00001
00002 #ifndef PR2_INTERACTIVE_OBJECT_DETECTION_MESSAGE_GRASPABLEOBJECTLIST_H
00003 #define PR2_INTERACTIVE_OBJECT_DETECTION_MESSAGE_GRASPABLEOBJECTLIST_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 "object_manipulation_msgs/GraspableObject.h"
00018 #include "sensor_msgs/Image.h"
00019 #include "sensor_msgs/CameraInfo.h"
00020 #include "arm_navigation_msgs/Shape.h"
00021 #include "geometry_msgs/Pose.h"
00022
00023 namespace pr2_interactive_object_detection
00024 {
00025 template <class ContainerAllocator>
00026 struct GraspableObjectList_ {
00027 typedef GraspableObjectList_<ContainerAllocator> Type;
00028
00029 GraspableObjectList_()
00030 : graspable_objects()
00031 , image()
00032 , camera_info()
00033 , meshes()
00034 , reference_to_camera()
00035 {
00036 }
00037
00038 GraspableObjectList_(const ContainerAllocator& _alloc)
00039 : graspable_objects(_alloc)
00040 , image(_alloc)
00041 , camera_info(_alloc)
00042 , meshes(_alloc)
00043 , reference_to_camera(_alloc)
00044 {
00045 }
00046
00047 typedef std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > _graspable_objects_type;
00048 std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > graspable_objects;
00049
00050 typedef ::sensor_msgs::Image_<ContainerAllocator> _image_type;
00051 ::sensor_msgs::Image_<ContainerAllocator> image;
00052
00053 typedef ::sensor_msgs::CameraInfo_<ContainerAllocator> _camera_info_type;
00054 ::sensor_msgs::CameraInfo_<ContainerAllocator> camera_info;
00055
00056 typedef std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > _meshes_type;
00057 std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > meshes;
00058
00059 typedef ::geometry_msgs::Pose_<ContainerAllocator> _reference_to_camera_type;
00060 ::geometry_msgs::Pose_<ContainerAllocator> reference_to_camera;
00061
00062
00063 ROS_DEPRECATED uint32_t get_graspable_objects_size() const { return (uint32_t)graspable_objects.size(); }
00064 ROS_DEPRECATED void set_graspable_objects_size(uint32_t size) { graspable_objects.resize((size_t)size); }
00065 ROS_DEPRECATED void get_graspable_objects_vec(std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > & vec) const { vec = this->graspable_objects; }
00066 ROS_DEPRECATED void set_graspable_objects_vec(const std::vector< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::other > & vec) { this->graspable_objects = vec; }
00067 ROS_DEPRECATED uint32_t get_meshes_size() const { return (uint32_t)meshes.size(); }
00068 ROS_DEPRECATED void set_meshes_size(uint32_t size) { meshes.resize((size_t)size); }
00069 ROS_DEPRECATED void get_meshes_vec(std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > & vec) const { vec = this->meshes; }
00070 ROS_DEPRECATED void set_meshes_vec(const std::vector< ::arm_navigation_msgs::Shape_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::other > & vec) { this->meshes = vec; }
00071 private:
00072 static const char* __s_getDataType_() { return "pr2_interactive_object_detection/GraspableObjectList"; }
00073 public:
00074 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00075
00076 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00077
00078 private:
00079 static const char* __s_getMD5Sum_() { return "3504435d89178a4a3df53086cd29599c"; }
00080 public:
00081 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00082
00083 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00084
00085 private:
00086 static const char* __s_getMessageDefinition_() { return "object_manipulation_msgs/GraspableObject[] graspable_objects\n\
00087 \n\
00088 #Information required for visualization\n\
00089 \n\
00090 sensor_msgs/Image image\n\
00091 sensor_msgs/CameraInfo camera_info\n\
00092 \n\
00093 #Holds a single mesh for each recognized graspable object, an empty mesh otherwise\n\
00094 arm_navigation_msgs/Shape[] meshes\n\
00095 \n\
00096 #pose to transform the frame of the clusters/object poses into camera coordinates\n\
00097 geometry_msgs/Pose reference_to_camera\n\
00098 \n\
00099 ================================================================================\n\
00100 MSG: object_manipulation_msgs/GraspableObject\n\
00101 # an object that the object_manipulator can work on\n\
00102 \n\
00103 # a graspable object can be represented in multiple ways. This message\n\
00104 # can contain all of them. Which one is actually used is up to the receiver\n\
00105 # of this message. When adding new representations, one must be careful that\n\
00106 # they have reasonable lightweight defaults indicating that that particular\n\
00107 # representation is not available.\n\
00108 \n\
00109 # the tf frame to be used as a reference frame when combining information from\n\
00110 # the different representations below\n\
00111 string reference_frame_id\n\
00112 \n\
00113 # potential recognition results from a database of models\n\
00114 # all poses are relative to the object reference pose\n\
00115 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00116 \n\
00117 # the point cloud itself\n\
00118 sensor_msgs/PointCloud cluster\n\
00119 \n\
00120 # a region of a PointCloud2 of interest\n\
00121 object_manipulation_msgs/SceneRegion region\n\
00122 \n\
00123 # the name that this object has in the collision environment\n\
00124 string collision_name\n\
00125 ================================================================================\n\
00126 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00127 # Informs that a specific model from the Model Database has been \n\
00128 # identified at a certain location\n\
00129 \n\
00130 # the database id of the model\n\
00131 int32 model_id\n\
00132 \n\
00133 # the pose that it can be found in\n\
00134 geometry_msgs/PoseStamped pose\n\
00135 \n\
00136 # a measure of the confidence level in this detection result\n\
00137 float32 confidence\n\
00138 \n\
00139 # the name of the object detector that generated this detection result\n\
00140 string detector_name\n\
00141 \n\
00142 ================================================================================\n\
00143 MSG: geometry_msgs/PoseStamped\n\
00144 # A Pose with reference coordinate frame and timestamp\n\
00145 Header header\n\
00146 Pose pose\n\
00147 \n\
00148 ================================================================================\n\
