/usr/share/common-lisp/ros/sensor_msgs/msg/CameraInfo.lisp is in cl-sensor-msgs 1.12.5-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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(cl:in-package sensor_msgs-msg)
;//! \htmlinclude CameraInfo.msg.html
(cl:defclass <CameraInfo> (roslisp-msg-protocol:ros-message)
((header
:reader header
:initarg :header
:type std_msgs-msg:Header
:initform (cl:make-instance 'std_msgs-msg:Header))
(height
:reader height
:initarg :height
:type cl:integer
:initform 0)
(width
:reader width
:initarg :width
:type cl:integer
:initform 0)
(distortion_model
:reader distortion_model
:initarg :distortion_model
:type cl:string
:initform "")
(D
:reader D
:initarg :D
:type (cl:vector cl:float)
:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
(K
:reader K
:initarg :K
:type (cl:vector cl:float)
:initform (cl:make-array 9 :element-type 'cl:float :initial-element 0.0))
(R
:reader R
:initarg :R
:type (cl:vector cl:float)
:initform (cl:make-array 9 :element-type 'cl:float :initial-element 0.0))
(P
:reader P
:initarg :P
:type (cl:vector cl:float)
:initform (cl:make-array 12 :element-type 'cl:float :initial-element 0.0))
(binning_x
:reader binning_x
:initarg :binning_x
:type cl:integer
:initform 0)
(binning_y
:reader binning_y
:initarg :binning_y
:type cl:integer
:initform 0)
(roi
:reader roi
:initarg :roi
:type sensor_msgs-msg:RegionOfInterest
:initform (cl:make-instance 'sensor_msgs-msg:RegionOfInterest)))
)
(cl:defclass CameraInfo (<CameraInfo>)
())
(cl:defmethod cl:initialize-instance :after ((m <CameraInfo>) cl:&rest args)
(cl:declare (cl:ignorable args))
(cl:unless (cl:typep m 'CameraInfo)
(roslisp-msg-protocol:msg-deprecation-warning "using old message class name sensor_msgs-msg:<CameraInfo> is deprecated: use sensor_msgs-msg:CameraInfo instead.")))
(cl:ensure-generic-function 'header-val :lambda-list '(m))
(cl:defmethod header-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:header-val is deprecated. Use sensor_msgs-msg:header instead.")
(header m))
(cl:ensure-generic-function 'height-val :lambda-list '(m))
(cl:defmethod height-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:height-val is deprecated. Use sensor_msgs-msg:height instead.")
(height m))
(cl:ensure-generic-function 'width-val :lambda-list '(m))
(cl:defmethod width-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:width-val is deprecated. Use sensor_msgs-msg:width instead.")
(width m))
(cl:ensure-generic-function 'distortion_model-val :lambda-list '(m))
(cl:defmethod distortion_model-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:distortion_model-val is deprecated. Use sensor_msgs-msg:distortion_model instead.")
(distortion_model m))
(cl:ensure-generic-function 'D-val :lambda-list '(m))
(cl:defmethod D-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:D-val is deprecated. Use sensor_msgs-msg:D instead.")
(D m))
(cl:ensure-generic-function 'K-val :lambda-list '(m))
(cl:defmethod K-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:K-val is deprecated. Use sensor_msgs-msg:K instead.")
(K m))
(cl:ensure-generic-function 'R-val :lambda-list '(m))
(cl:defmethod R-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:R-val is deprecated. Use sensor_msgs-msg:R instead.")
(R m))
(cl:ensure-generic-function 'P-val :lambda-list '(m))
(cl:defmethod P-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:P-val is deprecated. Use sensor_msgs-msg:P instead.")
(P m))
(cl:ensure-generic-function 'binning_x-val :lambda-list '(m))
(cl:defmethod binning_x-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:binning_x-val is deprecated. Use sensor_msgs-msg:binning_x instead.")
