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[Personalrobots-commit] SF.net SVN: personalrobots:[21448] pkg/trunk/stacks
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From: <jl...@us...> - 2009-08-10 19:32:47
|
Revision: 21448
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21448&view=rev
Author: jleibs
Date: 2009-08-10 19:32:33 +0000 (Mon, 10 Aug 2009)
Log Message:
-----------
Updating migration rules to better support the intermediate Image message that existed.
Modified Paths:
--------------
pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr
pkg/trunk/stacks/stereo/stereo_msgs/migration_rules/stereo_msgs.bmr
Modified: pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr
===================================================================
--- pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr 2009-08-10 19:11:57 UTC (rev 21447)
+++ pkg/trunk/stacks/common_msgs/sensor_msgs/migration_rules/sensor_msgs.bmr 2009-08-10 19:32:33 UTC (rev 21448)
@@ -99,9 +99,285 @@
new_msg.name = old_msg.name
new_msg.values = old_msg.vals
-class update_image_msgs_Image_97d4ca3868dc81af4a2403bcb6558cb0(MessageUpdateRule):
- old_type = "image_msgs/Image"
+
+
+
+
+class update_image_msgs_CamInfo_a48ffa77e74ab6901331e50745dff353(MessageUpdateRule):
+ old_type = "image_msgs/CamInfo"
old_full_text = """
+# This message defines meta information for a camera. It should be in a
+# camera namespace and accompanied by up to 5 image topics named:
+#
+# image_raw, image, image_color, image_rect, and image_rect_color
+
+Header header
+
+uint32 height
+uint32 width
+
+float64[5] D # Distortion: k1, k2, t1, t2, k3
+float64[9] K # original camera matrix
+float64[9] R # rectification matrix
+float64[12] P # projection/camera matrix
+
+# Should put exposure, gain, etc. information here as well
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+ new_type = "sensor_msgs/CameraInfo"
+ new_full_text = """
+# This message defines meta information for a camera. It should be in a
+# camera namespace and accompanied by up to 5 image topics named:
+#
+# image_raw, image, image_color, image_rect, and image_rect_color
+#
+# The meaning of the camera parameters are described in detail at
+# http://pr.willowgarage.com/wiki/Camera_Calibration.
+
+Header header
+
+# Resolution in pixels
+uint32 height
+uint32 width
+
+########################
+# Intrinsic parameters #
+########################
+
+# Distortion parameters: k1, k2, t1, t2, k3
+# These model radial and tangential distortion of the camera.
+float64[5] D # 5x1 vector
+
+# Original camera matrix
+# Projects 3D points in the camera coordinate frame to 2D pixel
+# coordinates using the focal lengths (fx, fy) and principal point
+# (cx, cy):
+# [fx 0 cx]
+# K = [ 0 fy cy]
+# [ 0 0 1]
+float64[9] K # 3x3 row-major matrix
+
+########################
+# Extrinsic parameters #
+########################
+
+# Rectification matrix (stereo cameras only)
+# A homography which takes an image to the ideal stereo image plane
+# so that epipolar lines in both stereo images are parallel.
+float64[9] R # 3x3 row-major matrix
+
+# Projection/camera matrix
+# Projects 3D points in a world coordinate frame to 2D pixel coordinates.
+float64[12] P # 3x4 row-major matrix
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+ order = 0
+ migrated_types = [
+ ("Header","Header"),]
+
+ valid = True
+
+ def update(self, old_msg, new_msg):
+ self.migrate(old_msg.header, new_msg.header)
+ new_msg.height = old_msg.height
+ new_msg.width = old_msg.width
+ new_msg.D = old_msg.D
+ new_msg.K = old_msg.K
+ new_msg.R = old_msg.R
+ new_msg.P = old_msg.P
+
+
+class update_sensor_msgs_CameraInfo_a48ffa77e74ab6901331e50745dff353(MessageUpdateRule):
+
+ old_type = "sensor_msgs/CameraInfo"
+ old_full_text = """
+# This message defines meta information for a camera. It should be in a
+# camera namespace and accompanied by up to 5 image topics named:
+#
+# image_raw, image, image_color, image_rect, and image_rect_color
+#
+# The meaning of the camera parameters are described in detail at
+# http://pr.willowgarage.com/wiki/Camera_Calibration.
