Diff: sensor_msgs/CameraInfo.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CameraInfo.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,264 @@
+#ifndef _ROS_sensor_msgs_CameraInfo_h
+#define _ROS_sensor_msgs_CameraInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+namespace sensor_msgs
+{
+
+  class CameraInfo : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint32_t height;
+      uint32_t width;
+      const char* distortion_model;
+      uint8_t D_length;
+      double st_D;
+      double * D;
+      double K[9];
+      double R[9];
+      double P[12];
+      uint32_t binning_x;
+      uint32_t binning_y;
+      sensor_msgs::RegionOfInterest roi;
+
+    CameraInfo():
+      header(),
+      height(0),
+      width(0),
+      distortion_model(""),
+      D_length(0), D(NULL),
+      K(),
+      R(),
+      P(),
+      binning_x(0),
+      binning_y(0),
+      roi()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model = strlen(this->distortion_model);
+      memcpy(outbuffer + offset, &length_distortion_model, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->distortion_model, length_distortion_model);
+      offset += length_distortion_model;
+      *(outbuffer + offset++) = D_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < D_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Di;
+      u_Di.real = this->D[i];
+      *(outbuffer + offset + 0) = (u_Di.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Di.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Di.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Di.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Di.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Di.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Di.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Di.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->D[i]);
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ki;
+      u_Ki.real = this->K[i];
+      *(outbuffer + offset + 0) = (u_Ki.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Ki.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Ki.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Ki.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Ki.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Ki.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Ki.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Ki.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->K[i]);
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ri;
+      u_Ri.real = this->R[i];
+      *(outbuffer + offset + 0) = (u_Ri.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Ri.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Ri.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Ri.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Ri.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Ri.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Ri.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Ri.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->R[i]);
+      }
+      for( uint8_t i = 0; i < 12; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Pi;
+      u_Pi.real = this->P[i];
+      *(outbuffer + offset + 0) = (u_Pi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Pi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Pi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Pi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Pi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Pi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Pi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Pi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->P[i]);
+      }
+      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_x);
+      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_y);
+      offset += this->roi.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model;
+      memcpy(&length_distortion_model, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_distortion_model; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_distortion_model-1]=0;
+      this->distortion_model = (char *)(inbuffer + offset-1);
+      offset += length_distortion_model;
+      uint8_t D_lengthT = *(inbuffer + offset++);
+      if(D_lengthT > D_length)
+        this->D = (double*)realloc(this->D, D_lengthT * sizeof(double));
+      offset += 3;
+      D_length = D_lengthT;
+      for( uint8_t i = 0; i < D_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_D;
+      u_st_D.base = 0;
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_D = u_st_D.real;
+      offset += sizeof(this->st_D);
+        memcpy( &(this->D[i]), &(this->st_D), sizeof(double));
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ki;
+      u_Ki.base = 0;
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->K[i] = u_Ki.real;
+      offset += sizeof(this->K[i]);
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ri;
+      u_Ri.base = 0;
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->R[i] = u_Ri.real;
+      offset += sizeof(this->R[i]);
+      }
+      for( uint8_t i = 0; i < 12; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Pi;
+      u_Pi.base = 0;
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->P[i] = u_Pi.real;
+      offset += sizeof(this->P[i]);
+      }
+      this->binning_x =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_x);
+      this->binning_y =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_y);
+      offset += this->roi.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/CameraInfo"; };
+    const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; };
+
+  };
+
+}
+#endif
\ No newline at end of file