00001
00002 #ifndef CHECKERBOARD_DETECTOR2_SERVICE_DETECT_H
00003 #define CHECKERBOARD_DETECTOR2_SERVICE_DETECT_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 #include "sensor_msgs/Image.h"
00020 #include "sensor_msgs/CameraInfo.h"
00021
00022
00023 #include "checkerboard_detector2/ObjectDetection.h"
00024
00025 namespace checkerboard_detector2
00026 {
00027 template <class ContainerAllocator>
00028 struct DetectRequest_ {
00029 typedef DetectRequest_<ContainerAllocator> Type;
00030
00031 DetectRequest_()
00032 : image()
00033 , camera_info()
00034 {
00035 }
00036
00037 DetectRequest_(const ContainerAllocator& _alloc)
00038 : image(_alloc)
00039 , camera_info(_alloc)
00040 {
00041 }
00042
00043 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00044 ::sensor_msgs::Image_<ContainerAllocator> image;
00045
00046 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _camera_info_type;
00047 ::sensor_msgs::CameraInfo_<ContainerAllocator> camera_info;
00048
00049
00050 private:
00051 static const char* __s_getDataType_() { return "checkerboard_detector2/DetectRequest"; }
00052 public:
00053 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00054
00055 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00056
00057 private:
00058 static const char* __s_getMD5Sum_() { return "bfee1901edaf2aa4d9f0844a03ff634f"; }
00059 public:
00060 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00061
00062 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00063
00064 private:
00065 static const char* __s_getServerMD5Sum_() { return "7d2841c5eef2578fbb718be68316c081"; }
00066 public:
00067 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00068
00069 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00070
00071 private:
00072 static const char* __s_getMessageDefinition_() { return "\n\
00073 sensor_msgs/Image image\n\
00074 sensor_msgs/CameraInfo camera_info\n\
00075 \n\
00076 ================================================================================\n\
00077 MSG: sensor_msgs/Image\n\
00078 # This message contains an uncompressed image\n\
00079 # (0, 0) is at top-left corner of image\n\
00080 #\n\
00081 \n\
00082 Header header # Header timestamp should be acquisition time of image\n\
00083 # Header frame_id should be optical frame of camera\n\
00084 # origin of frame should be optical center of cameara\n\
00085 # +x should point to the right in the image\n\
00086 # +y should point down in the image\n\
00087 # +z should point into to plane of the image\n\
00088 # If the frame_id here and the frame_id of the CameraInfo\n\
00089 # message associated with the image conflict\n\
00090 # the behavior is undefined\n\
00091 \n\
00092 uint32 height # image height, that is, number of rows\n\
00093 uint32 width # image width, that is, number of columns\n\
00094 \n\
00095 # The legal values for encoding are in file src/image_encodings.cpp\n\
00096 # If you want to standardize a new string format, join\n\
00097 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00098 \n\
00099 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00100 # taken from the list of strings in src/image_encodings.cpp\n\
00101 \n\
00102 uint8 is_bigendian # is this data bigendian?\n\
00103 uint32 step # Full row length in bytes\n\
00104 uint8[] data # actual matrix data, size is (step * rows)\n\
00105 \n\
00106 ================================================================================\n\
00107 MSG: std_msgs/Header\n\
00108 # Standard metadata for higher-level stamped data types.\n\
00109 # This is generally used to communicate timestamped data \n\
00110 # in a particular coordinate frame.\n\
00111 # \n\
00112 # sequence ID: consecutively increasing ID \n\
00113 uint32 seq\n\
00114 #Two-integer timestamp that is expressed as:\n\
00115 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00116 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00117 # time-handling sugar is provided by the client library\n\
00118 time stamp\n\
00119 #Frame this data is associated with\n\
00120 # 0: no frame\n\
00121 # 1: global frame\n\
00122 string frame_id\n\
00123 \n\
00124 ================================================================================\n\
00125 MSG: sensor_msgs/CameraInfo\n\
00126 # This message defines meta information for a camera. It should be in a\n\
00127 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00128 # image topics named:\n\
00129 #\n\
00130 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00131 # image - monochrome, distorted\n\
00132 # image_color - color, distorted\n\
00133 # image_rect - monochrome, rectified\n\