+
+Header header
+
+# Resolution in pixels
+uint32 height
+uint32 width
+
+########################
+# Intrinsic parameters #
+########################
+
+# Distortion parameters: k1, k2, t1, t2, k3
+# These model radial and tangential distortion of the camera.
+float64[5] D # 5x1 vector
+
+# Original camera matrix
+# Projects 3D points in the camera coordinate frame to 2D pixel
+# coordinates using the focal lengths (fx, fy) and principal point
+# (cx, cy):
+# [fx 0 cx]
+# K = [ 0 fy cy]
+# [ 0 0 1]
+float64[9] K # 3x3 row-major matrix
+
+########################
+# Extrinsic parameters #
+########################
+
+# Rectification matrix (stereo cameras only)
+# A homography which takes an image to the ideal stereo image plane
+# so that epipolar lines in both stereo images are parallel.
+float64[9] R # 3x3 row-major matrix
+
+# Projection/camera matrix
+# Projects 3D points in a world coordinate frame to 2D pixel coordinates.
+float64[12] P # 3x4 row-major matrix
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+ new_type = "sensor_msgs/CameraInfo"
+ new_full_text = """
+# This message defines meta information for a camera. It should be in a
+# camera namespace and accompanied by up to 5 image topics named:
+#
+# image_raw, image, image_color, image_rect, and image_rect_color
+#
+# The meaning of the camera parameters are described in detail at
+# http://pr.willowgarage.com/wiki/Camera_Calibration.
+
+##########################
+# Image acquisition info #
+##########################
+
+# Time of image acquisition, camera coordinate frame ID
+Header header
+
+# Camera resolution in pixels
+uint32 height
+uint32 width
+
+# Region of interest (subwindow of full camera resolution), if applicable
+RegionOfInterest roi
+
+########################
+# Intrinsic parameters #
+########################
+
+# Distortion parameters: k1, k2, t1, t2, k3
+# These model radial and tangential distortion of the camera.
+float64[5] D # 5x1 vector
+
+# Original camera matrix
+# Projects 3D points in the camera coordinate frame to 2D pixel
+# coordinates using the focal lengths (fx, fy) and principal point
+# (cx, cy):
+# [fx 0 cx]
+# K = [ 0 fy cy]
+# [ 0 0 1]
+float64[9] K # 3x3 row-major matrix
+
+########################
+# Extrinsic parameters #
+########################
+
+# Rectification matrix (stereo cameras only)
+# A homography which takes an image to the ideal stereo image plane
+# so that epipolar lines in both stereo images are parallel.
+float64[9] R # 3x3 row-major matrix
+
+# Projection/camera matrix
+# Projects 3D points in a world coordinate frame to 2D pixel coordinates.