00149 MSG: std_msgs/Header\n\
00150 # Standard metadata for higher-level stamped data types.\n\
00151 # This is generally used to communicate timestamped data \n\
00152 # in a particular coordinate frame.\n\
00153 # \n\
00154 # sequence ID: consecutively increasing ID \n\
00155 uint32 seq\n\
00156 #Two-integer timestamp that is expressed as:\n\
00157 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00158 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00159 # time-handling sugar is provided by the client library\n\
00160 time stamp\n\
00161 #Frame this data is associated with\n\
00162 # 0: no frame\n\
00163 # 1: global frame\n\
00164 string frame_id\n\
00165 \n\
00166 ================================================================================\n\
00167 MSG: geometry_msgs/Pose\n\
00168 # A representation of pose in free space, composed of postion and orientation. \n\
00169 Point position\n\
00170 Quaternion orientation\n\
00171 \n\
00172 ================================================================================\n\
00173 MSG: geometry_msgs/Point\n\
00174 # This contains the position of a point in free space\n\
00175 float64 x\n\
00176 float64 y\n\
00177 float64 z\n\
00178 \n\
00179 ================================================================================\n\
00180 MSG: geometry_msgs/Quaternion\n\
00181 # This represents an orientation in free space in quaternion form.\n\
00182 \n\
00183 float64 x\n\
00184 float64 y\n\
00185 float64 z\n\
00186 float64 w\n\
00187 \n\
00188 ================================================================================\n\
00189 MSG: sensor_msgs/PointCloud\n\
00190 # This message holds a collection of 3d points, plus optional additional\n\
00191 # information about each point.\n\
00192 \n\
00193 # Time of sensor data acquisition, coordinate frame ID.\n\
00194 Header header\n\
00195 \n\
00196 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00197 # in the frame given in the header.\n\
00198 geometry_msgs/Point32[] points\n\
00199 \n\
00200 # Each channel should have the same number of elements as points array,\n\
00201 # and the data in each channel should correspond 1:1 with each point.\n\
00202 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00203 ChannelFloat32[] channels\n\
00204 \n\
00205 ================================================================================\n\
00206 MSG: geometry_msgs/Point32\n\
00207 # This contains the position of a point in free space(with 32 bits of precision).\n\
00208 # It is recommeded to use Point wherever possible instead of Point32. \n\
00209 # \n\
00210 # This recommendation is to promote interoperability. \n\
00211 #\n\
00212 # This message is designed to take up less space when sending\n\
00213 # lots of points at once, as in the case of a PointCloud. \n\
00214 \n\
00215 float32 x\n\
00216 float32 y\n\
00217 float32 z\n\
00218 ================================================================================\n\
00219 MSG: sensor_msgs/ChannelFloat32\n\
00220 # This message is used by the PointCloud message to hold optional data\n\
00221 # associated with each point in the cloud. The length of the values\n\
00222 # array should be the same as the length of the points array in the\n\
00223 # PointCloud, and each value should be associated with the corresponding\n\
00224 # point.\n\
00225 \n\
00226 # Channel names in existing practice include:\n\
00227 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00228 # This is opposite to usual conventions but remains for\n\
00229 # historical reasons. The newer PointCloud2 message has no\n\
00230 # such problem.\n\
00231 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00232 # (R,G,B) values packed into the least significant 24 bits,\n\
00233 # in order.\n\
00234 # \"intensity\" - laser or pixel intensity.\n\
00235 # \"distance\"\n\
00236 \n\
00237 # The channel name should give semantics of the channel (e.g.\n\
00238 # \"intensity\" instead of \"value\").\n\
00239 string name\n\
00240 \n\
00241 # The values array should be 1-1 with the elements of the associated\n\
00242 # PointCloud.\n\
00243 float32[] values\n\
00244 \n\
00245 ================================================================================\n\
00246 MSG: object_manipulation_msgs/SceneRegion\n\
00247 # Point cloud\n\
00248 sensor_msgs/PointCloud2 cloud\n\
00249 \n\
00250 # Indices for the region of interest\n\
00251 int32[] mask\n\
00252 \n\
00253 # One of the corresponding 2D images, if applicable\n\
00254 sensor_msgs/Image image\n\
00255 \n\
00256 # The disparity image, if applicable\n\
00257 sensor_msgs/Image disparity_image\n\
00258 \n\
00259 # Camera info for the camera that took the image\n\
00260 sensor_msgs/CameraInfo cam_info\n\
00261 \n\
00262 # a 3D region of interest for grasp planning\n\
00263 geometry_msgs/PoseStamped roi_box_pose\n\
00264 geometry_msgs/Vector3 roi_box_dims\n\
00265 \n\
00266 ================================================================================\n\
00267 MSG: sensor_msgs/PointCloud2\n\
00268 # This message holds a collection of N-dimensional points, which may\n\
00269 # contain additional information such as normals, intensity, etc. The\n\
00270 # point data is stored as a binary blob, its layout described by the\n\
00271 # contents of the \"fields\" array.\n\
00272 \n\
00273 # The point cloud data may be organized 2d (image-like) or 1d\n\
00274 # (unordered). Point clouds organized as 2d images may be produced by\n\
00275 # camera depth sensors such as stereo or time-of-flight.\n\
00276 \n\
00277 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00278 # points).\n\
00279 Header header\n\
00280 \n\
00281 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00282 # 1 and width is the length of the point cloud.\n\
00283 uint32 height\n\
00284 uint32 width\n\
00285 \n\
00286 # Describes the channels and their layout in the binary data blob.\n\
00287 PointField[] fields\n\
00288 \n\
00289 bool is_bigendian # Is this data bigendian?\n\
00290 uint32 point_step # Length of a point in bytes\n\
00291 uint32 row_step # Length of a row in bytes\n\
00292 uint8[] data # Actual point data, size is (row_step*height)\n\
00293 \n\
00294 bool is_dense # True if there are no invalid points\n\
00295 \n\
