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[Personalrobots-commit] SF.net SVN: personalrobots:[21339] pkg/trunk
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From: <sf...@us...> - 2009-08-10 07:55:45
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Revision: 21339
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21339&view=rev
Author: sfkwc
Date: 2009-08-10 07:55:36 +0000 (Mon, 10 Aug 2009)
Log Message:
-----------
Moving stereo messages out of sensor_msgs to stereo/stereo_msgs
Modified Paths:
--------------
pkg/trunk/calibration/kinematic_calibration/manifest.xml
pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml
pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp
pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp
pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h
pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp
pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h
pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml
pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp
pkg/trunk/mapping/door_stereo_detector/manifest.xml
pkg/trunk/mapping/door_stereo_detector/src/door_stereo_detector.cpp
pkg/trunk/sandbox/annotated_map_builder/manifest.xml
pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/executive_data_collector.py
pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action.py
pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action2.py
pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/select_interesting_images.py
pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/wait_for_k_messages_action.py
pkg/trunk/sandbox/annotated_map_builder/test/test_head.py
pkg/trunk/sandbox/annotated_map_builder/test/test_head2.py
pkg/trunk/sandbox/annotated_map_builder/test/test_snd_goal.py
pkg/trunk/sandbox/annotated_map_builder/test/test_wait_K_messages.py
pkg/trunk/sandbox/person_follower/manifest.xml
pkg/trunk/sandbox/person_follower/src/executive_data_collector.py
pkg/trunk/sandbox/person_follower/src/move_head_action.py
pkg/trunk/sandbox/person_follower/src/select_interesting_images.py
pkg/trunk/sandbox/person_follower/src/wait_for_k_messages_action.py
pkg/trunk/sandbox/person_follower/test/test_snd_goal.py
pkg/trunk/sandbox/person_follower/test/test_wait_K_messages.py
pkg/trunk/sandbox/planar_objects/manifest.xml
pkg/trunk/sandbox/planar_objects/src/box_detector.cpp
pkg/trunk/sandbox/planar_objects/src/box_detector.h
pkg/trunk/sandbox/planar_objects/src/cornercandidate.h
pkg/trunk/sandbox/planar_objects/src/stereo_throttle.cpp
pkg/trunk/sandbox/planar_objects/src/stereo_throttle.h
pkg/trunk/stacks/camera_drivers/dcam/manifest.xml
pkg/trunk/stacks/camera_drivers/dcam/src/nodes/dcam.cpp
pkg/trunk/stacks/camera_drivers/dcam/src/nodes/stereodcam.cpp
pkg/trunk/stacks/semantic_mapping/door_handle_detector/manifest.xml
pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
pkg/trunk/stacks/simulators/stage/src/stageros.cpp
pkg/trunk/stacks/stereo/stereo_image_proc/include/cam_bridge.h
pkg/trunk/stacks/stereo/stereo_image_proc/manifest.xml
pkg/trunk/stacks/stereo/stereo_image_proc/src/imageproc.cpp
pkg/trunk/stacks/stereo/stereo_image_proc/src/stereoproc.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/manifest.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting2.cpp
pkg/trunk/vision/cv_mech_turk/manifest.xml
pkg/trunk/vision/cv_mech_turk/src/annotation_to_data_sync.py
pkg/trunk/vision/cv_mech_turk/src/mt_annotate_simple.py
pkg/trunk/vision/people/manifest.xml
pkg/trunk/vision/people/src/face_detection.cpp
pkg/trunk/vision/people/src/pedestrian_detector_HOG.cpp
pkg/trunk/vision/people/src/stereo_color_tracker.cpp
pkg/trunk/vision/people/src/stereo_face_color_tracker.cpp
pkg/trunk/vision/people/src/track_starter_gui.cpp
pkg/trunk/vision/recognition_lambertian/manifest.xml
pkg/trunk/vision/recognition_lambertian/src/publish_scene.cpp
pkg/trunk/vision/recognition_lambertian/src/rec_lam_normal_features.cpp
pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp
pkg/trunk/vision/stereo_capture/manifest.xml
pkg/trunk/vision/stereo_capture/src/periodic_capture.cpp
pkg/trunk/vision/stereo_capture/src/stereo_capture.cpp
pkg/trunk/vision/stereo_view/manifest.xml
pkg/trunk/vision/stereo_view/stereo_view.cpp
pkg/trunk/vision/vision_tests/manifest.xml
pkg/trunk/vision/vision_tests/nodes/sink.py
pkg/trunk/vision/vision_tests/nodes/source.py
pkg/trunk/vision/visual_odometry/manifest.xml
pkg/trunk/vision/visual_odometry/nodes/diff.py
pkg/trunk/vision/visual_odometry/nodes/vo.py
pkg/trunk/vision/visual_odometry/scripts/mkgeo.py
pkg/trunk/vision/visual_odometry/scripts/mkrun.py
pkg/trunk/vision/vslam/manifest.xml
pkg/trunk/vision/vslam/nodes/fixplay.py
pkg/trunk/vision/vslam/nodes/picmap.py
pkg/trunk/vision/vslam/nodes/roadmap.py
pkg/trunk/vision/vslam/nodes/watchmap.py
Added Paths:
-----------
pkg/trunk/stacks/stereo/stereo_msgs/
pkg/trunk/stacks/stereo/stereo_msgs/CMakeLists.txt
pkg/trunk/stacks/stereo/stereo_msgs/Makefile
pkg/trunk/stacks/stereo/stereo_msgs/mainpage.dox
pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml
pkg/trunk/stacks/stereo/stereo_msgs/msg/
pkg/trunk/stacks/stereo/stereo_msgs/msg/DisparityInfo.msg
pkg/trunk/stacks/stereo/stereo_msgs/msg/RawStereo.msg
pkg/trunk/stacks/stereo/stereo_msgs/msg/StereoInfo.msg
Removed Paths:
-------------
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/DisparityInfo.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/RawStereo.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/StereoInfo.msg
Modified: pkg/trunk/calibration/kinematic_calibration/manifest.xml
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/calibration/kinematic_calibration/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -13,6 +13,7 @@
<depend package="sensor_msgs" />
<depend package="newmat10"/>
<depend package="pr2_mechanism_controllers" />
+ <depend package="stereo_msgs"/>
# For Scripts
<depend package="rosrecord" />