+float64[12] P # 3x4 row-major matrix
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: sensor_msgs/RegionOfInterest
+uint32 x_offset
+uint32 y_offset
+uint32 height
+uint32 width
+"""
+
+ order = 0
+ migrated_types = [
+ ("Header","Header"),]
+
+ valid = True
+
+ def update(self, old_msg, new_msg):
+ self.migrate(old_msg.header, new_msg.header)
+ new_msg.height = old_msg.height
+ new_msg.width = old_msg.width
+ new_msg.roi = self.get_new_class('sensor_msgs/RegionOfInterest')(0,0,old_msg.height,old_msg.width)
+ new_msg.D = old_msg.D
+ new_msg.K = old_msg.K
+ new_msg.R = old_msg.R
+ new_msg.P = old_msg.P
+
+
+class update_sensor_msgs_Image_97d4ca3868dc81af4a2403bcb6558cb0(MessageUpdateRule):
+ old_type = "sensor_msgs/Image"
+ old_full_text = """
Header header # Header
string label # Label for the image
string encoding # Specifies the color encoding of the data
@@ -316,6 +592,7 @@
valid = True
+
def update_empty(self, old_msg, new_msg):
pass
@@ -376,26 +653,52 @@
encoding_map[key](old_msg, new_msg)
-class update_image_msgs_CamInfo_a48ffa77e74ab6901331e50745dff353(MessageUpdateRule):
- old_type = "image_msgs/CamInfo"
- old_full_text = """
-# This message defines meta information for a camera. It should be in a
-# camera namespace and accompanied by up to 5 image topics named:
-#
-# image_raw, image, image_color, image_rect, and image_rect_color
-Header header
-uint32 height
-uint32 width
-float64[5] D # Distortion: k1, k2, t1, t2, k3
-float64[9] K # original camera matrix
-float64[9] R # rectification matrix
-float64[12] P # projection/camera matrix
-# Should put exposure, gain, etc. information here as well
+class update_image_msgs_Image_97d4ca3868dc81af4a2403bcb6558cb0(MessageUpdateRule):
+ old_type = "image_msgs/Image"
+ old_full_text = """
+Header header # Header
+string label # Label for the image
+string encoding # Specifies the color encoding of the data
+ # Acceptable values are:
+ # 1 channel types:
+ # mono, bayer_rggb, bayer_gbrg, bayer_grbg, bayer_bggr
+ # 3 channel types:
+ # rgb, bgr
+ # 4 channel types:
+ # rgba, bgra, yuv422
+ # 6 channel types:
+ # yuv411
+ # N channel types:
+ # other
+string depth # Specifies the depth of the data:
+ # Acceptable values:
+ # uint8, int8, uint16, int16, uint32, int32, uint64, int64, float32, float64
+# Based on depth ONE of the following MultiArrays may contain data.
+# The multi-array MUST have 3 dimensions, labeled as "height",
+# "width", and "channel", though depending on usage the ordering of
+# the dimensions may very. Note that IPL Image convention will order
+# these as: height, width, channel, which is the preferred ordering
+# unless performance dictates otherwise.
+#
+# Height, width, and number of channels are specified in the dimension
+# sizes within the appropriate MultiArray
+
+std_msgs/UInt8MultiArray uint8_data
+std_msgs/Int8MultiArray int8_data
+std_msgs/UInt16MultiArray uint16_data
+std_msgs/Int16MultiArray int16_data
+std_msgs/UInt32MultiArray uint32_data
+std_msgs/Int32MultiArray int32_data
+std_msgs/UInt64MultiArray uint64_data
+std_msgs/Int64MultiArray int64_data
+std_msgs/Float32MultiArray float32_data
+std_msgs/Float64MultiArray float64_data
+
================================================================================
MSG: roslib/Header
#Standard metadata for higher-level flow data types
@@ -410,63 +713,173 @@
# 0: no frame
# 1: global frame
string frame_id
-"""
- new_type = "sensor_msgs/CameraInfo"
- new_full_text = """
-# This message defines meta information for a camera. It should be in a
-# camera namespace and accompanied by up to 5 image topics named:
+================================================================================
+MSG: std_msgs/UInt8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint8[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/MultiArrayLayout
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type. Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset # padding bytes at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
#
-# image_raw, image, image_color, image_rect, and image_rect_color
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
#
-# The meaning of the camera parameters are described in detail at
-# http://pr.willowgarage.com/wiki/Camera_Calibration.
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label = "height"
+# dim[0].size = 480
+# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
+# dim[1].label = "width"
+# dim[1].size = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label = "channel"
+# dim[2].size = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
+================================================================================
+MSG: std_msgs/MultiArrayDimension
+string label # label of given dimension
+uint32 size # size of given dimension (in type units)
+uint32 stride # stride of given dimension
+================================================================================
+MSG: std_msgs/Int8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
-##########################
-# Image acquisition info #
-##########################
+MultiArrayLayout layout # specification of data layout
+int8[] data # array of data
-# Time of image acquisition, camera coordinate frame ID
-Header header
-# Camera resolution in pixels
-uint32 height
-uint32 width
+================================================================================
+MSG: std_msgs/UInt16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
-# Region of interest (subwindow of full camera resolution), if applicable
-RegionOfInterest roi
+MultiArrayLayout layout # specification of data layout
+uint16[] data # array of data
-########################
-# Intrinsic parameters #
-########################
-# Distortion parameters: k1, k2, t1, t2, k3
-# These model radial and tangential distortion of the camera.