00296 ================================================================================\n\
00297 MSG: sensor_msgs/PointField\n\
00298 # This message holds the description of one point entry in the\n\
00299 # PointCloud2 message format.\n\
00300 uint8 INT8 = 1\n\
00301 uint8 UINT8 = 2\n\
00302 uint8 INT16 = 3\n\
00303 uint8 UINT16 = 4\n\
00304 uint8 INT32 = 5\n\
00305 uint8 UINT32 = 6\n\
00306 uint8 FLOAT32 = 7\n\
00307 uint8 FLOAT64 = 8\n\
00308 \n\
00309 string name # Name of field\n\
00310 uint32 offset # Offset from start of point struct\n\
00311 uint8 datatype # Datatype enumeration, see above\n\
00312 uint32 count # How many elements in the field\n\
00313 \n\
00314 ================================================================================\n\
00315 MSG: sensor_msgs/Image\n\
00316 # This message contains an uncompressed image\n\
00317 # (0, 0) is at top-left corner of image\n\
00318 #\n\
00319 \n\
00320 Header header # Header timestamp should be acquisition time of image\n\
00321 # Header frame_id should be optical frame of camera\n\
00322 # origin of frame should be optical center of cameara\n\
00323 # +x should point to the right in the image\n\
00324 # +y should point down in the image\n\
00325 # +z should point into to plane of the image\n\
00326 # If the frame_id here and the frame_id of the CameraInfo\n\
00327 # message associated with the image conflict\n\
00328 # the behavior is undefined\n\
00329 \n\
00330 uint32 height # image height, that is, number of rows\n\
00331 uint32 width # image width, that is, number of columns\n\
00332 \n\
00333 # The legal values for encoding are in file src/image_encodings.cpp\n\
00334 # If you want to standardize a new string format, join\n\
00335 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00336 \n\
00337 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00338 # taken from the list of strings in src/image_encodings.cpp\n\
00339 \n\
00340 uint8 is_bigendian # is this data bigendian?\n\
00341 uint32 step # Full row length in bytes\n\
00342 uint8[] data # actual matrix data, size is (step * rows)\n\
00343 \n\
00344 ================================================================================\n\
00345 MSG: sensor_msgs/CameraInfo\n\
00346 # This message defines meta information for a camera. It should be in a\n\
00347 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00348 # image topics named:\n\
00349 #\n\
00350 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00351 # image - monochrome, distorted\n\
00352 # image_color - color, distorted\n\
00353 # image_rect - monochrome, rectified\n\
00354 # image_rect_color - color, rectified\n\
00355 #\n\
00356 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00357 # for producing the four processed image topics from image_raw and\n\
00358 # camera_info. The meaning of the camera parameters are described in\n\
00359 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00360 #\n\
00361 # The image_geometry package provides a user-friendly interface to\n\
00362 # common operations using this meta information. If you want to, e.g.,\n\
00363 # project a 3d point into image coordinates, we strongly recommend\n\
00364 # using image_geometry.\n\
00365 #\n\
00366 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00367 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00368 # indicates an uncalibrated camera.\n\
00369 \n\
00370 #######################################################################\n\
00371 # Image acquisition info #\n\
00372 #######################################################################\n\
00373 \n\
00374 # Time of image acquisition, camera coordinate frame ID\n\
00375 Header header # Header timestamp should be acquisition time of image\n\
00376 # Header frame_id should be optical frame of camera\n\
00377 # origin of frame should be optical center of camera\n\
00378 # +x should point to the right in the image\n\
00379 # +y should point down in the image\n\
00380 # +z should point into the plane of the image\n\
00381 \n\
00382 \n\
00383 #######################################################################\n\
00384 # Calibration Parameters #\n\
00385 #######################################################################\n\
00386 # These are fixed during camera calibration. Their values will be the #\n\
00387 # same in all messages until the camera is recalibrated. Note that #\n\
00388 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00389 # #\n\
00390 # The internal parameters can be used to warp a raw (distorted) image #\n\
00391 # to: #\n\
00392 # 1. An undistorted image (requires D and K) #\n\
00393 # 2. A rectified image (requires D, K, R) #\n\
00394 # The projection matrix P projects 3D points into the rectified image.#\n\
00395 #######################################################################\n\
00396 \n\
00397 # The image dimensions with which the camera was calibrated. Normally\n\
00398 # this will be the full camera resolution in pixels.\n\
00399 uint32 height\n\
00400 uint32 width\n\
00401 \n\
00402 # The distortion model used. Supported models are listed in\n\
00403 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00404 # simple model of radial and tangential distortion - is sufficent.\n\
00405 string distortion_model\n\
00406 \n\
00407 # The distortion parameters, size depending on the distortion model.\n\
00408 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00409 float64[] D\n\
00410 \n\
00411 # Intrinsic camera matrix for the raw (distorted) images.\n\
00412 # [fx 0 cx]\n\
00413 # K = [ 0 fy cy]\n\
00414 # [ 0 0 1]\n\
00415 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00416 # coordinates using the focal lengths (fx, fy) and principal point\n\
00417 # (cx, cy).\n\
00418 float64[9] K # 3x3 row-major matrix\n\
00419 \n\
00420 # Rectification matrix (stereo cameras only)\n\
00421 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00422 # stereo image plane so that epipolar lines in both stereo images are\n\
00423 # parallel.\n\
00424 float64[9] R # 3x3 row-major matrix\n\
00425 \n\
00426 # Projection/camera matrix\n\
00427 # [fx' 0 cx' Tx]\n\
00428 # P = [ 0 fy' cy' Ty]\n\
00429 # [ 0 0 1 0]\n\
00430 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00431 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00432 # is the normal camera intrinsic matrix for the rectified image.\n\