Modified: pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -44,7 +44,7 @@
#include "std_msgs/Empty.h"
#include "sensor_msgs/PointCloud.h"
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/CameraInfo.h"
@@ -87,8 +87,8 @@
std_msgs::Empty capture_msg_ ;
// Dcam messages
- sensor_msgs::RawStereo raw_stereo_ ;
- sensor_msgs::RawStereo safe_raw_stereo_ ;
+ stereo_msgs::RawStereo raw_stereo_ ;
+ stereo_msgs::RawStereo safe_raw_stereo_ ;
boost::mutex raw_stereo_lock_ ;
// HiRes Camera messages
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -10,5 +10,6 @@
<depend package="tf" />
<depend package="laser_scan" />
<depend package="sensor_msgs" />
+ <depend package="stereo_msgs"/>
</package>
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -40,7 +40,7 @@
#include "tf/transform_datatypes.h"
#include "mechanism_msgs/MechanismState.h"
#include "sensor_msgs/LaserScan.h"
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
class LaserHeadKinematics
{
@@ -62,14 +62,14 @@
&LaserHeadKinematics::updateTiltScan, this) ;
// Raw Stereo Updates
- stereo_pub_ = nh.advertise<sensor_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
+ stereo_pub_ = nh.advertise<stereo_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
stereo_sub_ = nh.subscribe("/stereo/raw_stereo", 100,
&LaserHeadKinematics::updateStereo, this) ;
}
- void updateStereo(const sensor_msgs::RawStereoConstPtr& msg_in)
+ void updateStereo(const stereo_msgs::RawStereoConstPtr& msg_in)
{
- sensor_msgs::RawStereo msg_out ;
+ stereo_msgs::RawStereo msg_out ;
msg_out = *msg_in ;
msg_out.header.frame_id = "stereo_optical_frame_cal" ;
stereo_pub_.publish(msg_out) ;
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -40,7 +40,7 @@
#include "tf/transform_datatypes.h"
#include "mechanism_msgs/MechanismState.h"
#include "sensor_msgs/LaserScan.h"
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
class LaserHeadKinematics
{
@@ -62,14 +62,14 @@
&LaserHeadKinematics::updateTiltScan, this) ;
// Raw Stereo Updates
- stereo_pub_ = nh.advertise<sensor_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
+ stereo_pub_ = nh.advertise<stereo_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
stereo_sub_ = nh.subscribe("/stereo/raw_stereo", 100,
&LaserHeadKinematics::updateStereo, this) ;
}
- void updateStereo(const sensor_msgs::RawStereoConstPtr& msg_in)
+ void updateStereo(const stereo_msgs::RawStereoConstPtr& msg_in)
{
- sensor_msgs::RawStereo msg_out ;
+ stereo_msgs::RawStereo msg_out ;
msg_out = *msg_in ;
msg_out.header.frame_id = "stereo_optical_frame_cal" ;
msg_out.right_info.P[3] = PR_03_ ;
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -40,7 +40,7 @@
#include "tf/transform_datatypes.h"
#include "mechanism_msgs/MechanismState.h"
#include "sensor_msgs/LaserScan.h"
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
class LaserHeadKinematics
{
@@ -62,14 +62,14 @@
&LaserHeadKinematics::updateTiltScan, this) ;
// Raw Stereo Updates
- stereo_pub_ = nh.advertise<sensor_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
+ stereo_pub_ = nh.advertise<stereo_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
stereo_sub_ = nh.subscribe("/stereo/raw_stereo", 100,
&LaserHeadKinematics::updateStereo, this) ;
}
- void updateStereo(const sensor_msgs::RawStereoConstPtr& msg_in)
+ void updateStereo(const stereo_msgs::RawStereoConstPtr& msg_in)
{
- sensor_msgs::RawStereo msg_out ;
+ stereo_msgs::RawStereo msg_out ;
msg_out = *msg_in ;
msg_out.header.frame_id = "stereo_optical_frame_cal" ;
msg_out.right_info.P[3] = PR_03_ ;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h 2009-08-10 07:55:36 UTC (rev 21339)
@@ -38,10 +38,10 @@
// raw_stereo components
#include <sensor_msgs/Image.h>
-#include "sensor_msgs/RawStereo.h"
-#include "sensor_msgs/StereoInfo.h"
+#include "stereo_msgs/RawStereo.h"
+#include "stereo_msgs/StereoInfo.h"
#include "sensor_msgs/CameraInfo.h"
-#include "sensor_msgs/DisparityInfo.h"
+#include "stereo_msgs/DisparityInfo.h"
namespace gazebo
{
@@ -164,12 +164,12 @@
/// \brief ros message
/// \brief construct raw stereo message
- private: sensor_msgs::RawStereo rawStereoMsg;
+ private: stereo_msgs::RawStereo rawStereoMsg;
private: sensor_msgs::Image* leftImageMsg;
private: sensor_msgs::Image* rightImageMsg;
private: sensor_msgs::CameraInfo* leftCameraInfoMsg;
private: sensor_msgs::CameraInfo* rightCameraInfoMsg;
- private: sensor_msgs::StereoInfo* stereoInfoMsg;
+ private: stereo_msgs::StereoInfo* stereoInfoMsg;
/// \brief A mutex to lock access to fields that are used in message callbacks
private: boost::mutex lock;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -21,6 +21,7 @@
<depend package="sensor_msgs" />
<depend package="opencv_latest" />
<depend package="sensor_msgs" />
+ <depend package="stereo_msgs"/>
<depend package="pr2_msgs" />
<depend package="geometry_msgs" />
<depend package="diagnostic_msgs" />
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -168,7 +168,7 @@
// advertise node topics
ROS_DEBUG("stereo: advertise topicName %s\n",this->topicName.c_str());
- this->pub_ = this->rosnode_->advertise<sensor_msgs::RawStereo>(this->topicName, 1);
+ this->pub_ = this->rosnode_->advertise<stereo_msgs::RawStereo>(this->topicName, 1);
// iterate through children of the model parent to find left and right camera sensors
std::vector<Entity*> sibling = this->myParent->GetChildren();
Modified: pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h 2009-08-10 07:55:36 UTC (rev 21339)
@@ -50,7 +50,7 @@
#include <tf/transform_listener.h>
#include <mapping_msgs/PolygonalMap.h>
-#include <sensor_msgs/StereoInfo.h>
+#include <stereo_msgs/StereoInfo.h>
#include <sensor_msgs/CameraInfo.h>
#include <annotated_map_msgs/TaggedPolygonalMap.h>
#include <annotated_map_msgs/TaggedPolygon3D.h>
@@ -64,7 +64,7 @@
void projectAnyObject(const sensor_msgs::CameraInfo& cam_info,geometry_msgs::Polygon polyIn,geometry_msgs::Polygon& polyOut);
-void projectAnyObject(const sensor_msgs::StereoInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