-float64[5] D # 5x1 vector
+================================================================================
+MSG: std_msgs/Int16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
-# Original camera matrix
-# Projects 3D points in the camera coordinate frame to 2D pixel
-# coordinates using the focal lengths (fx, fy) and principal point
-# (cx, cy):
-# [fx 0 cx]
-# K = [ 0 fy cy]
-# [ 0 0 1]
-float64[9] K # 3x3 row-major matrix
+MultiArrayLayout layout # specification of data layout
+int16[] data # array of data
-########################
-# Extrinsic parameters #
-########################
-# Rectification matrix (stereo cameras only)
-# A homography which takes an image to the ideal stereo image plane
-# so that epipolar lines in both stereo images are parallel.
-float64[9] R # 3x3 row-major matrix
+================================================================================
+MSG: std_msgs/UInt32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
-# Projection/camera matrix
-# Projects 3D points in a world coordinate frame to 2D pixel coordinates.
-float64[12] P # 3x4 row-major matrix
+MultiArrayLayout layout # specification of data layout
+uint32[] data # array of data
+
================================================================================
+MSG: std_msgs/Int32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float64[] data # array of data
+"""
+
+
+ new_type = "sensor_msgs/Image"
+ new_full_text = """
+Header header # Header
+string label # Label for the image
+string encoding # Specifies the color encoding of the data
+ # Acceptable values are:
+ # 1 channel types:
+ # mono, bayer_rggb, bayer_gbrg, bayer_grbg, bayer_bggr
+ # 3 channel types:
+ # rgb, bgr
+ # 4 channel types:
+ # rgba, bgra, yuv422
+ # 6 channel types:
+ # yuv411
+ # N channel types:
+ # other
+string depth # Specifies the depth of the data:
+ # Acceptable values:
+ # uint8, int8, uint16, int16, uint32, int32, uint64, int64, float32, float64
+
+# Based on depth ONE of the following MultiArrays may contain data.
+# The multi-array MUST have 3 dimensions, labeled as "height",
+# "width", and "channel", though depending on usage the ordering of
+# the dimensions may very. Note that IPL Image convention will order
+# these as: height, width, channel, which is the preferred ordering
+# unless performance dictates otherwise.
+#
+# Height, width, and number of channels are specified in the dimension
+# sizes within the appropriate MultiArray
+
+std_msgs/UInt8MultiArray uint8_data
+std_msgs/Int8MultiArray int8_data
+std_msgs/UInt16MultiArray uint16_data
+std_msgs/Int16MultiArray int16_data
+std_msgs/UInt32MultiArray uint32_data
+std_msgs/Int32MultiArray int32_data
+std_msgs/UInt64MultiArray uint64_data
+std_msgs/Int64MultiArray int64_data
+std_msgs/Float32MultiArray float32_data
+std_msgs/Float64MultiArray float64_data
+
+================================================================================
MSG: roslib/Header
#Standard metadata for higher-level flow data types
#sequence ID: consecutively increasing ID
@@ -482,29 +895,141 @@
string frame_id
================================================================================
-MSG: sensor_msgs/RegionOfInterest
-uint32 x_offset
-uint32 y_offset
-uint32 height
-uint32 width
+MSG: std_msgs/UInt8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint8[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/MultiArrayLayout
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type. Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset # padding bytes at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
+#
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
+#
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label = "height"
+# dim[0].size = 480
+# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
+# dim[1].label = "width"
+# dim[1].size = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label = "channel"