00433 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00434 # coordinates using the focal lengths (fx', fy') and principal point\n\
00435 # (cx', cy') - these may differ from the values in K.\n\
00436 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00437 # also have R = the identity and P[1:3,1:3] = K.\n\
00438 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00439 # position of the optical center of the second camera in the first\n\
00440 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00441 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00442 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00443 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00444 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00445 # the rectified image is given by:\n\
00446 # [u v w]' = P * [X Y Z 1]'\n\
00447 # x = u / w\n\
00448 # y = v / w\n\
00449 # This holds for both images of a stereo pair.\n\
00450 float64[12] P # 3x4 row-major matrix\n\
00451 \n\
00452 \n\
00453 #######################################################################\n\
00454 # Operational Parameters #\n\
00455 #######################################################################\n\
00456 # These define the image region actually captured by the camera #\n\
00457 # driver. Although they affect the geometry of the output image, they #\n\
00458 # may be changed freely without recalibrating the camera. #\n\
00459 #######################################################################\n\
00460 \n\
00461 # Binning refers here to any camera setting which combines rectangular\n\
00462 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00463 # resolution of the output image to\n\
00464 # (width / binning_x) x (height / binning_y).\n\
00465 # The default values binning_x = binning_y = 0 is considered the same\n\
00466 # as binning_x = binning_y = 1 (no subsampling).\n\
00467 uint32 binning_x\n\
00468 uint32 binning_y\n\
00469 \n\
00470 # Region of interest (subwindow of full camera resolution), given in\n\
00471 # full resolution (unbinned) image coordinates. A particular ROI\n\
00472 # always denotes the same window of pixels on the camera sensor,\n\
00473 # regardless of binning settings.\n\
00474 # The default setting of roi (all values 0) is considered the same as\n\
00475 # full resolution (roi.width = width, roi.height = height).\n\
00476 RegionOfInterest roi\n\
00477 \n\
00478 ================================================================================\n\
00479 MSG: sensor_msgs/RegionOfInterest\n\
00480 # This message is used to specify a region of interest within an image.\n\
00481 #\n\
00482 # When used to specify the ROI setting of the camera when the image was\n\
00483 # taken, the height and width fields should either match the height and\n\
00484 # width fields for the associated image; or height = width = 0\n\
00485 # indicates that the full resolution image was captured.\n\
00486 \n\
00487 uint32 x_offset # Leftmost pixel of the ROI\n\
00488 # (0 if the ROI includes the left edge of the image)\n\
00489 uint32 y_offset # Topmost pixel of the ROI\n\
00490 # (0 if the ROI includes the top edge of the image)\n\
00491 uint32 height # Height of ROI\n\
00492 uint32 width # Width of ROI\n\
00493 \n\
00494 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00495 # ROI in this message. Typically this should be False if the full image\n\
00496 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00497 # used).\n\
00498 bool do_rectify\n\
00499 \n\
00500 ================================================================================\n\
00501 MSG: geometry_msgs/Vector3\n\
00502 # This represents a vector in free space. \n\
00503 \n\
00504 float64 x\n\
00505 float64 y\n\
00506 float64 z\n\
00507 ================================================================================\n\
00508 MSG: arm_navigation_msgs/Shape\n\
00509 byte SPHERE=0\n\
00510 byte BOX=1\n\
00511 byte CYLINDER=2\n\
00512 byte MESH=3\n\
00513 \n\
00514 byte type\n\
00515 \n\
00516 \n\
00517 #### define sphere, box, cylinder ####\n\
00518 # the origin of each shape is considered at the shape's center\n\
00519 \n\
00520 # for sphere\n\
00521 # radius := dimensions[0]\n\
00522 \n\
00523 # for cylinder\n\
00524 # radius := dimensions[0]\n\
00525 # length := dimensions[1]\n\
00526 # the length is along the Z axis\n\
00527 \n\
00528 # for box\n\
00529 # size_x := dimensions[0]\n\
00530 # size_y := dimensions[1]\n\
00531 # size_z := dimensions[2]\n\
00532 float64[] dimensions\n\
00533 \n\
00534 \n\
00535 #### define mesh ####\n\
00536 \n\
00537 # list of triangles; triangle k is defined by tre vertices located\n\
00538 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
00539 int32[] triangles\n\
00540 geometry_msgs/Point[] vertices\n\
00541 \n\
00542 "; }
00543 public:
00544 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00545
00546 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00547
00548 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00549 {
00550 ros::serialization::OStream stream(write_ptr, 1000000000);
00551 ros::serialization::serialize(stream, graspable_objects);
00552 ros::serialization::serialize(stream, image);
00553 ros::serialization::serialize(stream, camera_info);
00554 ros::serialization::serialize(stream, meshes);
00555 ros::serialization::serialize(stream, reference_to_camera);
00556 return stream.getData();
00557 }
00558
00559 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00560 {
00561 ros::serialization::IStream stream(read_ptr, 1000000000);
00562 ros::serialization::deserialize(stream, graspable_objects);
00563 ros::serialization::deserialize(stream, image);
00564 ros::serialization::deserialize(stream, camera_info);
00565 ros::serialization::deserialize(stream, meshes);
00566 ros::serialization::deserialize(stream, reference_to_camera);
00567 return stream.getData();
00568 }
00569
00570 ROS_DEPRECATED virtual uint32_t serializationLength() const
00571 {
00572 uint32_t size = 0;
00573 size += ros::serialization::serializationLength(graspable_objects);
00574 size += ros::serialization::serializationLength(image);
00575 size += ros::serialization::serializationLength(camera_info);