+void projectAnyObject(const stereo_msgs::StereoInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
void projectAnyObject(const sensor_msgs::CameraInfo& cam_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
@@ -73,7 +73,7 @@
-void projectPolygonalMap(const sensor_msgs::StereoInfo& stereo_info_, const mapping_msgs::PolygonalMap& transformed_map_3D, mapping_msgs::PolygonalMap &transformed_map_2D);
+void projectPolygonalMap(const stereo_msgs::StereoInfo& stereo_info_, const mapping_msgs::PolygonalMap& transformed_map_3D, mapping_msgs::PolygonalMap &transformed_map_2D);
void projectPolygonPoints(double* projection,double img_w, double img_h, geometry_msgs::Polygon polyIn,geometry_msgs::Polygon& polyOut);
Modified: pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -12,6 +12,7 @@
<depend package="std_msgs"/>
<depend package="mapping_msgs" />
<depend package="sensor_msgs" />
+ <depend package="stereo_msgs" />
<depend package="geometry_msgs" />
<depend package="annotated_map_msgs"/>
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -49,7 +49,7 @@
#include <mapping_msgs/PolygonalMap.h>
-#include <sensor_msgs/StereoInfo.h>
+#include <stereo_msgs/StereoInfo.h>
#include <cv_mech_turk/ExternalAnnotation.h>
#include <annotated_map_msgs/TaggedPolygonalMap.h>
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -53,7 +53,7 @@
#include <mapping_msgs/PolygonalMap.h>
-#include <sensor_msgs/StereoInfo.h>
+#include <stereo_msgs/StereoInfo.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <std_msgs/ColorRGBA.h>
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -53,7 +53,7 @@
#include <mapping_msgs/PolygonalMap.h>
-#include <sensor_msgs/StereoInfo.h>
+#include <stereo_msgs/StereoInfo.h>
#include <cv_mech_turk/ExternalAnnotation.h>
#include <annotated_map_msgs/TaggedPolygonalMap.h>
@@ -358,7 +358,7 @@
cv_mech_turk::ExternalAnnotation annotation2d_object_;
mapping_msgs::PolygonalMap unlabeled_map_;
- sensor_msgs::StereoInfo stereo_info_;
+ stereo_msgs::StereoInfo stereo_info_;
std::string target_frame_;
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -53,7 +53,7 @@
#include <mapping_msgs/PolygonalMap.h>
-#include <sensor_msgs/StereoInfo.h>
+#include <stereo_msgs/StereoInfo.h>
#include <sensor_msgs/CameraInfo.h>
#include <cv_mech_turk/ExternalAnnotation.h>
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -53,7 +53,7 @@
#include <mapping_msgs/PolygonalMap.h>
-#include <sensor_msgs/StereoInfo.h>
+#include <stereo_msgs/StereoInfo.h>
#include <sensor_msgs/CameraInfo.h>
#include "tf/message_notifier.h"
@@ -131,7 +131,7 @@
lifted_pub_=n_.advertise<annotated_map_msgs::TaggedPolygonalMap>(out_topic_name_,1);
};
- //void handleStereoInfo(sensor_msgs::StereoInfoConstPtr si)
+ //void handleStereoInfo(stereo_msgs::StereoInfoConstPtr si)
void handleStereoInfo()
{
ROS_INFO("StereoInfo\n");
@@ -417,10 +417,10 @@
protected:
tf::TransformListener *tf_;
- tf::MessageNotifier<sensor_msgs::StereoInfo>* scan_notifier_ ;
+ tf::MessageNotifier<stereo_msgs::StereoInfo>* scan_notifier_ ;
cv_mech_turk::ExternalAnnotation annotation2d_object_;
- sensor_msgs::StereoInfo stereo_info_;
+ stereo_msgs::StereoInfo stereo_info_;
//sensor_msgs::CameraInfo stereo_info_;
std::string fixed_frame_;
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -50,7 +50,7 @@
#include <tf/transform_listener.h>
#include <mapping_msgs/PolygonalMap.h>
-#include <sensor_msgs/StereoInfo.h>
+#include <stereo_msgs/StereoInfo.h>
#include <annotated_map_msgs/TaggedPolygonalMap.h>
#include <annotated_map_msgs/TaggedPolygon3D.h>
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -52,7 +52,7 @@
*
*/
-void annotated_planar_patch_map::projection::projectPolygonalMap(const sensor_msgs::StereoInfo& stereo_info, const mapping_msgs::PolygonalMap& transformed_map_3D, mapping_msgs::PolygonalMap &transformed_map_2D)
+void annotated_planar_patch_map::projection::projectPolygonalMap(const stereo_msgs::StereoInfo& stereo_info, const mapping_msgs::PolygonalMap& transformed_map_3D, mapping_msgs::PolygonalMap &transformed_map_2D)
{
//Get projections matrix
@@ -293,7 +293,7 @@
}
}
-void annotated_planar_patch_map::projection::projectAnyObject(const sensor_msgs::StereoInfo& stereo_info, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D)
+void annotated_planar_patch_map::projection::projectAnyObject(const stereo_msgs::StereoInfo& stereo_info, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D)
{
bool bSame = (&transformed_map_3D == &transformed_map_2D);
Modified: pkg/trunk/mapping/door_stereo_detector/manifest.xml
===================================================================
--- pkg/trunk/mapping/door_stereo_detector/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/door_stereo_detector/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -18,5 +18,6 @@
<depend package="sensor_msgs" />
<depend package="topic_synchronizer" />
<depend package="visualization_msgs" />
+ <depend package="stereo_msgs"/>
</package>
Modified: pkg/trunk/mapping/door_stereo_detector/src/door_stereo_detector.cpp
===================================================================
--- pkg/trunk/mapping/door_stereo_detector/src/door_stereo_detector.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/mapping/door_stereo_detector/src/door_stereo_detector.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -53,8 +53,8 @@
#include "opencv_latest/CvBridge.h"
-#include "sensor_msgs/StereoInfo.h"
-#include "sensor_msgs/DisparityInfo.h"
+#include "stereo_msgs/StereoInfo.h"
+#include "stereo_msgs/DisparityInfo.h"
#include "sensor_msgs/CameraInfo.h"
#include "sensor_msgs/Image.h"
@@ -107,8 +107,8 @@
sensor_msgs::Image limage;
sensor_msgs::Image dimage;
- sensor_msgs::StereoInfo stinfo;
- sensor_msgs::DisparityInfo dispinfo;
+ stereo_msgs::StereoInfo stinfo;
+ stereo_msgs::DisparityInfo dispinfo;
sensor_msgs::CameraInfo rcinfo;
sensor_msgs::CvBridge lbridge;
sensor_msgs::CvBridge rbridge;