(binning_x m))
(cl:ensure-generic-function 'binning_y-val :lambda-list '(m))
(cl:defmethod binning_y-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:binning_y-val is deprecated. Use sensor_msgs-msg:binning_y instead.")
(binning_y m))
(cl:ensure-generic-function 'roi-val :lambda-list '(m))
(cl:defmethod roi-val ((m <CameraInfo>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:roi-val is deprecated. Use sensor_msgs-msg:roi instead.")
(roi m))
(cl:defmethod roslisp-msg-protocol:serialize ((msg <CameraInfo>) ostream)
"Serializes a message object of type '<CameraInfo>"
(roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'width)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'width)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'width)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'width)) ostream)
(cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'distortion_model))))
(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
(cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'distortion_model))
(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'D))))
(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
(cl:slot-value msg 'D))
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
(cl:slot-value msg 'K))
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
(cl:slot-value msg 'R))
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
(cl:slot-value msg 'P))
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'binning_x)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'binning_x)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'binning_x)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'binning_x)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'binning_y)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'binning_y)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'binning_y)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'binning_y)) ostream)
(roslisp-msg-protocol:serialize (cl:slot-value msg 'roi) ostream)
)
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <CameraInfo>) istream)
"Deserializes a message object of type '<CameraInfo>"
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:let ((__ros_str_len 0))
(cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'distortion_model) (cl:make-string __ros_str_len))
(cl:dotimes (__ros_str_idx __ros_str_len msg)
(cl:setf (cl:char (cl:slot-value msg 'distortion_model) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
(cl:let ((__ros_arr_len 0))
(cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'D) (cl:make-array __ros_arr_len))
(cl:let ((vals (cl:slot-value msg 'D)))
(cl:dotimes (i __ros_arr_len)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
(cl:setf (cl:slot-value msg 'K) (cl:make-array 9))
(cl:let ((vals (cl:slot-value msg 'K)))
(cl:dotimes (i 9)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
(cl:setf (cl:slot-value msg 'R) (cl:make-array 9))
(cl:let ((vals (cl:slot-value msg 'R)))
(cl:dotimes (i 9)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
(cl:setf (cl:slot-value msg 'P) (cl:make-array 12))
(cl:let ((vals (cl:slot-value msg 'P)))
(cl:dotimes (i 12)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'binning_x)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'binning_x)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'binning_x)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'binning_x)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'binning_y)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'binning_y)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'binning_y)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'binning_y)) (cl:read-byte istream))
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'roi) istream)
msg
)
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<CameraInfo>)))
"Returns string type for a message object of type '<CameraInfo>"
"sensor_msgs/CameraInfo")
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'CameraInfo)))
"Returns string type for a message object of type 'CameraInfo"
"sensor_msgs/CameraInfo")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<CameraInfo>)))
"Returns md5sum for a message object of type '<CameraInfo>"
"c9a58c1b0b154e0e6da7578cb991d214")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'CameraInfo)))
"Returns md5sum for a message object of type 'CameraInfo"
"c9a58c1b0b154e0e6da7578cb991d214")
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<CameraInfo>)))
"Returns full string definition for message of type '<CameraInfo>"