+# dim[2].size = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
+================================================================================
+MSG: std_msgs/MultiArrayDimension
+string label # label of given dimension
+uint32 size # size of given dimension (in type units)
+uint32 stride # stride of given dimension
+================================================================================
+MSG: std_msgs/Int8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int8[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint16[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int16[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float64[] data # array of data
"""
order = 0
migrated_types = [
- ("Header","Header"),]
+ ("Header","Header"),
+ ("Image","Image")]
valid = True
def update(self, old_msg, new_msg):
- self.migrate(old_msg.header, new_msg.header)
- new_msg.height = old_msg.height
- new_msg.width = old_msg.width
- new_msg.roi = self.get_new_class('RegionOfInterest')(0,0,old_msg.height,old_msg.width)
- new_msg.D = old_msg.D
- new_msg.K = old_msg.K
- new_msg.R = old_msg.R
- new_msg.P = old_msg.P
+ self.migrate(old_msg, new_msg)
+
+
+
class update_sensor_msgs_CompressedImage_9f25a34569b1b807704b985d4396ad35(MessageUpdateRule):
old_type = "sensor_msgs/CompressedImage"
old_full_text = """
Modified: pkg/trunk/stacks/stereo/stereo_msgs/migration_rules/stereo_msgs.bmr
===================================================================
--- pkg/trunk/stacks/stereo/stereo_msgs/migration_rules/stereo_msgs.bmr 2009-08-10 19:11:57 UTC (rev 21447)
+++ pkg/trunk/stacks/stereo/stereo_msgs/migration_rules/stereo_msgs.bmr 2009-08-10 19:32:33 UTC (rev 21448)
@@ -1,4 +1,4 @@
-class update_image_msgs_DisparityInfo_ee4a618c85ea54c8fc3afc56f741d65f(MessageUpdateRule):
+class update_image_msgs_DisparityInfo(MessageUpdateRule):
old_type = "image_msgs/DisparityInfo"
old_full_text = """
# This message defines meta information for a computed disparity image
@@ -40,6 +40,117 @@
string frame_id
"""
+ new_type = "sensor_msgs/DisparityInfo"
+ new_full_text = """
+# 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
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+ order = 0
+ migrated_types = [
+ ("Header","Header"),]
+
+ valid = True
+
+ def update(self, old_msg, new_msg):
+ self.migrate(old_msg.header, new_msg.header)
+ new_msg.height = old_msg.height
+ new_msg.width = old_msg.width
+ new_msg.dpp = old_msg.dpp
+ new_msg.num_disp = old_msg.num_disp
+ new_msg.im_Dtop = old_msg.im_Dtop
+ new_msg.im_Dleft = old_msg.im_Dleft
+ new_msg.im_Dwidth = old_msg.im_Dwidth
+ new_msg.im_Dheight = old_msg.im_Dheight
+ new_msg.corr_size = old_msg.corr_size
+ new_msg.filter_size = old_msg.filter_size
+ new_msg.hor_offset = old_msg.hor_offset
+ new_msg.texture_thresh = old_msg.texture_thresh
+ new_msg.unique_thresh = old_msg.unique_thresh
+ new_msg.smooth_thresh = old_msg.smooth_thresh
+ new_msg.speckle_diff = old_msg.speckle_diff
+ new_msg.speckle_region_size = old_msg.speckle_region_size
+ new_msg.unique_check = old_msg.unique_check
+
+
+
+class update_sensor_msgs_DisparityInfo(MessageUpdateRule):
+ old_type = "sensor_msgs/DisparityInfo"
+ old_full_text = """
+# 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
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
new_type = "stereo_msgs/DisparityInfo"
new_full_text = """
# This message defines meta information for a computed disparity image
@@ -107,7 +218,9 @@
new_msg.speckle_region_size = old_msg.speckle_region_size
new_msg.unique_check = old_msg.unique_check
-class update_image_msgs_StereoInfo_8d1d3cc504dbf752747c4405c7f7f0c1(MessageUpdateRule):
+
+
+class update_image_msgs_StereoInfo(MessageUpdateRule):
old_type = "image_msgs/StereoInfo"
old_full_text = """
# This message defines meta information for a stereo pair. It should
@@ -141,7 +254,7 @@
string frame_id
"""
- new_type = "stereo_msgs/StereoInfo"