Modified: pkg/trunk/sandbox/annotated_map_builder/manifest.xml
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -13,6 +13,7 @@
<depend package="executive_python" />
<depend package="python_actions" />
<depend package="bagserver" />
+ <depend package="stereo_msgs"/>
<export>
<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/>
</export>
Modified: pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/executive_data_collector.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/executive_data_collector.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/executive_data_collector.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -43,7 +43,7 @@
from robot_msgs.msg import *
from std_msgs.msg import *
from robot_msgs.msg import *
-from sensor_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
import tf
from battery_monitor_adapter import *
Modified: pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -38,7 +38,7 @@
roslib.load_manifest('annotated_map_builder')
import rospy
import random
-from sensor_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
import threading
Modified: pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action2.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action2.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/move_head_action2.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -38,7 +38,7 @@
roslib.load_manifest('annotated_map_builder')
import rospy
import random
-from sensor_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
import threading
Modified: pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/select_interesting_images.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/select_interesting_images.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/select_interesting_images.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -41,7 +41,7 @@
import sys
from robot_msgs.msg import PoseStamped
from annotated_map_builder.msg import WaitActionState
-from sensor_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from robot_actions.msg import ActionStatus;
Modified: pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/wait_for_k_messages_action.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/wait_for_k_messages_action.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/src/annotated_map_builder/wait_for_k_messages_action.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -40,7 +40,7 @@
import random
import threading
-from sensor_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
Modified: pkg/trunk/sandbox/annotated_map_builder/test/test_head.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/test/test_head.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/test/test_head.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -38,7 +38,7 @@
roslib.load_manifest('annotated_map_builder')
import rospy
import random
-from sensor_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
import threading
Modified: pkg/trunk/sandbox/annotated_map_builder/test/test_head2.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/test/test_head2.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/test/test_head2.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -38,7 +38,7 @@
roslib.load_manifest('annotated_map_builder')
import rospy
import random
-from sensor_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
import threading
Modified: pkg/trunk/sandbox/annotated_map_builder/test/test_snd_goal.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/test/test_snd_goal.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/test/test_snd_goal.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -39,7 +39,7 @@
import rospy
import random
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
import threading
Modified: pkg/trunk/sandbox/annotated_map_builder/test/test_wait_K_messages.py
===================================================================
--- pkg/trunk/sandbox/annotated_map_builder/test/test_wait_K_messages.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/annotated_map_builder/test/test_wait_K_messages.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -5,7 +5,7 @@
roslib.load_manifest('annotated_map_builder')
import rospy
import random
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from annotated_map_builder.wait_for_k_messages_adapter import *
Modified: pkg/trunk/sandbox/person_follower/manifest.xml
===================================================================
--- pkg/trunk/sandbox/person_follower/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/person_follower/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -13,6 +13,7 @@
<depend package="milestone2_actions" />
<depend package="executive_python" />
<depend package="bagserver" />
+ <depend package="stereo_msgs"/>
<export>
<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/>
</export>
Modified: pkg/trunk/sandbox/person_follower/src/executive_data_collector.py
===================================================================
--- pkg/trunk/sandbox/person_follower/src/executive_data_collector.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/person_follower/src/executive_data_collector.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -43,7 +43,7 @@
from robot_msgs.msg import *
from std_msgs.msg import *
from robot_msgs.msg import *
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from mechanism_msgs.msg import JointStates, JointState
Modified: pkg/trunk/sandbox/person_follower/src/move_head_action.py
===================================================================
--- pkg/trunk/sandbox/person_follower/src/move_head_action.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/person_follower/src/move_head_action.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -38,7 +38,7 @@
roslib.load_manifest('annotated_map_builder')
import rospy
import random
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
import threading
Modified: pkg/trunk/sandbox/person_follower/src/select_interesting_images.py