(cl:format cl:nil "# This message defines meta information for a camera. It should be in a~%# camera namespace on topic \"camera_info\" and accompanied by up to five~%# image topics named:~%#~%# image_raw - raw data from the camera driver, possibly Bayer encoded~%# image - monochrome, distorted~%# image_color - color, distorted~%# image_rect - monochrome, rectified~%# image_rect_color - color, rectified~%#~%# The image_pipeline contains packages (image_proc, stereo_image_proc)~%# for producing the four processed image topics from image_raw and~%# camera_info. The meaning of the camera parameters are described in~%# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.~%#~%# The image_geometry package provides a user-friendly interface to~%# common operations using this meta information. If you want to, e.g.,~%# project a 3d point into image coordinates, we strongly recommend~%# using image_geometry.~%#~%# If the camera is uncalibrated, the matrices D, K, R, P should be left~%# zeroed out. In particular, clients may assume that K[0] == 0.0~%# indicates an uncalibrated camera.~%~%#######################################################################~%# Image acquisition info #~%#######################################################################~%~%# Time of image acquisition, camera coordinate frame ID~%Header header # Header timestamp should be acquisition time of image~% # Header frame_id should be optical frame of camera~% # origin of frame should be optical center of camera~% # +x should point to the right in the image~% # +y should point down in the image~% # +z should point into the plane of the image~%~%~%#######################################################################~%# Calibration Parameters #~%#######################################################################~%# These are fixed during camera calibration. Their values will be the #~%# same in all messages until the camera is recalibrated. Note that #~%# self-calibrating systems may \"recalibrate\" frequently. #~%# #~%# The internal parameters can be used to warp a raw (distorted) image #~%# to: #~%# 1. An undistorted image (requires D and K) #~%# 2. A rectified image (requires D, K, R) #~%# The projection matrix P projects 3D points into the rectified image.#~%#######################################################################~%~%# The image dimensions with which the camera was calibrated. Normally~%# this will be the full camera resolution in pixels.~%uint32 height~%uint32 width~%~%# The distortion model used. Supported models are listed in~%# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a~%# simple model of radial and tangential distortion - is sufficient.~%string distortion_model~%~%# The distortion parameters, size depending on the distortion model.~%# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).~%float64[] D~%~%# Intrinsic camera matrix for the raw (distorted) images.~%# [fx 0 cx]~%# K = [ 0 fy cy]~%# [ 0 0 1]~%# Projects 3D points in the camera coordinate frame to 2D pixel~%# coordinates using the focal lengths (fx, fy) and principal point~%# (cx, cy).~%float64[9] K # 3x3 row-major matrix~%~%# Rectification matrix (stereo cameras only)~%# A rotation matrix aligning the camera coordinate system 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~%# [fx' 0 cx' Tx]~%# P = [ 0 fy' cy' Ty]~%# [ 0 0 1 0]~%# By convention, this matrix specifies the intrinsic (camera) matrix~%# of the processed (rectified) image. That is, the left 3x3 portion~%# is the normal camera intrinsic matrix for the rectified image.~%# It projects 3D points in the camera coordinate frame to 2D pixel~%# coordinates using the focal lengths (fx', fy') and principal point~%# (cx', cy') - these may differ from the values in K.~%# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will~%# also have R = the identity and P[1:3,1:3] = K.~%# For a stereo pair, the fourth column [Tx Ty 0]' is related to the~%# position of the optical center of the second camera in the first~%# camera's frame. We assume Tz = 0 so both cameras are in the same~%# stereo image plane. The first camera always has Tx = Ty = 0. For~%# the right (second) camera of a horizontal stereo pair, Ty = 0 and~%# Tx = -fx' * B, where B is the baseline between the cameras.~%# Given a 3D point [X Y Z]', the projection (x, y) of the point onto~%# the rectified image is given by:~%# [u v w]' = P * [X Y Z 1]'~%# x = u / w~%# y = v / w~%# This holds for both images of a stereo pair.~%float64[12] P # 3x4 row-major matrix~%~%~%#######################################################################~%# Operational Parameters #~%#######################################################################~%# These define the image region actually captured by the camera #~%# driver. Although they affect the geometry of the output image, they #~%# may be changed freely without recalibrating the camera. #~%#######################################################################~%~%# Binning refers here to any camera setting which combines rectangular~%# neighborhoods of pixels into larger \"super-pixels.