenerated by genmsg_py from DisparityImage.msg. Do not edit."""
import roslib.message
import struct

import sensor_msgs.msg
import std_msgs.msg

class DisparityImage(roslib.message.Message):
  _md5sum = "04a177815f75271039fa21f16acad8c9"
  _type = "stereo_msgs/DisparityImage"
  _has_header = True #flag to mark the presence of a Header object
  _full_text = """# Separate header for compatibility with current TimeSynchronizer.
# Likely to be removed in a later release, use image.header instead.
Header header

# Floating point disparity image. The disparities are pre-adjusted for any
# x-offset between the principal points of the two cameras (in the case
# that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)
sensor_msgs/Image image

# Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.
float32 f # Focal length, pixels
float32 T # Baseline, world units

# Subwindow of (potentially) valid disparity values.
sensor_msgs/RegionOfInterest valid_window

# The range of disparities searched.
# In the disparity image, any disparity less than min_disparity is invalid.
# The disparity search range defines the horopter, or 3D volume that the
# stereo algorithm can "see". Points with Z outside of:
#     Z_min = fT / max_disparity
#     Z_max = fT / min_disparity
# could not be found.
float32 min_disparity
float32 max_disparity

# Smallest allowed disparity increment. The smallest achievable depth range
# resolution is delta_Z = (Z^2/fT)*delta_d.
float32 delta_d

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

================================================================================
MSG: sensor_msgs/Image
# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#

Header header        # Header timestamp should be acquisition time of image
                     # Header frame_id should be optical frame of camera
                     # origin of frame should be optical center of cameara
                     # +x should point to the right in the image
                     # +y should point down in the image
                     # +z should point into to plane of the image
                     # If the frame_id here and the frame_id of the CameraInfo
                     # message associated with the image conflict
                     # the behavior is undefined

uint32 height         # image height, that is, number of rows
uint32 width          # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in src/image_encodings.cpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

================================================================================
MSG: sensor_msgs/RegionOfInterest
# This message is used to specify a region of interest within an image.
#
# When used to specify the ROI setting of the camera when the image was
# taken, the height and width fields should either match the height and
# width fields for the associated image; or height = width = 0
# indicates that the full resolution image was captured.

uint32 x_offset  # Leftmost pixel of the ROI
                 # (0 if the ROI includes the left edge of the image)
uint32 y_offset  # Topmost pixel of the ROI
                 # (0 if the ROI includes the top edge of the image)
uint32 height    # Height of ROI
uint32 width     # Width of ROI

# True if a distinct rectified ROI should be calculated from the "raw"
# ROI in this message. Typically this should be False if the full image
# is captured (ROI not used), and True if a subwindow is captured (ROI
# used).
bool do_rectify

"""
  __slots__ = ['header','image','f','T','valid_window','min_disparity','max_disparity','delta_d']
  _slot_types = ['Header','sensor_msgs/Image','float32','float32','sensor_msgs/RegionOfInterest','float32','float32','float32']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.
    
    The available fields are:
       header,image,f,T,valid_window,min_disparity,max_disparity,delta_d
    
    @param args: complete set of field values, in .msg order
    @param kwds: use keyword arguments corresponding to message field names
    to set specific fields. 
    """
    if args or kwds:
      super(DisparityImage, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.image is None:
        self.image = sensor_msgs.msg.Image()
      if self.f is None:
        self.f = 0.
      if self.T is None:
        self.T = 0.
      if self.valid_window is None:
        self.valid_window = sensor_msgs.msg.RegionOfInterest()
      if self.min_disparity is None:
        self.min_disparity = 0.
      if self.max_disparity is None:
        self.max_disparity = 0.
      if self.delta_d is None:
        self.delta_d = 0.
    else:
      self.header = std_msgs.msg._Header.Header()
      self.image = sensor_msgs.msg.Image()
      self.f = 0.
      self.T = 0.
      self.valid_window = sensor_msgs.msg.RegionOfInterest()
      self.min_disparity = 0.
      self.max_disparity = 0.
      self.delta_d = 0.

