a
stereo_msgs/DisparityImage.h
- Committer:
- JesiMiranda
- Date:
- 2019-07-05
- Revision:
- 3:a70f39eabe9a
- Parent:
- 0:9e9b7db60fd5
File content as of revision 3:a70f39eabe9a:
#ifndef _ROS_stereo_msgs_DisparityImage_h #define _ROS_stereo_msgs_DisparityImage_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "sensor_msgs/Image.h" #include "sensor_msgs/RegionOfInterest.h" namespace stereo_msgs { class DisparityImage : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef sensor_msgs::Image _image_type; _image_type image; typedef float _f_type; _f_type f; typedef float _T_type; _T_type T; typedef sensor_msgs::RegionOfInterest _valid_window_type; _valid_window_type valid_window; typedef float _min_disparity_type; _min_disparity_type min_disparity; typedef float _max_disparity_type; _max_disparity_type max_disparity; typedef float _delta_d_type; _delta_d_type delta_d; DisparityImage(): header(), image(), f(0), T(0), valid_window(), min_disparity(0), max_disparity(0), delta_d(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); offset += this->image.serialize(outbuffer + offset); union { float real; uint32_t base; } u_f; u_f.real = this->f; *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF; offset += sizeof(this->f); union { float real; uint32_t base; } u_T; u_T.real = this->T; *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF; offset += sizeof(this->T); offset += this->valid_window.serialize(outbuffer + offset); union { float real; uint32_t base; } u_min_disparity; u_min_disparity.real = this->min_disparity; *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF; offset += sizeof(this->min_disparity); union { float real; uint32_t base; } u_max_disparity; u_max_disparity.real = this->max_disparity; *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF; offset += sizeof(this->max_disparity); union { float real; uint32_t base; } u_delta_d; u_delta_d.real = this->delta_d; *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF; offset += sizeof(this->delta_d); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); offset += this->image.deserialize(inbuffer + offset); union { float real; uint32_t base; } u_f; u_f.base = 0; u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->f = u_f.real; offset += sizeof(this->f); union { float real; uint32_t base; } u_T; u_T.base = 0; u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->T = u_T.real; offset += sizeof(this->T); offset += this->valid_window.deserialize(inbuffer + offset); union { float real; uint32_t base; } u_min_disparity; u_min_disparity.base = 0; u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->min_disparity = u_min_disparity.real; offset += sizeof(this->min_disparity); union { float real; uint32_t base; } u_max_disparity; u_max_disparity.base = 0; u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->max_disparity = u_max_disparity.real; offset += sizeof(this->max_disparity); union { float real; uint32_t base; } u_delta_d; u_delta_d.base = 0; u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->delta_d = u_delta_d.real; offset += sizeof(this->delta_d); return offset; } const char * getType(){ return "stereo_msgs/DisparityImage"; }; const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; }; }; } #endif