+ new_type = "sensor_msgs/StereoInfo"
new_full_text = """
# This message defines meta information for a stereo pair. It should
# be in a stereo namespace and accompanied by 2 camera namespaces, and
@@ -198,7 +311,102 @@
new_msg.Om = old_msg.Om
new_msg.RP = old_msg.RP
-class update_image_msgs_RawStereo_851d12cba090f02f9e9b5097740422b7(MessageUpdateRule):
+
+class update_sensor_msgs_StereoInfo(MessageUpdateRule):
+ old_type = "sensor_msgs/StereoInfo"
+ old_full_text = """
+# 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
+
+Header header
+
+uint32 height
+uint32 width
+
+float64[3] T # Pose of right camera in left camera coords
+float64[3] Om # rotation vector
+float64[16] RP # Reprojection Matrix
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+ new_type = "sensor_msgs/StereoInfo"
+ new_full_text = """
+# 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
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+"""
+
+ order = 0
+ migrated_types = [
+ ("Header","Header"),]
+
+ valid = True
+
+ def update(self, old_msg, new_msg):
+ self.migrate(old_msg.header, new_msg.header)
+ new_msg.height = old_msg.height
+ new_msg.width = old_msg.width
+ new_msg.T = old_msg.T
+ new_msg.Om = old_msg.Om
+ new_msg.RP = old_msg.RP
+
+
+
+
+class update_image_msgs_RawStereo(MessageUpdateRule):
old_type = "image_msgs/RawStereo"
old_full_text = """
# This message defines all the information necessary to reconstruct a
@@ -468,6 +676,636 @@
byte unique_check
"""
+ new_type = "sensor_msgs/RawStereo"
+ new_full_text = """
+# 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
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: sensor_msgs/StereoInfo
+# 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 Rodigues vector
+
+# Reprojection matrix
+float64[16] RP # 4x4 row-major matrix
+
+================================================================================
+MSG: sensor_msgs/CameraInfo
+# This message defines meta information for a camera. It should be in a
+# camera namespace and accompanied by up to 5 image topics named:
+#
+# image_raw, image, image_color, image_rect, and image_rect_color
+#
+# The meaning of the camera parameters are described in detail at
+# http://pr.willowgarage.com/wiki/Camera_Calibration.
+
+Header header
+
+# Resolution in pixels
+uint32 height
+uint32 width
+
+########################
+# Intrinsic parameters #
+########################
+
+# Distortion parameters: k1, k2, t1, t2, k3
+# These model radial and tangential distortion of the camera.
+float64[5] D # 5x1 vector
+
+# Original camera matrix
+# Projects 3D points in the camera coordinate frame to 2D pixel
+# coordinates using the focal lengths (fx, fy) and principal point
+# (cx, cy):
+# [fx 0 cx]
+# K = [ 0 fy cy]
+# [ 0 0 1]
+float64[9] K # 3x3 row-major matrix
+
+########################
+# Extrinsic parameters #
+########################
+
+# Rectification matrix (stereo cameras only)
+# A homography which takes an image to the ideal stereo image plane
+# so that epipolar lines in both stereo images are parallel.
+float64[9] R # 3x3 row-major matrix
+
+# Projection/camera matrix
+# Projects 3D points in a world coordinate frame to 2D pixel coordinates.
+float64[12] P # 3x4 row-major matrix
+
+================================================================================
+MSG: sensor_msgs/Image
+Header header # Header
+string label # Label for the image
+string encoding # Specifies the color encoding of the data
+ # Acceptable values are:
+ # 1 channel types:
+ # mono, bayer_rggb, bayer_gbrg, bayer_grbg, bayer_bggr
+ # 3 channel types:
+ # rgb, bgr
+ # 4 channel types:
+ # rgba, bgra, yuv422
+ # 6 channel types:
+ # yuv411
+ # N channel types:
+ # other
+string depth # Specifies the depth of the data:
+ # Acceptable values:
+ # uint8, int8, uint16, int16, uint32, int32, uint64, int64, float32, float64
+
+# Based on depth ONE of the following MultiArrays may contain data.