\" It reduces the~%# resolution of the output image to~%# (width / binning_x) x (height / binning_y).~%# The default values binning_x = binning_y = 0 is considered the same~%# as binning_x = binning_y = 1 (no subsampling).~%uint32 binning_x~%uint32 binning_y~%~%# Region of interest (subwindow of full camera resolution), given in~%# full resolution (unbinned) image coordinates. A particular ROI~%# always denotes the same window of pixels on the camera sensor,~%# regardless of binning settings.~%# The default setting of roi (all values 0) is considered the same as~%# full resolution (roi.width = width, roi.height = height).~%RegionOfInterest roi~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# 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~%# This message is used to specify a region of interest within an image.~%#~%# When used to specify the ROI setting of the camera when the image was~%# taken, the height and width fields should either match the height and~%# width fields for the associated image; or height = width = 0~%# indicates that the full resolution image was captured.~%~%uint32 x_offset # Leftmost pixel of the ROI~% # (0 if the ROI includes the left edge of the image)~%uint32 y_offset # Topmost pixel of the ROI~% # (0 if the ROI includes the top edge of the image)~%uint32 height # Height of ROI~%uint32 width # Width of ROI~%~%# True if a distinct rectified ROI should be calculated from the \"raw\"~%# ROI in this message. Typically this should be False if the full image~%# is captured (ROI not used), and True if a subwindow is captured (ROI~%# used).~%bool do_rectify~%~%~%"))
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'CameraInfo)))
"Returns full string definition for message of type 'CameraInfo"
(cl:format cl:nil "# This message defines meta information for a camera. It should be in a~%# camera namespace on topic \"camera_info\" and accompanied by up to five~%# image topics named:~%#~%# image_raw - raw data from the camera driver, possibly Bayer encoded~%# image - monochrome, distorted~%# image_color - color, distorted~%# image_rect - monochrome, rectified~%# image_rect_color - color, rectified~%#~%# The image_pipeline contains packages (image_proc, stereo_image_proc)~%# for producing the four processed image topics from image_raw and~%# camera_info. The meaning of the camera parameters are described in~%# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.~%#~%# The image_geometry package provides a user-friendly interface to~%# common operations using this meta information. If you want to, e.g.,~%# project a 3d point into image coordinates, we strongly recommend~%# using image_geometry.~%#~%# If the camera is uncalibrated, the matrices D, K, R, P should be left~%# zeroed out. In particular, clients may assume that K[0] == 0.0~%# indicates an uncalibrated camera.~%~%#######################################################################~%# Image acquisition info #~%#######################################################################~%~%# Time of image acquisition, camera coordinate frame ID~%Header header # Header timestamp should be acquisition time of image~% # Header frame_id should be optical frame of camera~% # origin of frame should be optical center of camera~% # +x should point to the right in the image~% # +y should point down in the image~% # +z should point into the plane of the image~%~%~%#######################################################################~%# Calibration Parameters #~%#######################################################################~%# These are fixed during camera calibration. Their values will be the #~%# same in all messages until the camera is recalibrated. Note that #~%# self-calibrating systems may \"recalibrate\" frequently. #~%# #~%# The internal parameters can be used to warp a raw (distorted) image #~%# to: #~%# 1. An undistorted image (requires D and K) #~%# 2. A rectified image (requires D, K, R) #~%# The projection matrix P projects 3D points into the rectified image.#~%#######################################################################~%~%# The image dimensions with which the camera was calibrated. Normally~%# this will be the full camera resolution in pixels.~%uint32 height~%uint32 width~%~%# The distortion model used. Supported models are listed in~%# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a~%# simple model of radial and tangential distortion - is sufficient.~%string distortion_model~%~%# The distortion parameters, size depending on the distortion model.~%# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).~%float64[] D~%~%# Intrinsic camera matrix for the raw (distorted) images.~%# [fx 0 cx]~%# K = [ 0 fy cy]~%# [ 0 0 1]~%# Projects 3D points in the camera coordinate frame to 2D pixel~%# coordinates using the focal lengths (fx, fy) and principal point~%# (cx, cy).