00576 size += ros::serialization::serializationLength(meshes);
00577 size += ros::serialization::serializationLength(reference_to_camera);
00578 return size;
00579 }
00580
00581 typedef boost::shared_ptr< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> > Ptr;
00582 typedef boost::shared_ptr< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> const> ConstPtr;
00583 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00584 };
00585 typedef ::pr2_interactive_object_detection::GraspableObjectList_<std::allocator<void> > GraspableObjectList;
00586
00587 typedef boost::shared_ptr< ::pr2_interactive_object_detection::GraspableObjectList> GraspableObjectListPtr;
00588 typedef boost::shared_ptr< ::pr2_interactive_object_detection::GraspableObjectList const> GraspableObjectListConstPtr;
00589
00590
00591 template<typename ContainerAllocator>
00592 std::ostream& operator<<(std::ostream& s, const ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> & v)
00593 {
00594 ros::message_operations::Printer< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> >::stream(s, "", v);
00595 return s;}
00596
00597 }
00598
00599 namespace ros
00600 {
00601 namespace message_traits
00602 {
00603 template<class ContainerAllocator> struct IsMessage< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> > : public TrueType {};
00604 template<class ContainerAllocator> struct IsMessage< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> const> : public TrueType {};
00605 template<class ContainerAllocator>
00606 struct MD5Sum< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> > {
00607 static const char* value()
00608 {
00609 return "3504435d89178a4a3df53086cd29599c";
00610 }
00611
00612 static const char* value(const ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> &) { return value(); }
00613 static const uint64_t static_value1 = 0x3504435d89178a4aULL;
00614 static const uint64_t static_value2 = 0x3df53086cd29599cULL;
00615 };
00616
00617 template<class ContainerAllocator>
00618 struct DataType< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> > {
00619 static const char* value()
00620 {
00621 return "pr2_interactive_object_detection/GraspableObjectList";
00622 }
00623
00624 static const char* value(const ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> &) { return value(); }
00625 };
00626
00627 template<class ContainerAllocator>
00628 struct Definition< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> > {
00629 static const char* value()
00630 {
00631 return "object_manipulation_msgs/GraspableObject[] graspable_objects\n\
00632 \n\
00633 #Information required for visualization\n\
00634 \n\
00635 sensor_msgs/Image image\n\
00636 sensor_msgs/CameraInfo camera_info\n\
00637 \n\
00638 #Holds a single mesh for each recognized graspable object, an empty mesh otherwise\n\
00639 arm_navigation_msgs/Shape[] meshes\n\
00640 \n\
00641 #pose to transform the frame of the clusters/object poses into camera coordinates\n\
00642 geometry_msgs/Pose reference_to_camera\n\
00643 \n\
00644 ================================================================================\n\
00645 MSG: object_manipulation_msgs/GraspableObject\n\
00646 # an object that the object_manipulator can work on\n\
00647 \n\
00648 # a graspable object can be represented in multiple ways. This message\n\
00649 # can contain all of them. Which one is actually used is up to the receiver\n\
00650 # of this message. When adding new representations, one must be careful that\n\
00651 # they have reasonable lightweight defaults indicating that that particular\n\
00652 # representation is not available.\n\
00653 \n\
00654 # the tf frame to be used as a reference frame when combining information from\n\
00655 # the different representations below\n\
00656 string reference_frame_id\n\
00657 \n\
00658 # potential recognition results from a database of models\n\
00659 # all poses are relative to the object reference pose\n\
00660 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00661 \n\
00662 # the point cloud itself\n\
00663 sensor_msgs/PointCloud cluster\n\
00664 \n\
00665 # a region of a PointCloud2 of interest\n\
00666 object_manipulation_msgs/SceneRegion region\n\
00667 \n\
00668 # the name that this object has in the collision environment\n\
00669 string collision_name\n\
00670 ================================================================================\n\
00671 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00672 # Informs that a specific model from the Model Database has been \n\
00673 # identified at a certain location\n\
00674 \n\
00675 # the database id of the model\n\
00676 int32 model_id\n\
00677 \n\
00678 # the pose that it can be found in\n\
00679 geometry_msgs/PoseStamped pose\n\
00680 \n\
00681 # a measure of the confidence level in this detection result\n\
00682 float32 confidence\n\
00683 \n\
00684 # the name of the object detector that generated this detection result\n\
00685 string detector_name\n\
00686 \n\
00687 ================================================================================\n\
00688 MSG: geometry_msgs/PoseStamped\n\
00689 # A Pose with reference coordinate frame and timestamp\n\
00690 Header header\n\
00691 Pose pose\n\
00692 \n\
00693 ================================================================================\n\
00694 MSG: std_msgs/Header\n\
00695 # Standard metadata for higher-level stamped data types.\n\
00696 # This is generally used to communicate timestamped data \n\
00697 # in a particular coordinate frame.\n\
00698 # \n\
00699 # sequence ID: consecutively increasing ID \n\
00700 uint32 seq\n\
00701 #Two-integer timestamp that is expressed as:\n\
00702 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00703 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00704 # time-handling sugar is provided by the client library\n\
00705 time stamp\n\
00706 #Frame this data is associated with\n\
00707 # 0: no frame\n\
00708 # 1: global frame\n\
00709 string frame_id\n\
00710 \n\
00711 ================================================================================\n\
00712 MSG: geometry_msgs/Pose\n\
00713 # A representation of pose in free space, composed of postion and orientation. \n\
00714 Point position\n\
00715 Quaternion orientation\n\