+# The multi-array MUST have 3 dimensions, labeled as "height",
+# "width", and "channel", though depending on usage the ordering of
+# the dimensions may very. Note that IPL Image convention will order
+# these as: height, width, channel, which is the preferred ordering
+# unless performance dictates otherwise.
+#
+# Height, width, and number of channels are specified in the dimension
+# sizes within the appropriate MultiArray
+
+std_msgs/UInt8MultiArray uint8_data
+std_msgs/Int8MultiArray int8_data
+std_msgs/UInt16MultiArray uint16_data
+std_msgs/Int16MultiArray int16_data
+std_msgs/UInt32MultiArray uint32_data
+std_msgs/Int32MultiArray int32_data
+std_msgs/UInt64MultiArray uint64_data
+std_msgs/Int64MultiArray int64_data
+std_msgs/Float32MultiArray float32_data
+std_msgs/Float64MultiArray float64_data
+
+================================================================================
+MSG: std_msgs/UInt8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint8[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/MultiArrayLayout
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type. Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset # padding bytes at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
+#
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
+#
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label = "height"
+# dim[0].size = 480
+# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
+# dim[1].label = "width"
+# dim[1].size = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label = "channel"
+# dim[2].size = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
+================================================================================
+MSG: std_msgs/MultiArrayDimension
+string label # label of given dimension
+uint32 size # size of given dimension (in type units)
+uint32 stride # stride of given dimension
+================================================================================
+MSG: std_msgs/Int8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int8[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint16[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int16[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float64[] data # array of data
+
+
+================================================================================
+MSG: sensor_msgs/DisparityInfo
+# 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
+"""
+
+ order = 0
+ migrated_types = [
+ ("Header","Header"),
+ ("StereoInfo","StereoInfo"),
+ ("CamInfo","CameraInfo"),
+ ("Image","Image"),
+ ("DisparityInfo","DisparityInfo"),]
+
+ valid = True
+
+ def update(self, old_msg, new_msg):
+ self.migrate(old_msg.header, new_msg.header)
+ self.migrate(old_msg.stereo_info, new_msg.stereo_info)
+ self.migrate(old_msg.left_info, new_msg.left_info)
+ new_msg.left_type = old_msg.left_type
+ self.migrate(old_msg.left_image, new_msg.left_image)
+ self.migrate(old_msg.right_info, new_msg.right_info)
+ new_msg.right_type = old_msg.right_type
+ self.migrate(old_msg.right_image, new_msg.right_image)
+ new_msg.has_disparity = old_msg.has_disparity
+ self.migrate(old_msg.disparity_info, new_msg.disparity_info)
+ self.migrate(old_msg.disparity_image, new_msg.disparity_image)
+
+class update_sensor_msgs_RawStereo(MessageUpdateRule):
+ old_type = "sensor_msgs/RawStereo"
+ old_full_text = """
+# 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
+
+================================================================================
+MSG: roslib/Header
+#Standard metadata for higher-level flow data types
+#sequence ID: consecutively increasing ID
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+================================================================================
+MSG: sensor_msgs/StereoInfo
+# 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 Rodigues vector
+
+# Reprojection matrix
+float64[16] RP # 4x4 row-major matrix
+
+================================================================================
+MSG: sensor_msgs/CameraInfo
+# This message defines meta information for a camera. It should be in a
+# camera namespace and accompanied by up to 5 image topics named:
+#
+# image_raw, image, image_color, image_rect, and image_rect_color
+#
+# The meaning of the camera parameters are described in detail at
+# http://pr.willowgarage.com/wiki/Camera_Calibration.