00134 # image_rect_color - color, rectified\n\
00135 #\n\
00136 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00137 # for producing the four processed image topics from image_raw and\n\
00138 # camera_info. The meaning of the camera parameters are described in\n\
00139 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00140 #\n\
00141 # The image_geometry package provides a user-friendly interface to\n\
00142 # common operations using this meta information. If you want to, e.g.,\n\
00143 # project a 3d point into image coordinates, we strongly recommend\n\
00144 # using image_geometry.\n\
00145 #\n\
00146 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00147 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00148 # indicates an uncalibrated camera.\n\
00149 \n\
00150 #######################################################################\n\
00151 # Image acquisition info #\n\
00152 #######################################################################\n\
00153 \n\
00154 # Time of image acquisition, camera coordinate frame ID\n\
00155 Header header # Header timestamp should be acquisition time of image\n\
00156 # Header frame_id should be optical frame of camera\n\
00157 # origin of frame should be optical center of camera\n\
00158 # +x should point to the right in the image\n\
00159 # +y should point down in the image\n\
00160 # +z should point into the plane of the image\n\
00161 \n\
00162 \n\
00163 #######################################################################\n\
00164 # Calibration Parameters #\n\
00165 #######################################################################\n\
00166 # These are fixed during camera calibration. Their values will be the #\n\
00167 # same in all messages until the camera is recalibrated. Note that #\n\
00168 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00169 # #\n\
00170 # The internal parameters can be used to warp a raw (distorted) image #\n\
00171 # to: #\n\
00172 # 1. An undistorted image (requires D and K) #\n\
00173 # 2. A rectified image (requires D, K, R) #\n\
00174 # The projection matrix P projects 3D points into the rectified image.#\n\
00175 #######################################################################\n\
00176 \n\
00177 # The image dimensions with which the camera was calibrated. Normally\n\
00178 # this will be the full camera resolution in pixels.\n\
00179 uint32 height\n\
00180 uint32 width\n\
00181 \n\
00182 # The distortion model used. Supported models are listed in\n\
00183 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00184 # simple model of radial and tangential distortion - is sufficent.\n\
00185 string distortion_model\n\
00186 \n\
00187 # The distortion parameters, size depending on the distortion model.\n\
00188 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00189 float64[] D\n\
00190 \n\
00191 # Intrinsic camera matrix for the raw (distorted) images.\n\
00192 # [fx 0 cx]\n\
00193 # K = [ 0 fy cy]\n\
00194 # [ 0 0 1]\n\
00195 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00196 # coordinates using the focal lengths (fx, fy) and principal point\n\
00197 # (cx, cy).\n\
00198 float64[9] K # 3x3 row-major matrix\n\
00199 \n\
00200 # Rectification matrix (stereo cameras only)\n\
00201 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00202 # stereo image plane so that epipolar lines in both stereo images are\n\
00203 # parallel.\n\
00204 float64[9] R # 3x3 row-major matrix\n\
00205 \n\
00206 # Projection/camera matrix\n\
00207 # [fx' 0 cx' Tx]\n\
00208 # P = [ 0 fy' cy' Ty]\n\
00209 # [ 0 0 1 0]\n\
00210 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00211 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00212 # is the normal camera intrinsic matrix for the rectified image.\n\
00213 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00214 # coordinates using the focal lengths (fx', fy') and principal point\n\
00215 # (cx', cy') - these may differ from the values in K.\n\
00216 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00217 # also have R = the identity and P[1:3,1:3] = K.\n\
00218 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00219 # position of the optical center of the second camera in the first\n\
00220 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00221 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00222 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00223 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00224 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00225 # the rectified image is given by:\n\
00226 # [u v w]' = P * [X Y Z 1]'\n\