===================================================================
--- pkg/trunk/sandbox/person_follower/src/select_interesting_images.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/person_follower/src/select_interesting_images.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -41,7 +41,7 @@
import sys
from robot_msgs.msg import PoseStamped
from annotated_map_builder.msg import WaitActionState
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from robot_actions.msg import ActionStatus;
Modified: pkg/trunk/sandbox/person_follower/src/wait_for_k_messages_action.py
===================================================================
--- pkg/trunk/sandbox/person_follower/src/wait_for_k_messages_action.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/person_follower/src/wait_for_k_messages_action.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -40,7 +40,7 @@
import random
import threading
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
Modified: pkg/trunk/sandbox/person_follower/test/test_snd_goal.py
===================================================================
--- pkg/trunk/sandbox/person_follower/test/test_snd_goal.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/person_follower/test/test_snd_goal.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -39,7 +39,7 @@
import rospy
import random
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from std_msgs.msg import Empty
import threading
Modified: pkg/trunk/sandbox/person_follower/test/test_wait_K_messages.py
===================================================================
--- pkg/trunk/sandbox/person_follower/test/test_wait_K_messages.py 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/person_follower/test/test_wait_K_messages.py 2009-08-10 07:55:36 UTC (rev 21339)
@@ -5,7 +5,7 @@
roslib.load_manifest('annotated_map_builder')
import rospy
import random
-from image_msgs.msg import RawStereo
+from stereo_msgs.msg import RawStereo
from annotated_map_builder.wait_for_k_messages_adapter import *
Modified: pkg/trunk/sandbox/planar_objects/manifest.xml
===================================================================
--- pkg/trunk/sandbox/planar_objects/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/planar_objects/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -18,6 +18,7 @@
<depend package="opencv_latest"/>
<depend package="tf"/>
<depend package="eigen"/>
+ <depend package="stereo_msgs"/>
</package>
Modified: pkg/trunk/sandbox/planar_objects/src/box_detector.cpp
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/box_detector.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/planar_objects/src/box_detector.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -112,7 +112,7 @@
cloud_ = point_cloud;
}
-void BoxDetector::dinfoCallback(const sensor_msgs::DisparityInfo::ConstPtr& dinfo)
+void BoxDetector::dinfoCallback(const stereo_msgs::DisparityInfo::ConstPtr& dinfo)
{
dinfo_ = dinfo;
}
Modified: pkg/trunk/sandbox/planar_objects/src/box_detector.h
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/box_detector.h 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/planar_objects/src/box_detector.h 2009-08-10 07:55:36 UTC (rev 21339)
@@ -16,8 +16,8 @@
#include "visualization_msgs/Marker.h"
#include "sensor_msgs/Image.h"
-#include "sensor_msgs/StereoInfo.h"
-#include "sensor_msgs/DisparityInfo.h"
+#include "stereo_msgs/StereoInfo.h"
+#include "stereo_msgs/DisparityInfo.h"
#include "sensor_msgs/CameraInfo.h"
#include "opencv_latest/CvBridge.h"
@@ -100,7 +100,7 @@
sensor_msgs::CvBridge rbridge_;
ros::Subscriber dinfo_sub_;
- sensor_msgs::DisparityInfoConstPtr dinfo_;
+ stereo_msgs::DisparityInfoConstPtr dinfo_;
ros::Subscriber linfo_sub_;
sensor_msgs::CameraInfoConstPtr linfo_;
@@ -127,7 +127,7 @@
// Callbacks
void cloudCallback(const sensor_msgs::PointCloud::ConstPtr& point_cloud);
void dispCallback(const sensor_msgs::Image::ConstPtr& disp_img);
- void dinfoCallback(const sensor_msgs::DisparityInfo::ConstPtr& disp_img);
+ void dinfoCallback(const stereo_msgs::DisparityInfo::ConstPtr& disp_img);
void limageCallback(const sensor_msgs::Image::ConstPtr& left_img);
void rimageCallback(const sensor_msgs::Image::ConstPtr& right_img);
void linfoCallback(const sensor_msgs::CameraInfo::ConstPtr& rinfo);
Modified: pkg/trunk/sandbox/planar_objects/src/cornercandidate.h
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/cornercandidate.h 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/planar_objects/src/cornercandidate.h 2009-08-10 07:55:36 UTC (rev 21339)
@@ -16,8 +16,8 @@
#include "visualization_msgs/Marker.h"
#include "sensor_msgs/Image.h"
-#include "sensor_msgs/StereoInfo.h"
-#include "sensor_msgs/DisparityInfo.h"
+#include "stereo_msgs/StereoInfo.h"
+#include "stereo_msgs/DisparityInfo.h"
#include "sensor_msgs/CameraInfo.h"
#include "opencv_latest/CvBridge.h"
Modified: pkg/trunk/sandbox/planar_objects/src/stereo_throttle.cpp
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/stereo_throttle.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/planar_objects/src/stereo_throttle.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -47,12 +47,12 @@
stereo_sub = nh.subscribe(stereo_ns+"/raw_stereo", 1, &StereoThrottle::stereoCallback,this);
// advertise topics
- stereo_pub = nh.advertise<sensor_msgs::RawStereo> ("~raw_stereo", 1);
+ stereo_pub = nh.advertise<stereo_msgs::RawStereo> ("~raw_stereo", 1);
n = 0;
}
-void StereoThrottle::stereoCallback(const sensor_msgs::RawStereo::ConstPtr& stereo)
+void StereoThrottle::stereoCallback(const stereo_msgs::RawStereo::ConstPtr& stereo)
{
n++;
if(n % divisor != 1) {
Modified: pkg/trunk/sandbox/planar_objects/src/stereo_throttle.h
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/stereo_throttle.h 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/sandbox/planar_objects/src/stereo_throttle.h 2009-08-10 07:55:36 UTC (rev 21339)
@@ -11,7 +11,7 @@
#include "ros/ros.h"