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    @param buff: buffer
    @type  buff: StringIO
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.image.header.seq, _x.image.header.stamp.secs, _x.image.header.stamp.nsecs))
      _x = self.image.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.image.height, _x.image.width))
      _x = self.image.encoding
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.image.is_bigendian, _x.image.step))
      _x = self.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2f4IB3f.pack(_x.f, _x.T, _x.valid_window.x_offset, _x.valid_window.y_offset, _x.valid_window.height, _x.valid_window.width, _x.valid_window.do_rectify, _x.min_disparity, _x.max_disparity, _x.delta_d))
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    @param str: byte array of serialized message
    @type  str: str
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.image is None:
        self.image = sensor_msgs.msg.Image()
      if self.valid_window is None:
        self.valid_window = sensor_msgs.msg.RegionOfInterest()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.image.header.seq, _x.image.header.stamp.secs, _x.image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.image.height, _x.image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.image.is_bigendian, _x.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.image.data = str[start:end]
      _x = self
      start = end
      end += 37
      (_x.f, _x.T, _x.valid_window.x_offset, _x.valid_window.y_offset, _x.valid_window.height, _x.valid_window.width, _x.valid_window.do_rectify, _x.min_disparity, _x.max_disparity, _x.delta_d,) = _struct_2f4IB3f.unpack(str[start:end])
      self.valid_window.do_rectify = bool(self.valid_window.do_rectify)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    @param buff: buffer
    @type  buff: StringIO
    @param numpy: numpy python module
    @type  numpy module
    """
    try:
      _x = self
      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
      _x = self.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_3I.pack(_x.image.header.seq, _x.image.header.stamp.secs, _x.image.header.stamp.nsecs))
      _x = self.image.header.frame_id
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2I.pack(_x.image.height, _x.image.width))
      _x = self.image.encoding
      length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_BI.pack(_x.image.is_bigendian, _x.image.step))
      _x = self.image.data
      length = len(_x)
      # - if encoded as a list instead, serialize as bytes instead of string
      if type(_x) in [list, tuple]:
        buff.write(struct.pack('<I%sB'%length, length, *_x))
      else:
        buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self
      buff.write(_struct_2f4IB3f.pack(_x.f, _x.T, _x.valid_window.x_offset, _x.valid_window.y_offset, _x.valid_window.height, _x.valid_window.width, _x.valid_window.do_rectify, _x.min_disparity, _x.max_disparity, _x.delta_d))
    except struct.error, se: self._check_types(se)
    except TypeError, te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    @param str: byte array of serialized message
    @type  str: str
    @param numpy: numpy python module
    @type  numpy: module
    """
    try:
      if self.header is None:
        self.header = std_msgs.msg._Header.Header()
      if self.image is None:
        self.image = sensor_msgs.msg.Image()
      if self.valid_window is None:
        self.valid_window = sensor_msgs.msg.RegionOfInterest()
      end = 0
      _x = self
      start = end
      end += 12
      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 12
      (_x.image.header.seq, _x.image.header.stamp.secs, _x.image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.image.header.frame_id = str[start:end]
      _x = self
      start = end
      end += 8
      (_x.image.height, _x.image.width,) = _struct_2I.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.image.encoding = str[start:end]
      _x = self
      start = end
      end += 5
      (_x.image.is_bigendian, _x.image.step,) = _struct_BI.unpack(str[start:end])
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      self.image.data = str[start:end]
      _x = self
      start = end
      end += 37
      (_x.f, _x.T, _x.valid_window.x_offset, _x.valid_window.y_offset, _x.valid_window.height, _x.valid_window.width, _x.valid_window.do_rectify, _x.min_disparity, _x.max_disparity, _x.delta_d,) = _struct_2f4IB3f.unpack(str[start:end])
      self.valid_window.do_rectify = bool(self.valid_window.do_rectify)
      return self
    except struct.error, e:
      raise roslib.message.DeserializationError(e) #most likely buffer underfill

_struct_I = roslib.message.struct_I
_struct_2f4IB3f = struct.Struct("<2f4IB3f")
_struct_3I = struct.Struct("<3I")
_struct_2I = struct.Struct("<2I")
_struct_BI = struct.Struct("<BI")

---

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