00227 # x = u / w\n\
00228 # y = v / w\n\
00229 # This holds for both images of a stereo pair.\n\
00230 float64[12] P # 3x4 row-major matrix\n\
00231 \n\
00232 \n\
00233 #######################################################################\n\
00234 # Operational Parameters #\n\
00235 #######################################################################\n\
00236 # These define the image region actually captured by the camera #\n\
00237 # driver. Although they affect the geometry of the output image, they #\n\
00238 # may be changed freely without recalibrating the camera. #\n\
00239 #######################################################################\n\
00240 \n\
00241 # Binning refers here to any camera setting which combines rectangular\n\
00242 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00243 # resolution of the output image to\n\
00244 # (width / binning_x) x (height / binning_y).\n\
00245 # The default values binning_x = binning_y = 0 is considered the same\n\
00246 # as binning_x = binning_y = 1 (no subsampling).\n\
00247 uint32 binning_x\n\
00248 uint32 binning_y\n\
00249 \n\
00250 # Region of interest (subwindow of full camera resolution), given in\n\
00251 # full resolution (unbinned) image coordinates. A particular ROI\n\
00252 # always denotes the same window of pixels on the camera sensor,\n\
00253 # regardless of binning settings.\n\
00254 # The default setting of roi (all values 0) is considered the same as\n\
00255 # full resolution (roi.width = width, roi.height = height).\n\
00256 RegionOfInterest roi\n\
00257 \n\
00258 ================================================================================\n\
00259 MSG: sensor_msgs/RegionOfInterest\n\
00260 # This message is used to specify a region of interest within an image.\n\
00261 #\n\
00262 # When used to specify the ROI setting of the camera when the image was\n\
00263 # taken, the height and width fields should either match the height and\n\
00264 # width fields for the associated image; or height = width = 0\n\
00265 # indicates that the full resolution image was captured.\n\
00266 \n\
00267 uint32 x_offset # Leftmost pixel of the ROI\n\
00268 # (0 if the ROI includes the left edge of the image)\n\
00269 uint32 y_offset # Topmost pixel of the ROI\n\
00270 # (0 if the ROI includes the top edge of the image)\n\
00271 uint32 height # Height of ROI\n\
00272 uint32 width # Width of ROI\n\
00273 \n\
00274 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00275 # ROI in this message. Typically this should be False if the full image\n\
00276 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00277 # used).\n\
00278 bool do_rectify\n\
00279 \n\
00280 "; }
00281 public:
00282 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00283
00284 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00285
00286 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00287 {
00288 ros::serialization::OStream stream(write_ptr, 1000000000);
00289 ros::serialization::serialize(stream, image);
00290 ros::serialization::serialize(stream, camera_info);
00291 return stream.getData();
00292 }
00293
00294 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00295 {
00296 ros::serialization::IStream stream(read_ptr, 1000000000);
00297 ros::serialization::deserialize(stream, image);
00298 ros::serialization::deserialize(stream, camera_info);
00299 return stream.getData();
00300 }
00301
00302 ROS_DEPRECATED virtual uint32_t serializationLength() const
00303 {
00304 uint32_t size = 0;
00305 size += ros::serialization::serializationLength(image);
00306 size += ros::serialization::serializationLength(camera_info);
00307 return size;
00308 }
00309
00310 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > Ptr;
00311 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> const> ConstPtr;
00312 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00313 };
00314 typedef ::checkerboard_detector2::DetectRequest_<std::allocator<void> > DetectRequest;
00315
00316 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest> DetectRequestPtr;
00317 typedef boost::shared_ptr< ::checkerboard_detector2::DetectRequest const> DetectRequestConstPtr;
00318
00319
00320 template <class ContainerAllocator>
00321 struct DetectResponse_ {
00322 typedef DetectResponse_<ContainerAllocator> Type;
00323
00324 DetectResponse_()
00325 : object_detection()
00326 {
00327 }
00328
00329 DetectResponse_(const ContainerAllocator& _alloc)
00330 : object_detection(_alloc)
00331 {
00332 }
00333
00334 typedef ::checkerboard_detector2::ObjectDetection_<ContainerAllocator> _object_detection_type;