#include "topic_synchronizer2/topic_synchronizer.h"
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
namespace planar_objects {
@@ -35,7 +35,7 @@
StereoThrottle();
// Callbacks
- void stereoCallback(const sensor_msgs::RawStereo::ConstPtr& stereo);
+ void stereoCallback(const stereo_msgs::RawStereo::ConstPtr& stereo);
};
}
Modified: pkg/trunk/stacks/camera_drivers/dcam/manifest.xml
===================================================================
--- pkg/trunk/stacks/camera_drivers/dcam/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/camera_drivers/dcam/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -15,6 +15,7 @@
<depend package="sensor_msgs"/>
<depend package="diagnostic_updater"/>
<depend package="rospy"/>
+ <depend package="stereo_msgs"/>
<rosdep name="fltk"/>
<url></url>
Modified: pkg/trunk/stacks/camera_drivers/dcam/src/nodes/dcam.cpp
===================================================================
--- pkg/trunk/stacks/camera_drivers/dcam/src/nodes/dcam.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/camera_drivers/dcam/src/nodes/dcam.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -40,7 +40,7 @@
#include "sensor_msgs/Image.h"
#include "sensor_msgs/fill_image.h"
#include "sensor_msgs/CameraInfo.h"
-#include "sensor_msgs/StereoInfo.h"
+#include "stereo_msgs/StereoInfo.h"
#include "sensor_msgs/PointCloud.h"
#include <diagnostic_updater/diagnostic_updater.h>
Modified: pkg/trunk/stacks/camera_drivers/dcam/src/nodes/stereodcam.cpp
===================================================================
--- pkg/trunk/stacks/camera_drivers/dcam/src/nodes/stereodcam.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/camera_drivers/dcam/src/nodes/stereodcam.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -85,7 +85,7 @@
- @b "stereo/check_params" : std_msgs/Empty : signal to recheck all of the parameters
Publishes to (name : type : description):
-- @b "stereo/raw_stereo" : sensor_msgs/RawStereo : raw stereo information from camera
+- @b "stereo/raw_stereo" : stereo_msgs/RawStereo : raw stereo information from camera
<hr>
@@ -133,7 +133,7 @@
#include "ros/node.h"
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
#include "cam_bridge.h"
#include <diagnostic_updater/diagnostic_updater.h>
@@ -150,7 +150,7 @@
class StereoDcamNode : public ros::Node
{
- sensor_msgs::RawStereo raw_stereo_;
+ stereo_msgs::RawStereo raw_stereo_;
DiagnosticUpdater<StereoDcamNode> diagnostic_;
diagnostic_updater::TimeStampStatus timestamp_diag_;
@@ -273,7 +273,7 @@
stcam_->setSpeckleDiff(10);
stcam_->setCompanding(true);
- advertise<sensor_msgs::RawStereo>("raw_stereo", 1);
+ advertise<stereo_msgs::RawStereo>("raw_stereo", 1);
subscribe("~check_params", check_params_msg_, &StereoDcamNode::checkParams, 1);
Deleted: pkg/trunk/stacks/common_msgs/sensor_msgs/msg/DisparityInfo.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/msg/DisparityInfo.msg 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/msg/DisparityInfo.msg 2009-08-10 07:55:36 UTC (rev 21339)
@@ -1,22 +0,0 @@
-# This message defines meta information for a computed disparity image
-
-Header header
-
-uint32 height
-uint32 width
-
-int32 dpp
-int32 num_disp
-int32 im_Dtop
-int32 im_Dleft
-int32 im_Dwidth
-int32 im_Dheight
-int32 corr_size
-int32 filter_size
-int32 hor_offset
-int32 texture_thresh
-int32 unique_thresh
-int32 smooth_thresh
-int32 speckle_diff
-int32 speckle_region_size
-byte unique_check
Deleted: pkg/trunk/stacks/common_msgs/sensor_msgs/msg/RawStereo.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/msg/RawStereo.msg 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/msg/RawStereo.msg 2009-08-10 07:55:36 UTC (rev 21339)
@@ -1,25 +0,0 @@
-# This message defines all the information necessary to reconstruct a
-# full set of stereo information. It should be generated directly by
-# a driver connected to a set of stereo cameras. It is only intended
-# to be fed into a stereo processing node, and should not otherwise be
-# used. This is the preferred message to log when generating log
-# files, as it is the minimal representation of the information.
-
-uint8 NONE=0
-uint8 IMAGE_RAW=1
-uint8 IMAGE=2
-uint8 IMAGE_COLOR=3
-uint8 IMAGE_RECT=4
-uint8 IMAGE_RECT_COLOR=5
-
-Header header
-StereoInfo stereo_info
-CameraInfo left_info
-uint8 left_type
-Image left_image
-CameraInfo right_info
-uint8 right_type
-Image right_image
-uint8 has_disparity
-DisparityInfo disparity_info
-Image disparity_image
Deleted: pkg/trunk/stacks/common_msgs/sensor_msgs/msg/StereoInfo.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/msg/StereoInfo.msg 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/msg/StereoInfo.msg 2009-08-10 07:55:36 UTC (rev 21339)
@@ -1,24 +0,0 @@
-# This message defines meta information for a stereo pair. It should
-# be in a stereo namespace and accompanied by 2 camera namespaces, and
-# a disparity image, named:
-#
-# left, right, and disparity, respectively
-#
-# The meaning of the stereo parameters are described in detail at
-# http://pr.willowgarage.com/wiki/Camera_Calibration.
-
-Header header
-
-# Resolution in pixels
-uint32 height
-uint32 width
-
-# Pose of right camera in the left camera coordinate frame
-float64[3] T # translation vector
-float64[3] Om # rotation, encoded as a Rodrigues vector
-
-# Reprojection matrix
-# Allows computation of 3D point corresponding to a left image
-# coordinate + disparity:
-# [X Y Z W]^T = R * [u v d 1]^T
-float64[16] RP # 4x4 row-major matrix
Modified: pkg/trunk/stacks/semantic_mapping/door_handle_detector/manifest.xml
===================================================================
--- pkg/trunk/stacks/semantic_mapping/door_handle_detector/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/semantic_mapping/door_handle_detector/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -20,6 +20,7 @@
<depend package="mapping_msgs" />
<depend package="door_msgs" />
<depend package="sensor_msgs"/>
+ <depend package="stereo_msgs"/>