~%float64[9] K # 3x3 row-major matrix~%~%# Rectification matrix (stereo cameras only)~%# A rotation matrix aligning the camera coordinate system 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~%# [fx' 0 cx' Tx]~%# P = [ 0 fy' cy' Ty]~%# [ 0 0 1 0]~%# By convention, this matrix specifies the intrinsic (camera) matrix~%# of the processed (rectified) image. That is, the left 3x3 portion~%# is the normal camera intrinsic matrix for the rectified image.~%# It projects 3D points in the camera coordinate frame to 2D pixel~%# coordinates using the focal lengths (fx', fy') and principal point~%# (cx', cy') - these may differ from the values in K.~%# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will~%# also have R = the identity and P[1:3,1:3] = K.~%# For a stereo pair, the fourth column [Tx Ty 0]' is related to the~%# position of the optical center of the second camera in the first~%# camera's frame. We assume Tz = 0 so both cameras are in the same~%# stereo image plane. The first camera always has Tx = Ty = 0. For~%# the right (second) camera of a horizontal stereo pair, Ty = 0 and~%# Tx = -fx' * B, where B is the baseline between the cameras.~%# Given a 3D point [X Y Z]', the projection (x, y) of the point onto~%# the rectified image is given by:~%# [u v w]' = P * [X Y Z 1]'~%# x = u / w~%# y = v / w~%# This holds for both images of a stereo pair.~%float64[12] P # 3x4 row-major matrix~%~%~%#######################################################################~%# Operational Parameters #~%#######################################################################~%# These define the image region actually captured by the camera #~%# driver. Although they affect the geometry of the output image, they #~%# may be changed freely without recalibrating the camera. #~%#######################################################################~%~%# Binning refers here to any camera setting which combines rectangular~%# neighborhoods of pixels into larger \"super-pixels.\" It reduces the~%# resolution of the output image to~%# (width / binning_x) x (height / binning_y).~%# The default values binning_x = binning_y = 0 is considered the same~%# as binning_x = binning_y = 1 (no subsampling).~%uint32 binning_x~%uint32 binning_y~%~%# Region of interest (subwindow of full camera resolution), given in~%# full resolution (unbinned) image coordinates. A particular ROI~%# always denotes the same window of pixels on the camera sensor,~%# regardless of binning settings.~%# The default setting of roi (all values 0) is considered the same as~%# full resolution (roi.width = width, roi.height = height).~%RegionOfInterest roi~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# 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~%# This message is used to specify a region of interest within an image.~%#~%# When used to specify the ROI setting of the camera when the image was~%# taken, the height and width fields should either match the height and~%# width fields for the associated image; or height = width = 0~%# indicates that the full resolution image was captured.~%~%uint32 x_offset # Leftmost pixel of the ROI~% # (0 if the ROI includes the left edge of the image)~%uint32 y_offset # Topmost pixel of the ROI~% # (0 if the ROI includes the top edge of the image)~%uint32 height # Height of ROI~%uint32 width # Width of ROI~%~%# True if a distinct rectified ROI should be calculated from the \"raw\"~%# ROI in this message. Typically this should be False if the full image~%# is captured (ROI not used), and True if a subwindow is captured (ROI~%# used).~%bool do_rectify~%~%~%"))
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <CameraInfo>))
(cl:+ 0
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
4
4
4 (cl:length (cl:slot-value msg 'distortion_model))
4 (cl:reduce #'cl:+ (cl:slot-value msg 'D) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
0 (cl:reduce #'cl:+ (cl:slot-value msg 'K) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
0 (cl:reduce #'cl:+ (cl:slot-value msg 'R) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
0 (cl:reduce #'cl:+ (cl:slot-value msg 'P) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
4
4
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'roi))
))
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <CameraInfo>))
"Converts a ROS message object to a list"
(cl:list 'CameraInfo
(cl:cons ':header (header msg))
(cl:cons ':height (height msg))
(cl:cons ':width (width msg))
(cl:cons ':distortion_model (distortion_model msg))
(cl:cons ':D (D msg))
(cl:cons ':K (K msg))
(cl:cons ':R (R msg))
(cl:cons ':P (P msg))
(cl:cons ':binning_x (binning_x msg))
(cl:cons ':binning_y (binning_y msg))
(cl:cons ':roi (roi msg))
))
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