00335 ::checkerboard_detector2::ObjectDetection_<ContainerAllocator> object_detection;
00336
00337
00338 private:
00339 static const char* __s_getDataType_() { return "checkerboard_detector2/DetectResponse"; }
00340 public:
00341 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00342
00343 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00344
00345 private:
00346 static const char* __s_getMD5Sum_() { return "fa5565282e26025bb768b1b949144e94"; }
00347 public:
00348 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00349
00350 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00351
00352 private:
00353 static const char* __s_getServerMD5Sum_() { return "7d2841c5eef2578fbb718be68316c081"; }
00354 public:
00355 ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
00356
00357 ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
00358
00359 private:
00360 static const char* __s_getMessageDefinition_() { return "ObjectDetection object_detection\n\
00361 \n\
00362 \n\
00363 ================================================================================\n\
00364 MSG: checkerboard_detector2/ObjectDetection\n\
00365 Header header\n\
00366 Object6DPose[] objects\n\
00367 # unique image id these objects were taken from\n\
00368 \n\
00369 ================================================================================\n\
00370 MSG: std_msgs/Header\n\
00371 # Standard metadata for higher-level stamped data types.\n\
00372 # This is generally used to communicate timestamped data \n\
00373 # in a particular coordinate frame.\n\
00374 # \n\
00375 # sequence ID: consecutively increasing ID \n\
00376 uint32 seq\n\
00377 #Two-integer timestamp that is expressed as:\n\
00378 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00379 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00380 # time-handling sugar is provided by the client library\n\
00381 time stamp\n\
00382 #Frame this data is associated with\n\
00383 # 0: no frame\n\
00384 # 1: global frame\n\
00385 string frame_id\n\
00386 \n\
00387 ================================================================================\n\
00388 MSG: checkerboard_detector2/Object6DPose\n\
00389 # 6D pose of object\n\
00390 geometry_msgs/Pose pose\n\
00391 \n\
00392 # type of object, usually contains the filename of the object that allows the receiving side to visualize it\n\
00393 # can also be used as a unique type id\n\
00394 string type \n\
00395 uint32 id\n\
00396 ================================================================================\n\
00397 MSG: geometry_msgs/Pose\n\
00398 # A representation of pose in free space, composed of postion and orientation. \n\
00399 Point position\n\
00400 Quaternion orientation\n\
00401 \n\
00402 ================================================================================\n\
00403 MSG: geometry_msgs/Point\n\
00404 # This contains the position of a point in free space\n\
00405 float64 x\n\
00406 float64 y\n\
00407 float64 z\n\
00408 \n\
00409 ================================================================================\n\
00410 MSG: geometry_msgs/Quaternion\n\
00411 # This represents an orientation in free space in quaternion form.\n\
00412 \n\
00413 float64 x\n\
00414 float64 y\n\
00415 float64 z\n\
00416 float64 w\n\
00417 \n\
00418 "; }
00419 public:
00420 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00421
00422 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00423
00424 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00425 {
00426 ros::serialization::OStream stream(write_ptr, 1000000000);
00427 ros::serialization::serialize(stream, object_detection);
00428 return stream.getData();
00429 }
00430
00431 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00432 {
00433 ros::serialization::IStream stream(read_ptr, 1000000000);
00434 ros::serialization::deserialize(stream, object_detection);
00435 return stream.getData();
00436 }
00437
00438 ROS_DEPRECATED virtual uint32_t serializationLength() const
00439 {
00440 uint32_t size = 0;
00441 size += ros::serialization::serializationLength(object_detection);
00442 return size;
00443 }
00444
00445 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > Ptr;
00446 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> const> ConstPtr;
00447 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00448 };
00449 typedef ::checkerboard_detector2::DetectResponse_<std::allocator<void> > DetectResponse;
00450
00451 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse> DetectResponsePtr;
00452 typedef boost::shared_ptr< ::checkerboard_detector2::DetectResponse const> DetectResponseConstPtr;