<depend package="visualization_msgs" />
<depend package="std_srvs" />
Modified: pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
===================================================================
--- pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -50,8 +50,8 @@
#include "ros/ros.h"
#include "ros/callback_queue.h"
-#include "sensor_msgs/StereoInfo.h"
-#include "sensor_msgs/DisparityInfo.h"
+#include "stereo_msgs/StereoInfo.h"
+#include "stereo_msgs/DisparityInfo.h"
#include "sensor_msgs/CameraInfo.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/PointCloud.h"
@@ -112,8 +112,8 @@
sensor_msgs::ImageConstPtr limage_;
sensor_msgs::ImageConstPtr rimage_;
sensor_msgs::ImageConstPtr dimage_;
- sensor_msgs::StereoInfoConstPtr stinfo_;
- sensor_msgs::DisparityInfoConstPtr dispinfo_;
+ stereo_msgs::StereoInfoConstPtr stinfo_;
+ stereo_msgs::DisparityInfoConstPtr dispinfo_;
sensor_msgs::CameraInfoConstPtr rcinfo_;
sensor_msgs::CvBridge lbridge_;
@@ -294,14 +294,14 @@
dimage_ = image;
}
- void dispinfoCallback(const sensor_msgs::DisparityInfo::ConstPtr& dinfo)
+ void dispinfoCallback(const stereo_msgs::DisparityInfo::ConstPtr& dinfo)
{
boost::unique_lock<boost::mutex> lock(data_lock_);
// ROS_INFO("got dispinfo callback");
dispinfo_ = dinfo;
}
-// void stereoinfoCallback(const sensor_msgs::StereoInfo::ConstPtr& info)
+// void stereoinfoCallback(const stereo_msgs::StereoInfo::ConstPtr& info)
// {
// stinfo_ = info;
// }
Modified: pkg/trunk/stacks/simulators/stage/src/stageros.cpp
===================================================================
--- pkg/trunk/stacks/simulators/stage/src/stageros.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/simulators/stage/src/stageros.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -36,7 +36,6 @@
#include "boost/thread/mutex.hpp"
#include <sensor_msgs/LaserScan.h>
#include <nav_msgs/Odometry.h>
-#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>
#include <roslib/Time.h>
Modified: pkg/trunk/stacks/stereo/stereo_image_proc/include/cam_bridge.h
===================================================================
--- pkg/trunk/stacks/stereo/stereo_image_proc/include/cam_bridge.h 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/stereo/stereo_image_proc/include/cam_bridge.h 2009-08-10 07:55:36 UTC (rev 21339)
@@ -35,7 +35,7 @@
#ifndef CAM_BRIDGE_HH
#define CAM_BRIDGE_HH
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
#include "sensor_msgs/fill_image.h"
#include "image.h"
@@ -46,37 +46,37 @@
if (im->imRawType != COLOR_CODING_NONE)
{
fillImage(im_msg, sensor_msgs::image_encodings::TYPE_8UC1, im->imHeight, im->imWidth, im->imWidth, im->imRaw);
- type = sensor_msgs::RawStereo::IMAGE_RAW;
+ type = stereo_msgs::RawStereo::IMAGE_RAW;
}
else if (im->imType != COLOR_CODING_NONE)
{
fillImage(im_msg, sensor_msgs::image_encodings::TYPE_8UC1, im->imHeight, im->imWidth, im->imWidth, im->im);
- type = sensor_msgs::RawStereo::IMAGE;
+ type = stereo_msgs::RawStereo::IMAGE;
}
else if (im->imColorType != COLOR_CODING_NONE && im->imColorType == COLOR_CODING_RGBA8)
{
fillImage(im_msg, sensor_msgs::image_encodings::TYPE_8UC4, im->imHeight, im->imWidth, 4 * im->imWidth, im->imColor);
- type = sensor_msgs::RawStereo::IMAGE_COLOR;
+ type = stereo_msgs::RawStereo::IMAGE_COLOR;
}
else if (im->imColorType != COLOR_CODING_NONE && im->imColorType == COLOR_CODING_RGB8)
{
fillImage(im_msg, sensor_msgs::image_encodings::TYPE_8UC3, im->imHeight, im->imWidth, 3 * im->imWidth, im->imColor);
- type = sensor_msgs::RawStereo::IMAGE_COLOR;
+ type = stereo_msgs::RawStereo::IMAGE_COLOR;
}
else if (im->imRectType != COLOR_CODING_NONE)
{
fillImage(im_msg, sensor_msgs::image_encodings::TYPE_8UC1, im->imHeight, im->imWidth, im->imWidth, im->imRect);
- type = sensor_msgs::RawStereo::IMAGE_RECT;
+ type = stereo_msgs::RawStereo::IMAGE_RECT;
}
else if (im->imRectColorType != COLOR_CODING_NONE && im->imRectColorType == COLOR_CODING_RGBA8)
{
fillImage(im_msg, sensor_msgs::image_encodings::TYPE_8UC4, im->imHeight, im->imWidth, 4 * im->imWidth, im->imRectColor);
- type = sensor_msgs::RawStereo::IMAGE_RECT_COLOR;
+ type = stereo_msgs::RawStereo::IMAGE_RECT_COLOR;
}
else if (im->imRectColorType != COLOR_CODING_NONE && im->imRectColorType == COLOR_CODING_RGB8)
{
fillImage(im_msg, sensor_msgs::image_encodings::TYPE_8UC3, im->imHeight, im->imWidth, 3 * im->imWidth, im->imRectColor);
- type = sensor_msgs::RawStereo::IMAGE_RECT_COLOR;
+ type = stereo_msgs::RawStereo::IMAGE_RECT_COLOR;
}
info_msg.height = im->imHeight;
@@ -88,7 +88,7 @@
memcpy((char*)(&info_msg.P[0]), (char*)(im->P), 12*sizeof(double));
}
- void StereoDataToRawStereo(cam::StereoData* stIm, sensor_msgs::RawStereo& raw_stereo)
+ void StereoDataToRawStereo(cam::StereoData* stIm, stereo_msgs::RawStereo& raw_stereo)
{
raw_stereo.header.stamp = ros::Time().fromNSec(stIm->imLeft->im_time * 1000);
@@ -172,37 +172,37 @@
im->imRectType = COLOR_CODING_NONE;
im->imRectColorType = COLOR_CODING_NONE;
- if (type == sensor_msgs::RawStereo::IMAGE_RAW)
+ if (type == stereo_msgs::RawStereo::IMAGE_RAW)
{
extractImage(im_msg.data, &im->imRawSize, &im->imRaw);
im->imRawType = COLOR_CODING_BAYER8_GRBG;
}
- else if (type == sensor_msgs::RawStereo::IMAGE)
+ else if (type == stereo_msgs::RawStereo::IMAGE)
{
extractImage(im_msg.data, &im->imSize, &im->im);
im->imType = COLOR_CODING_MONO8;
}
- else if (type == sensor_msgs::RawStereo::IMAGE_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC4)
+ else if (type == stereo_msgs::RawStereo::IMAGE_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC4)
{
extractImage(im_msg.data, &im->imColorSize, &im->imColor);
im->imColorType = COLOR_CODING_RGBA8;
}
- else if (type == sensor_msgs::RawStereo::IMAGE_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC3)
+ else if (type == stereo_msgs::RawStereo::IMAGE_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC3)
{
extractImage(im_msg.data, &im->imColorSize, &im->imColor);
im->imColorType = COLOR_CODING_RGB8;