00716 \n\
00717 ================================================================================\n\
00718 MSG: geometry_msgs/Point\n\
00719 # This contains the position of a point in free space\n\
00720 float64 x\n\
00721 float64 y\n\
00722 float64 z\n\
00723 \n\
00724 ================================================================================\n\
00725 MSG: geometry_msgs/Quaternion\n\
00726 # This represents an orientation in free space in quaternion form.\n\
00727 \n\
00728 float64 x\n\
00729 float64 y\n\
00730 float64 z\n\
00731 float64 w\n\
00732 \n\
00733 ================================================================================\n\
00734 MSG: sensor_msgs/PointCloud\n\
00735 # This message holds a collection of 3d points, plus optional additional\n\
00736 # information about each point.\n\
00737 \n\
00738 # Time of sensor data acquisition, coordinate frame ID.\n\
00739 Header header\n\
00740 \n\
00741 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00742 # in the frame given in the header.\n\
00743 geometry_msgs/Point32[] points\n\
00744 \n\
00745 # Each channel should have the same number of elements as points array,\n\
00746 # and the data in each channel should correspond 1:1 with each point.\n\
00747 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00748 ChannelFloat32[] channels\n\
00749 \n\
00750 ================================================================================\n\
00751 MSG: geometry_msgs/Point32\n\
00752 # This contains the position of a point in free space(with 32 bits of precision).\n\
00753 # It is recommeded to use Point wherever possible instead of Point32. \n\
00754 # \n\
00755 # This recommendation is to promote interoperability. \n\
00756 #\n\
00757 # This message is designed to take up less space when sending\n\
00758 # lots of points at once, as in the case of a PointCloud. \n\
00759 \n\
00760 float32 x\n\
00761 float32 y\n\
00762 float32 z\n\
00763 ================================================================================\n\
00764 MSG: sensor_msgs/ChannelFloat32\n\
00765 # This message is used by the PointCloud message to hold optional data\n\
00766 # associated with each point in the cloud. The length of the values\n\
00767 # array should be the same as the length of the points array in the\n\
00768 # PointCloud, and each value should be associated with the corresponding\n\
00769 # point.\n\
00770 \n\
00771 # Channel names in existing practice include:\n\
00772 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00773 # This is opposite to usual conventions but remains for\n\
00774 # historical reasons. The newer PointCloud2 message has no\n\
00775 # such problem.\n\
00776 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00777 # (R,G,B) values packed into the least significant 24 bits,\n\
00778 # in order.\n\
00779 # \"intensity\" - laser or pixel intensity.\n\
00780 # \"distance\"\n\
00781 \n\
00782 # The channel name should give semantics of the channel (e.g.\n\
00783 # \"intensity\" instead of \"value\").\n\
00784 string name\n\
00785 \n\
00786 # The values array should be 1-1 with the elements of the associated\n\
00787 # PointCloud.\n\
00788 float32[] values\n\
00789 \n\
00790 ================================================================================\n\
00791 MSG: object_manipulation_msgs/SceneRegion\n\
00792 # Point cloud\n\
00793 sensor_msgs/PointCloud2 cloud\n\
00794 \n\
00795 # Indices for the region of interest\n\
00796 int32[] mask\n\
00797 \n\
00798 # One of the corresponding 2D images, if applicable\n\
00799 sensor_msgs/Image image\n\
00800 \n\
00801 # The disparity image, if applicable\n\
00802 sensor_msgs/Image disparity_image\n\
00803 \n\
00804 # Camera info for the camera that took the image\n\
00805 sensor_msgs/CameraInfo cam_info\n\
00806 \n\
00807 # a 3D region of interest for grasp planning\n\
00808 geometry_msgs/PoseStamped roi_box_pose\n\
00809 geometry_msgs/Vector3 roi_box_dims\n\
00810 \n\
00811 ================================================================================\n\
00812 MSG: sensor_msgs/PointCloud2\n\
00813 # This message holds a collection of N-dimensional points, which may\n\
00814 # contain additional information such as normals, intensity, etc. The\n\
00815 # point data is stored as a binary blob, its layout described by the\n\
00816 # contents of the \"fields\" array.\n\
00817 \n\
00818 # The point cloud data may be organized 2d (image-like) or 1d\n\
00819 # (unordered). Point clouds organized as 2d images may be produced by\n\
00820 # camera depth sensors such as stereo or time-of-flight.\n\
00821 \n\
00822 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00823 # points).\n\
00824 Header header\n\
00825 \n\
00826 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00827 # 1 and width is the length of the point cloud.\n\
00828 uint32 height\n\
00829 uint32 width\n\
00830 \n\
00831 # Describes the channels and their layout in the binary data blob.\n\
00832 PointField[] fields\n\
00833 \n\
00834 bool is_bigendian # Is this data bigendian?\n\
00835 uint32 point_step # Length of a point in bytes\n\
00836 uint32 row_step # Length of a row in bytes\n\
00837 uint8[] data # Actual point data, size is (row_step*height)\n\
00838 \n\
00839 bool is_dense # True if there are no invalid points\n\
00840 \n\
00841 ================================================================================\n\
00842 MSG: sensor_msgs/PointField\n\
00843 # This message holds the description of one point entry in the\n\
00844 # PointCloud2 message format.\n\
00845 uint8 INT8 = 1\n\
00846 uint8 UINT8 = 2\n\
00847 uint8 INT16 = 3\n\
00848 uint8 UINT16 = 4\n\
00849 uint8 INT32 = 5\n\
00850 uint8 UINT32 = 6\n\
00851 uint8 FLOAT32 = 7\n\
00852 uint8 FLOAT64 = 8\n\
00853 \n\
00854 string name # Name of field\n\
00855 uint32 offset # Offset from start of point struct\n\
00856 uint8 datatype # Datatype enumeration, see above\n\
00857 uint32 count # How many elements in the field\n\
00858 \n\
00859 ================================================================================\n\
00860 MSG: sensor_msgs/Image\n\
00861 # This message contains an uncompressed image\n\
00862 # (0, 0) is at top-left corner of image\n\
00863 #\n\
00864 \n\
00865 Header header # Header timestamp should be acquisition time of image\n\