00453
00454 struct Detect
00455 {
00456
00457 typedef DetectRequest Request;
00458 typedef DetectResponse Response;
00459 Request request;
00460 Response response;
00461
00462 typedef Request RequestType;
00463 typedef Response ResponseType;
00464 };
00465 }
00466
00467 namespace ros
00468 {
00469 namespace message_traits
00470 {
00471 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > : public TrueType {};
00472 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> const> : public TrueType {};
00473 template<class ContainerAllocator>
00474 struct MD5Sum< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00475 static const char* value()
00476 {
00477 return "bfee1901edaf2aa4d9f0844a03ff634f";
00478 }
00479
00480 static const char* value(const ::checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00481 static const uint64_t static_value1 = 0xbfee1901edaf2aa4ULL;
00482 static const uint64_t static_value2 = 0xd9f0844a03ff634fULL;
00483 };
00484
00485 template<class ContainerAllocator>
00486 struct DataType< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00487 static const char* value()
00488 {
00489 return "checkerboard_detector2/DetectRequest";
00490 }
00491
00492 static const char* value(const ::checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00493 };
00494
00495 template<class ContainerAllocator>
00496 struct Definition< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00497 static const char* value()
00498 {
00499 return "\n\
00500 sensor_msgs/Image image\n\
00501 sensor_msgs/CameraInfo camera_info\n\
00502 \n\
00503 ================================================================================\n\
00504 MSG: sensor_msgs/Image\n\
00505 # This message contains an uncompressed image\n\
00506 # (0, 0) is at top-left corner of image\n\
00507 #\n\
00508 \n\
00509 Header header # Header timestamp should be acquisition time of image\n\
00510 # Header frame_id should be optical frame of camera\n\
00511 # origin of frame should be optical center of cameara\n\
00512 # +x should point to the right in the image\n\
00513 # +y should point down in the image\n\
00514 # +z should point into to plane of the image\n\
00515 # If the frame_id here and the frame_id of the CameraInfo\n\
00516 # message associated with the image conflict\n\
00517 # the behavior is undefined\n\
00518 \n\
00519 uint32 height # image height, that is, number of rows\n\
00520 uint32 width # image width, that is, number of columns\n\
00521 \n\
00522 # The legal values for encoding are in file src/image_encodings.cpp\n\
00523 # If you want to standardize a new string format, join\n\
00524 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00525 \n\
00526 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00527 # taken from the list of strings in src/image_encodings.cpp\n\
00528 \n\
00529 uint8 is_bigendian # is this data bigendian?\n\
00530 uint32 step # Full row length in bytes\n\
00531 uint8[] data # actual matrix data, size is (step * rows)\n\
00532 \n\
00533 ================================================================================\n\
00534 MSG: std_msgs/Header\n\
00535 # Standard metadata for higher-level stamped data types.\n\
00536 # This is generally used to communicate timestamped data \n\
00537 # in a particular coordinate frame.\n\
00538 # \n\
00539 # sequence ID: consecutively increasing ID \n\
00540 uint32 seq\n\
00541 #Two-integer timestamp that is expressed as:\n\
00542 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00543 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00544 # time-handling sugar is provided by the client library\n\
00545 time stamp\n\
00546 #Frame this data is associated with\n\
00547 # 0: no frame\n\
00548 # 1: global frame\n\
00549 string frame_id\n\
00550 \n\
00551 ================================================================================\n\
00552 MSG: sensor_msgs/CameraInfo\n\
00553 # This message defines meta information for a camera. It should be in a\n\
00554 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00555 # image topics named:\n\
00556 #\n\
00557 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00558 # image - monochrome, distorted\n\
00559 # image_color - color, distorted\n\
00560 # image_rect - monochrome, rectified\n\
00561 # image_rect_color - color, rectified\n\
00562 #\n\
00563 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00564 # for producing the four processed image topics from image_raw and\n\
00565 # camera_info. The meaning of the camera parameters are described in\n\
00566 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00567 #\n\