+
+Header header
+
+# Resolution in pixels
+uint32 height
+uint32 width
+
+########################
+# Intrinsic parameters #
+########################
+
+# Distortion parameters: k1, k2, t1, t2, k3
+# These model radial and tangential distortion of the camera.
+float64[5] D # 5x1 vector
+
+# Original camera matrix
+# Projects 3D points in the camera coordinate frame to 2D pixel
+# coordinates using the focal lengths (fx, fy) and principal point
+# (cx, cy):
+# [fx 0 cx]
+# K = [ 0 fy cy]
+# [ 0 0 1]
+float64[9] K # 3x3 row-major matrix
+
+########################
+# Extrinsic parameters #
+########################
+
+# Rectification matrix (stereo cameras only)
+# A homography which takes an image to the ideal stereo image plane
+# so that epipolar lines in both stereo images are parallel.
+float64[9] R # 3x3 row-major matrix
+
+# Projection/camera matrix
+# Projects 3D points in a world coordinate frame to 2D pixel coordinates.
+float64[12] P # 3x4 row-major matrix
+
+================================================================================
+MSG: sensor_msgs/Image
+Header header # Header
+string label # Label for the image
+string encoding # Specifies the color encoding of the data
+ # Acceptable values are:
+ # 1 channel types:
+ # mono, bayer_rggb, bayer_gbrg, bayer_grbg, bayer_bggr
+ # 3 channel types:
+ # rgb, bgr
+ # 4 channel types:
+ # rgba, bgra, yuv422
+ # 6 channel types:
+ # yuv411
+ # N channel types:
+ # other
+string depth # Specifies the depth of the data:
+ # Acceptable values:
+ # uint8, int8, uint16, int16, uint32, int32, uint64, int64, float32, float64
+
+# Based on depth ONE of the following MultiArrays may contain data.
+# The multi-array MUST have 3 dimensions, labeled as "height",
+# "width", and "channel", though depending on usage the ordering of
+# the dimensions may very. Note that IPL Image convention will order
+# these as: height, width, channel, which is the preferred ordering
+# unless performance dictates otherwise.
+#
+# Height, width, and number of channels are specified in the dimension
+# sizes within the appropriate MultiArray
+
+std_msgs/UInt8MultiArray uint8_data
+std_msgs/Int8MultiArray int8_data
+std_msgs/UInt16MultiArray uint16_data
+std_msgs/Int16MultiArray int16_data
+std_msgs/UInt32MultiArray uint32_data
+std_msgs/Int32MultiArray int32_data
+std_msgs/UInt64MultiArray uint64_data
+std_msgs/Int64MultiArray int64_data
+std_msgs/Float32MultiArray float32_data
+std_msgs/Float64MultiArray float64_data
+
+================================================================================
+MSG: std_msgs/UInt8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint8[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/MultiArrayLayout
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type. Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset # padding bytes at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
+#
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
+#
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label = "height"
+# dim[0].size = 480
+# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
+# dim[1].label = "width"
+# dim[1].size = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label = "channel"
+# dim[2].size = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
+================================================================================
+MSG: std_msgs/MultiArrayDimension
+string label # label of given dimension
+uint32 size # size of given dimension (in type units)
+uint32 stride # stride of given dimension
+================================================================================
+MSG: std_msgs/Int8MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int8[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint16[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int16MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int16[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/UInt64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+uint64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Int64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+int64[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float32MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float32[] data # array of data
+
+
+================================================================================
+MSG: std_msgs/Float64MultiArray
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout layout # specification of data layout
+float64[] data # array of data
+
+
+================================================================================
+MSG: sensor_msgs/DisparityInfo
+# 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
+"""
+
new_type = "stereo_msgs/RawStereo"
new_full_text = """
# This message defines all the information necessary to reconstruct a
@@ -645,7 +1483,7 @@
migrated_types = [
("Header","Header"),
("StereoInfo","StereoInfo"),
- ("CamInfo","sensor_msgs/CameraInfo"),
+ ("CameraInfo","sensor_msgs/CameraInfo"),
("Image","sensor_msgs/Image"),
("DisparityInfo","DisparityInfo"),]
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