00866 # Header frame_id should be optical frame of camera\n\
00867 # origin of frame should be optical center of cameara\n\
00868 # +x should point to the right in the image\n\
00869 # +y should point down in the image\n\
00870 # +z should point into to plane of the image\n\
00871 # If the frame_id here and the frame_id of the CameraInfo\n\
00872 # message associated with the image conflict\n\
00873 # the behavior is undefined\n\
00874 \n\
00875 uint32 height # image height, that is, number of rows\n\
00876 uint32 width # image width, that is, number of columns\n\
00877 \n\
00878 # The legal values for encoding are in file src/image_encodings.cpp\n\
00879 # If you want to standardize a new string format, join\n\
00880 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00881 \n\
00882 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00883 # taken from the list of strings in src/image_encodings.cpp\n\
00884 \n\
00885 uint8 is_bigendian # is this data bigendian?\n\
00886 uint32 step # Full row length in bytes\n\
00887 uint8[] data # actual matrix data, size is (step * rows)\n\
00888 \n\
00889 ================================================================================\n\
00890 MSG: sensor_msgs/CameraInfo\n\
00891 # This message defines meta information for a camera. It should be in a\n\
00892 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00893 # image topics named:\n\
00894 #\n\
00895 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00896 # image - monochrome, distorted\n\
00897 # image_color - color, distorted\n\
00898 # image_rect - monochrome, rectified\n\
00899 # image_rect_color - color, rectified\n\
00900 #\n\
00901 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00902 # for producing the four processed image topics from image_raw and\n\
00903 # camera_info. The meaning of the camera parameters are described in\n\
00904 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00905 #\n\
00906 # The image_geometry package provides a user-friendly interface to\n\
00907 # common operations using this meta information. If you want to, e.g.,\n\
00908 # project a 3d point into image coordinates, we strongly recommend\n\
00909 # using image_geometry.\n\
00910 #\n\
00911 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00912 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00913 # indicates an uncalibrated camera.\n\
00914 \n\
00915 #######################################################################\n\
00916 # Image acquisition info #\n\
00917 #######################################################################\n\
00918 \n\
00919 # Time of image acquisition, camera coordinate frame ID\n\
00920 Header header # Header timestamp should be acquisition time of image\n\
00921 # Header frame_id should be optical frame of camera\n\
00922 # origin of frame should be optical center of camera\n\
00923 # +x should point to the right in the image\n\
00924 # +y should point down in the image\n\
00925 # +z should point into the plane of the image\n\
00926 \n\
00927 \n\
00928 #######################################################################\n\
00929 # Calibration Parameters #\n\
00930 #######################################################################\n\
00931 # These are fixed during camera calibration. Their values will be the #\n\
00932 # same in all messages until the camera is recalibrated. Note that #\n\
00933 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00934 # #\n\
00935 # The internal parameters can be used to warp a raw (distorted) image #\n\
00936 # to: #\n\
00937 # 1. An undistorted image (requires D and K) #\n\
00938 # 2. A rectified image (requires D, K, R) #\n\
00939 # The projection matrix P projects 3D points into the rectified image.#\n\
00940 #######################################################################\n\
00941 \n\
00942 # The image dimensions with which the camera was calibrated. Normally\n\
00943 # this will be the full camera resolution in pixels.\n\
00944 uint32 height\n\
00945 uint32 width\n\
00946 \n\
00947 # The distortion model used. Supported models are listed in\n\
00948 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00949 # simple model of radial and tangential distortion - is sufficent.\n\
00950 string distortion_model\n\
00951 \n\
00952 # The distortion parameters, size depending on the distortion model.\n\
00953 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00954 float64[] D\n\
00955 \n\
00956 # Intrinsic camera matrix for the raw (distorted) images.\n\
00957 # [fx 0 cx]\n\
00958 # K = [ 0 fy cy]\n\
00959 # [ 0 0 1]\n\
00960 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00961 # coordinates using the focal lengths (fx, fy) and principal point\n\
00962 # (cx, cy).\n\
00963 float64[9] K # 3x3 row-major matrix\n\
00964 \n\
00965 # Rectification matrix (stereo cameras only)\n\
00966 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00967 # stereo image plane so that epipolar lines in both stereo images are\n\
00968 # parallel.\n\
00969 float64[9] R # 3x3 row-major matrix\n\
00970 \n\
00971 # Projection/camera matrix\n\
00972 # [fx' 0 cx' Tx]\n\
00973 # P = [ 0 fy' cy' Ty]\n\
00974 # [ 0 0 1 0]\n\
00975 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00976 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00977 # is the normal camera intrinsic matrix for the rectified image.\n\
00978 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00979 # coordinates using the focal lengths (fx', fy') and principal point\n\
00980 # (cx', cy') - these may differ from the values in K.\n\
00981 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00982 # also have R = the identity and P[1:3,1:3] = K.\n\
00983 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00984 # position of the optical center of the second camera in the first\n\
00985 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00986 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00987 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00988 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00989 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00990 # the rectified image is given by:\n\
00991 # [u v w]' = P * [X Y Z 1]'\n\
00992 # x = u / w\n\