00568 # The image_geometry package provides a user-friendly interface to\n\
00569 # common operations using this meta information. If you want to, e.g.,\n\
00570 # project a 3d point into image coordinates, we strongly recommend\n\
00571 # using image_geometry.\n\
00572 #\n\
00573 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00574 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00575 # indicates an uncalibrated camera.\n\
00576 \n\
00577 #######################################################################\n\
00578 # Image acquisition info #\n\
00579 #######################################################################\n\
00580 \n\
00581 # Time of image acquisition, camera coordinate frame ID\n\
00582 Header header # Header timestamp should be acquisition time of image\n\
00583 # Header frame_id should be optical frame of camera\n\
00584 # origin of frame should be optical center of camera\n\
00585 # +x should point to the right in the image\n\
00586 # +y should point down in the image\n\
00587 # +z should point into the plane of the image\n\
00588 \n\
00589 \n\
00590 #######################################################################\n\
00591 # Calibration Parameters #\n\
00592 #######################################################################\n\
00593 # These are fixed during camera calibration. Their values will be the #\n\
00594 # same in all messages until the camera is recalibrated. Note that #\n\
00595 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00596 # #\n\
00597 # The internal parameters can be used to warp a raw (distorted) image #\n\
00598 # to: #\n\
00599 # 1. An undistorted image (requires D and K) #\n\
00600 # 2. A rectified image (requires D, K, R) #\n\
00601 # The projection matrix P projects 3D points into the rectified image.#\n\
00602 #######################################################################\n\
00603 \n\
00604 # The image dimensions with which the camera was calibrated. Normally\n\
00605 # this will be the full camera resolution in pixels.\n\
00606 uint32 height\n\
00607 uint32 width\n\
00608 \n\
00609 # The distortion model used. Supported models are listed in\n\
00610 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00611 # simple model of radial and tangential distortion - is sufficent.\n\
00612 string distortion_model\n\
00613 \n\
00614 # The distortion parameters, size depending on the distortion model.\n\
00615 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00616 float64[] D\n\
00617 \n\
00618 # Intrinsic camera matrix for the raw (distorted) images.\n\
00619 # [fx 0 cx]\n\
00620 # K = [ 0 fy cy]\n\
00621 # [ 0 0 1]\n\
00622 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00623 # coordinates using the focal lengths (fx, fy) and principal point\n\
00624 # (cx, cy).\n\
00625 float64[9] K # 3x3 row-major matrix\n\
00626 \n\
00627 # Rectification matrix (stereo cameras only)\n\
00628 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00629 # stereo image plane so that epipolar lines in both stereo images are\n\
00630 # parallel.\n\
00631 float64[9] R # 3x3 row-major matrix\n\
00632 \n\
00633 # Projection/camera matrix\n\
00634 # [fx' 0 cx' Tx]\n\
00635 # P = [ 0 fy' cy' Ty]\n\
00636 # [ 0 0 1 0]\n\
00637 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00638 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00639 # is the normal camera intrinsic matrix for the rectified image.\n\
00640 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00641 # coordinates using the focal lengths (fx', fy') and principal point\n\
00642 # (cx', cy') - these may differ from the values in K.\n\
00643 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00644 # also have R = the identity and P[1:3,1:3] = K.\n\
00645 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00646 # position of the optical center of the second camera in the first\n\
00647 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00648 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00649 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00650 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00651 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00652 # the rectified image is given by:\n\
00653 # [u v w]' = P * [X Y Z 1]'\n\
00654 # x = u / w\n\
00655 # y = v / w\n\
00656 # This holds for both images of a stereo pair.\n\
00657 float64[12] P # 3x4 row-major matrix\n\
00658 \n\
00659 \n\
00660 #######################################################################\n\
00661 # Operational Parameters #\n\
