humandetectionStruct.idl

/*  Copyright (c) 2015, LAAS/CNRS
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met:
 * 
 * 1. Redistributions of source code must retain the above copyright notice, 
 *    this list of conditions and the following disclaimer.
 * 
 * 2. Redistributions in binary form must reproduce the above copyright notice, 
 *    this list of conditions and the following disclaimer in the documentation 
 *    and/or other materials provided with the distribution.
 * 
 * 3. Neither the name of the copyright holder nor the names of its contributors 
 *    may be used to endorse or promote products derived from this software 
 *    without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef	DETECTIONH_STRUCT_H
#define	DETECTIONH_STRUCT_H

module detectionH
{
    const unsigned long task_Detection_period = 33;
    struct timestamp
    {
        unsigned long sec;
        unsigned long usec;
    };

    struct coordinates
    {
        float x;
        float y;
        float width;
        float height;
    };

    struct world_coordinates
    {
        float x;
        float y;
        float z;
        float azimuth;
    };

    struct people
    {
        long ID;
        world_coordinates coordinates;
    };

    struct centers
    {
        long ID;
        unsigned long x;
        unsigned long y;
    };

    struct Frame
    {
        long frameNumber;
        timestamp time;
        sequence<people> people;
    };

    struct Detections
    {
        sequence<Frame> frame;
    };

    struct std_msgs__Header
    {
        unsigned long seq; /*uint32_t*/
        timestamp stamp;
        string frame_id;
    };

    struct sensor_msgs__Image
    {
        std_msgs__Header header;
        unsigned long height;
        unsigned long width;
        string encoding;
        octet is_bigendian;
        unsigned long step;
        sequence<octet> data;
    };

    struct sensor_msgs__RegionOfInterest
    {
        unsigned long x_offset;
        unsigned long y_offset;
        unsigned long height;
        unsigned long width;
        boolean do_rectify;
    };

#pragma masquerade ros sensor_msgs__Image sensor_msgs/Image
};
#endif