00993 # y = v / w\n\
00994 # This holds for both images of a stereo pair.\n\
00995 float64[12] P # 3x4 row-major matrix\n\
00996 \n\
00997 \n\
00998 #######################################################################\n\
00999 # Operational Parameters #\n\
01000 #######################################################################\n\
01001 # These define the image region actually captured by the camera #\n\
01002 # driver. Although they affect the geometry of the output image, they #\n\
01003 # may be changed freely without recalibrating the camera. #\n\
01004 #######################################################################\n\
01005 \n\
01006 # Binning refers here to any camera setting which combines rectangular\n\
01007 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01008 # resolution of the output image to\n\
01009 # (width / binning_x) x (height / binning_y).\n\
01010 # The default values binning_x = binning_y = 0 is considered the same\n\
01011 # as binning_x = binning_y = 1 (no subsampling).\n\
01012 uint32 binning_x\n\
01013 uint32 binning_y\n\
01014 \n\
01015 # Region of interest (subwindow of full camera resolution), given in\n\
01016 # full resolution (unbinned) image coordinates. A particular ROI\n\
01017 # always denotes the same window of pixels on the camera sensor,\n\
01018 # regardless of binning settings.\n\
01019 # The default setting of roi (all values 0) is considered the same as\n\
01020 # full resolution (roi.width = width, roi.height = height).\n\
01021 RegionOfInterest roi\n\
01022 \n\
01023 ================================================================================\n\
01024 MSG: sensor_msgs/RegionOfInterest\n\
01025 # This message is used to specify a region of interest within an image.\n\
01026 #\n\
01027 # When used to specify the ROI setting of the camera when the image was\n\
01028 # taken, the height and width fields should either match the height and\n\
01029 # width fields for the associated image; or height = width = 0\n\
01030 # indicates that the full resolution image was captured.\n\
01031 \n\
01032 uint32 x_offset # Leftmost pixel of the ROI\n\
01033 # (0 if the ROI includes the left edge of the image)\n\
01034 uint32 y_offset # Topmost pixel of the ROI\n\
01035 # (0 if the ROI includes the top edge of the image)\n\
01036 uint32 height # Height of ROI\n\
01037 uint32 width # Width of ROI\n\
01038 \n\
01039 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01040 # ROI in this message. Typically this should be False if the full image\n\
01041 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01042 # used).\n\
01043 bool do_rectify\n\
01044 \n\
01045 ================================================================================\n\
01046 MSG: geometry_msgs/Vector3\n\
01047 # This represents a vector in free space. \n\
01048 \n\
01049 float64 x\n\
01050 float64 y\n\
01051 float64 z\n\
01052 ================================================================================\n\
01053 MSG: arm_navigation_msgs/Shape\n\
01054 byte SPHERE=0\n\
01055 byte BOX=1\n\
01056 byte CYLINDER=2\n\
01057 byte MESH=3\n\
01058 \n\
01059 byte type\n\
01060 \n\
01061 \n\
01062 #### define sphere, box, cylinder ####\n\
01063 # the origin of each shape is considered at the shape's center\n\
01064 \n\
01065 # for sphere\n\
01066 # radius := dimensions[0]\n\
01067 \n\
01068 # for cylinder\n\
01069 # radius := dimensions[0]\n\
01070 # length := dimensions[1]\n\
01071 # the length is along the Z axis\n\
01072 \n\
01073 # for box\n\
01074 # size_x := dimensions[0]\n\
01075 # size_y := dimensions[1]\n\
01076 # size_z := dimensions[2]\n\
01077 float64[] dimensions\n\
01078 \n\
01079 \n\
01080 #### define mesh ####\n\
01081 \n\
01082 # list of triangles; triangle k is defined by tre vertices located\n\
01083 # at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
01084 int32[] triangles\n\
01085 geometry_msgs/Point[] vertices\n\
01086 \n\
01087 ";
01088 }
01089
01090 static const char* value(const ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> &) { return value(); }
01091 };
01092
01093 }
01094 }
01095
01096 namespace ros
01097 {
01098 namespace serialization
01099 {
01100
01101 template<class ContainerAllocator> struct Serializer< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> >
01102 {
01103 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01104 {
01105 stream.next(m.graspable_objects);
01106 stream.next(m.image);
01107 stream.next(m.camera_info);
01108 stream.next(m.meshes);
01109 stream.next(m.reference_to_camera);
01110 }
01111
01112 ROS_DECLARE_ALLINONE_SERIALIZER;
01113 };
01114 }
01115 }
01116
01117 namespace ros
01118 {
01119 namespace message_operations
01120 {
01121
01122 template<class ContainerAllocator>
01123 struct Printer< ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> >
01124 {
01125 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_interactive_object_detection::GraspableObjectList_<ContainerAllocator> & v)
01126 {
01127 s << indent << "graspable_objects[]" << std::endl;
01128 for (size_t i = 0; i < v.graspable_objects.size(); ++i)
01129 {
01130 s << indent << " graspable_objects[" << i << "]: ";
01131 s << std::endl;
01132 s << indent;
01133 Printer< ::object_manipulation_msgs::GraspableObject_<ContainerAllocator> >::stream(s, indent + " ", v.graspable_objects[i]);
01134 }
01135 s << indent << "image: ";
01136 s << std::endl;
01137 Printer< ::sensor_msgs::Image_<ContainerAllocator> >::stream(s, indent + " ", v.image);
01138 s << indent << "camera_info: ";
01139 s << std::endl;
01140 Printer< ::sensor_msgs::CameraInfo_<ContainerAllocator> >::stream(s, indent + " ", v.camera_info);
01141 s << indent << "meshes[]" << std::endl;
01142 for (size_t i = 0; i < v.meshes.size(); ++i)
01143 {
01144 s << indent << " meshes[" << i << "]: ";
01145 s << std::endl;
01146 s << indent;
01147 Printer< ::arm_navigation_msgs::Shape_<ContainerAllocator> >::stream(s, indent + " ", v.meshes[i]);
01148 }
01149 s << indent << "reference_to_camera: ";
01150 s << std::endl;
01151 Printer< ::geometry_msgs::Pose_<ContainerAllocator> >::stream(s, indent + " ", v.reference_to_camera);
01152 }
01153 };
01154
01155
01156 }
01157 }
01158
01159 #endif // PR2_INTERACTIVE_OBJECT_DETECTION_MESSAGE_GRASPABLEOBJECTLIST_H
01160