00662 #######################################################################\n\
00663 # These define the image region actually captured by the camera #\n\
00664 # driver. Although they affect the geometry of the output image, they #\n\
00665 # may be changed freely without recalibrating the camera. #\n\
00666 #######################################################################\n\
00667 \n\
00668 # Binning refers here to any camera setting which combines rectangular\n\
00669 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00670 # resolution of the output image to\n\
00671 # (width / binning_x) x (height / binning_y).\n\
00672 # The default values binning_x = binning_y = 0 is considered the same\n\
00673 # as binning_x = binning_y = 1 (no subsampling).\n\
00674 uint32 binning_x\n\
00675 uint32 binning_y\n\
00676 \n\
00677 # Region of interest (subwindow of full camera resolution), given in\n\
00678 # full resolution (unbinned) image coordinates. A particular ROI\n\
00679 # always denotes the same window of pixels on the camera sensor,\n\
00680 # regardless of binning settings.\n\
00681 # The default setting of roi (all values 0) is considered the same as\n\
00682 # full resolution (roi.width = width, roi.height = height).\n\
00683 RegionOfInterest roi\n\
00684 \n\
00685 ================================================================================\n\
00686 MSG: sensor_msgs/RegionOfInterest\n\
00687 # This message is used to specify a region of interest within an image.\n\
00688 #\n\
00689 # When used to specify the ROI setting of the camera when the image was\n\
00690 # taken, the height and width fields should either match the height and\n\
00691 # width fields for the associated image; or height = width = 0\n\
00692 # indicates that the full resolution image was captured.\n\
00693 \n\
00694 uint32 x_offset # Leftmost pixel of the ROI\n\
00695 # (0 if the ROI includes the left edge of the image)\n\
00696 uint32 y_offset # Topmost pixel of the ROI\n\
00697 # (0 if the ROI includes the top edge of the image)\n\
00698 uint32 height # Height of ROI\n\
00699 uint32 width # Width of ROI\n\
00700 \n\
00701 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00702 # ROI in this message. Typically this should be False if the full image\n\
00703 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00704 # used).\n\
00705 bool do_rectify\n\
00706 \n\
00707 ";
00708 }
00709
00710 static const char* value(const ::checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00711 };
00712
00713 }
00714 }
00715
00716
00717 namespace ros
00718 {
00719 namespace message_traits
00720 {
00721 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > : public TrueType {};
00722 template<class ContainerAllocator> struct IsMessage< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> const> : public TrueType {};
00723 template<class ContainerAllocator>
00724 struct MD5Sum< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00725 static const char* value()
00726 {
00727 return "fa5565282e26025bb768b1b949144e94";
00728 }
00729
00730 static const char* value(const ::checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00731 static const uint64_t static_value1 = 0xfa5565282e26025bULL;
00732 static const uint64_t static_value2 = 0xb768b1b949144e94ULL;
00733 };
00734
00735 template<class ContainerAllocator>
00736 struct DataType< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00737 static const char* value()
00738 {
00739 return "checkerboard_detector2/DetectResponse";
00740 }
00741
00742 static const char* value(const ::checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00743 };
00744
00745 template<class ContainerAllocator>
00746 struct Definition< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00747 static const char* value()
00748 {
00749 return "ObjectDetection object_detection\n\
00750 \n\
00751 \n\
00752 ================================================================================\n\
00753 MSG: checkerboard_detector2/ObjectDetection\n\
00754 Header header\n\
00755 Object6DPose[] objects\n\
00756 # unique image id these objects were taken from\n\
00757 \n\
00758 ================================================================================\n\
00759 MSG: std_msgs/Header\n\
00760 # Standard metadata for higher-level stamped data types.\n\
00761 # This is generally used to communicate timestamped data \n\
00762 # in a particular coordinate frame.\n\
00763 # \n\
00764 # sequence ID: consecutively increasing ID \n\
00765 uint32 seq\n\
00766 #Two-integer timestamp that is expressed as:\n\