}
- else if (type == sensor_msgs::RawStereo::IMAGE_RECT)
+ else if (type == stereo_msgs::RawStereo::IMAGE_RECT)
{
extractImage(im_msg.data, &im->imRectSize, &im->imRect);
im->imRectType = COLOR_CODING_MONO8;
}
- else if (type == sensor_msgs::RawStereo::IMAGE_RECT_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC4)
+ else if (type == stereo_msgs::RawStereo::IMAGE_RECT_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC4)
{
extractImage(im_msg.data, &im->imRectColorSize, &im->imRectColor);
im->imRectColorType = COLOR_CODING_RGBA8;
}
- else if (type == sensor_msgs::RawStereo::IMAGE_RECT_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC3)
+ else if (type == stereo_msgs::RawStereo::IMAGE_RECT_COLOR && im_msg.encoding == sensor_msgs::image_encodings::TYPE_8UC3)
{
extractImage(im_msg.data, &im->imRectColorSize, &im->imRectColor);
im->imRectColorType = COLOR_CODING_RGB8;
@@ -225,7 +225,7 @@
im->hasRectification = true;
}
- void RawStereoToStereoData(sensor_msgs::RawStereo& raw_stereo, cam::StereoData* stIm)
+ void RawStereoToStereoData(stereo_msgs::RawStereo& raw_stereo, cam::StereoData* stIm)
{
stIm->imLeft->im_time = raw_stereo.header.stamp.toNSec() / 1000;
stIm->imRight->im_time = raw_stereo.header.stamp.toNSec() / 1000;
Modified: pkg/trunk/stacks/stereo/stereo_image_proc/manifest.xml
===================================================================
--- pkg/trunk/stacks/stereo/stereo_image_proc/manifest.xml 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/stereo/stereo_image_proc/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -10,5 +10,6 @@
<depend package="roscpp"/>
<depend package="opencv_latest"/>
<depend package="sensor_msgs"/>
+ <depend package="stereo_msgs"/>
<depend package="diagnostic_updater"/>
</package>
Modified: pkg/trunk/stacks/stereo/stereo_image_proc/src/imageproc.cpp
===================================================================
--- pkg/trunk/stacks/stereo/stereo_image_proc/src/imageproc.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/stereo/stereo_image_proc/src/imageproc.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -87,7 +87,7 @@
{
boost::lock_guard<boost::mutex> guard(cam_info_mutex_);
- cam_bridge::RawStereoToCamData(raw_img_, cam_info_, sensor_msgs::RawStereo::IMAGE_RAW, &img_data_);
+ cam_bridge::RawStereoToCamData(raw_img_, cam_info_, stereo_msgs::RawStereo::IMAGE_RAW, &img_data_);
img_data_.imRawType = COLOR_CODING_BAYER8_BGGR;
if (do_colorize_) {
Modified: pkg/trunk/stacks/stereo/stereo_image_proc/src/stereoproc.cpp
===================================================================
--- pkg/trunk/stacks/stereo/stereo_image_proc/src/stereoproc.cpp 2009-08-10 07:53:35 UTC (rev 21338)
+++ pkg/trunk/stacks/stereo/stereo_image_proc/src/stereoproc.cpp 2009-08-10 07:55:36 UTC (rev 21339)
@@ -37,13 +37,13 @@
#include "image.h"
#include "ros/node.h"
-#include "sensor_msgs/RawStereo.h"
+#include "stereo_msgs/RawStereo.h"
#include "cam_bridge.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/fill_image.h"
#include "sensor_msgs/CameraInfo.h"
-#include "sensor_msgs/StereoInfo.h"
+#include "stereo_msgs/StereoInfo.h"
#include "sensor_msgs/PointCloud.h"
#include "diagnostic_msgs/DiagnosticStatus.h"
@@ -60,13 +60,13 @@
bool do_calc_points_;
bool do_keep_coords_;
- sensor_msgs::RawStereo raw_stereo_;
+ stereo_msgs::RawStereo raw_stereo_;
sensor_msgs::Image img_;
sensor_msgs::PointCloud cloud_;
sensor_msgs::CameraInfo cam_info_;
- sensor_msgs::DisparityInfo disparity_info_;
- sensor_msgs::StereoInfo stereo_info_;
+ stereo_msgs::DisparityInfo disparity_info_;
+ stereo_msgs::StereoInfo stereo_info_;
DiagnosticUpdater<StereoProc> diagnostic_;
@@ -375,14 +375,14 @@
void advertiseCam()
{
- advertise<sensor_msgs::StereoInfo>("stereo_info", 1);
+ advertise<stereo_msgs::StereoInfo>("stereo_info", 1);
advertiseImages("left/", stdata_->imLeft);
advertiseImages("right/", stdata_->imRight);
if (stdata_->hasDisparity)
{
- advertise<sensor_msgs::DisparityInfo>("disparity_info", 1);
+ advertise<stereo_msgs::DisparityInfo>("disparity_info", 1);
advertise<sensor_msgs::Image>("disparity", 1);
}
Added: pkg/trunk/stacks/stereo/stereo_msgs/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/stereo/stereo_msgs/CMakeLists.txt (rev 0)
+++ pkg/trunk/stacks/stereo/stereo_msgs/CMakeLists.txt 2009-08-10 07:55:36 UTC (rev 21339)
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type. Options are:
+# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
+# Debug : w/ debug symbols, w/o optimization
+# Release : w/o debug symbols, w/ optimization
+# RelWithDebInfo : w/ debug symbols, w/ optimization
+# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rospack(stereo_msgs)
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+genmsg()
Added: pkg/trunk/stacks/stereo/stereo_msgs/Makefile
===================================================================
--- pkg/trunk/stacks/stereo/stereo_msgs/Makefile (rev 0)
+++ pkg/trunk/stacks/stereo/stereo_msgs/Makefile 2009-08-10 07:55:36 UTC (rev 21339)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
Added: pkg/trunk/stacks/stereo/stereo_msgs/mainpage.dox
===================================================================
--- pkg/trunk/stacks/stereo/stereo_msgs/mainpage.dox (rev 0)
+++ pkg/trunk/stacks/stereo/stereo_msgs/mainpage.dox 2009-08-10 07:55:36 UTC (rev 21339)
@@ -0,0 +1,7 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b stereo_msgs contains messages for representing stereo-related data.
+
+*/
Added: pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml
===================================================================
--- pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml (rev 0)
+++ pkg/trunk/stacks/stereo/stereo_msgs/manifest.xml 2009-08-10 07:55:36 UTC (rev 21339)
@@ -0,0 +1,17 @@
+<package>
+ <description brief="stereo_msgs">
+
+ stereo_msgs
+
+ </description>
+ <author>Ku...
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