00767 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00768 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00769 # time-handling sugar is provided by the client library\n\
00770 time stamp\n\
00771 #Frame this data is associated with\n\
00772 # 0: no frame\n\
00773 # 1: global frame\n\
00774 string frame_id\n\
00775 \n\
00776 ================================================================================\n\
00777 MSG: checkerboard_detector2/Object6DPose\n\
00778 # 6D pose of object\n\
00779 geometry_msgs/Pose pose\n\
00780 \n\
00781 # type of object, usually contains the filename of the object that allows the receiving side to visualize it\n\
00782 # can also be used as a unique type id\n\
00783 string type \n\
00784 uint32 id\n\
00785 ================================================================================\n\
00786 MSG: geometry_msgs/Pose\n\
00787 # A representation of pose in free space, composed of postion and orientation. \n\
00788 Point position\n\
00789 Quaternion orientation\n\
00790 \n\
00791 ================================================================================\n\
00792 MSG: geometry_msgs/Point\n\
00793 # This contains the position of a point in free space\n\
00794 float64 x\n\
00795 float64 y\n\
00796 float64 z\n\
00797 \n\
00798 ================================================================================\n\
00799 MSG: geometry_msgs/Quaternion\n\
00800 # This represents an orientation in free space in quaternion form.\n\
00801 \n\
00802 float64 x\n\
00803 float64 y\n\
00804 float64 z\n\
00805 float64 w\n\
00806 \n\
00807 ";
00808 }
00809
00810 static const char* value(const ::checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00811 };
00812
00813 }
00814 }
00815
00816 namespace ros
00817 {
00818 namespace serialization
00819 {
00820
00821 template<class ContainerAllocator> struct Serializer< ::checkerboard_detector2::DetectRequest_<ContainerAllocator> >
00822 {
00823 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00824 {
00825 stream.next(m.image);
00826 stream.next(m.camera_info);
00827 }
00828
00829 ROS_DECLARE_ALLINONE_SERIALIZER;
00830 };
00831 }
00832 }
00833
00834
00835 namespace ros
00836 {
00837 namespace serialization
00838 {
00839
00840 template<class ContainerAllocator> struct Serializer< ::checkerboard_detector2::DetectResponse_<ContainerAllocator> >
00841 {
00842 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00843 {
00844 stream.next(m.object_detection);
00845 }
00846
00847 ROS_DECLARE_ALLINONE_SERIALIZER;
00848 };
00849 }
00850 }
00851
00852 namespace ros
00853 {
00854 namespace service_traits
00855 {
00856 template<>
00857 struct MD5Sum<checkerboard_detector2::Detect> {
00858 static const char* value()
00859 {
00860 return "7d2841c5eef2578fbb718be68316c081";
00861 }
00862
00863 static const char* value(const checkerboard_detector2::Detect&) { return value(); }
00864 };
00865
00866 template<>
00867 struct DataType<checkerboard_detector2::Detect> {
00868 static const char* value()
00869 {
00870 return "checkerboard_detector2/Detect";
00871 }
00872
00873 static const char* value(const checkerboard_detector2::Detect&) { return value(); }
00874 };
00875
00876 template<class ContainerAllocator>
00877 struct MD5Sum<checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00878 static const char* value()
00879 {
00880 return "7d2841c5eef2578fbb718be68316c081";
00881 }
00882
00883 static const char* value(const checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00884 };
00885
00886 template<class ContainerAllocator>
00887 struct DataType<checkerboard_detector2::DetectRequest_<ContainerAllocator> > {
00888 static const char* value()
00889 {
00890 return "checkerboard_detector2/Detect";
00891 }
00892
00893 static const char* value(const checkerboard_detector2::DetectRequest_<ContainerAllocator> &) { return value(); }
00894 };
00895
00896 template<class ContainerAllocator>
00897 struct MD5Sum<checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00898 static const char* value()
00899 {
00900 return "7d2841c5eef2578fbb718be68316c081";
00901 }
00902
00903 static const char* value(const checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00904 };
00905
00906 template<class ContainerAllocator>
00907 struct DataType<checkerboard_detector2::DetectResponse_<ContainerAllocator> > {
00908 static const char* value()
00909 {
00910 return "checkerboard_detector2/Detect";
00911 }
00912
00913 static const char* value(const checkerboard_detector2::DetectResponse_<ContainerAllocator> &) { return value(); }
00914 };
00915
00916 }
00917 }
00918
00919 #endif // CHECKERBOARD_DETECTOR2_SERVICE_DETECT_H
00920
