DisparityImage.h

00001 #ifndef _ROS_stereo_msgs_DisparityImage_h
00002 #define _ROS_stereo_msgs_DisparityImage_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "sensor_msgs/Image.h"
00010 #include "sensor_msgs/RegionOfInterest.h"
00011 
00012 namespace stereo_msgs
00013 {
00014 
00015   class DisparityImage : public ros::Msg
00016   {
00017     public:
00018       typedef std_msgs::Header _header_type;
00019       _header_type header;
00020       typedef sensor_msgs::Image _image_type;
00021       _image_type image;
00022       typedef float _f_type;
00023       _f_type f;
00024       typedef float _T_type;
00025       _T_type T;
00026       typedef sensor_msgs::RegionOfInterest _valid_window_type;
00027       _valid_window_type valid_window;
00028       typedef float _min_disparity_type;
00029       _min_disparity_type min_disparity;
00030       typedef float _max_disparity_type;
00031       _max_disparity_type max_disparity;
00032       typedef float _delta_d_type;
00033       _delta_d_type delta_d;
00034 
00035     DisparityImage():
00036       header(),
00037       image(),
00038       f(0),
00039       T(0),
00040       valid_window(),
00041       min_disparity(0),
00042       max_disparity(0),
00043       delta_d(0)
00044     {
00045     }
00046 
00047     virtual int serialize(unsigned char *outbuffer) const
00048     {
00049       int offset = 0;
00050       offset += this->header.serialize(outbuffer + offset);
00051       offset += this->image.serialize(outbuffer + offset);
00052       union {
00053         float real;
00054         uint32_t base;
00055       } u_f;
00056       u_f.real = this->f;
00057       *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF;
00058       *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF;
00059       *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF;
00060       *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF;
00061       offset += sizeof(this->f);
00062       union {
00063         float real;
00064         uint32_t base;
00065       } u_T;
00066       u_T.real = this->T;
00067       *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF;
00068       *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF;
00069       *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF;
00070       *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF;
00071       offset += sizeof(this->T);
00072       offset += this->valid_window.serialize(outbuffer + offset);
00073       union {
00074         float real;
00075         uint32_t base;
00076       } u_min_disparity;
00077       u_min_disparity.real = this->min_disparity;
00078       *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF;
00079       *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF;
00080       *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF;
00081       *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF;
00082       offset += sizeof(this->min_disparity);
00083       union {
00084         float real;
00085         uint32_t base;
00086       } u_max_disparity;
00087       u_max_disparity.real = this->max_disparity;
00088       *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF;
00089       *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF;
00090       *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF;
00091       *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF;
00092       offset += sizeof(this->max_disparity);
00093       union {
00094         float real;
00095         uint32_t base;
00096       } u_delta_d;
00097       u_delta_d.real = this->delta_d;
00098       *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF;
00099       *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF;
00100       *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF;
00101       *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF;
00102       offset += sizeof(this->delta_d);
00103       return offset;
00104     }
00105 
00106     virtual int deserialize(unsigned char *inbuffer)
00107     {
00108       int offset = 0;
00109       offset += this->header.deserialize(inbuffer + offset);
00110       offset += this->image.deserialize(inbuffer + offset);
00111       union {
00112         float real;
00113         uint32_t base;
00114       } u_f;
00115       u_f.base = 0;
00116       u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00117       u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00118       u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00119       u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00120       this->f = u_f.real;
00121       offset += sizeof(this->f);
00122       union {
00123         float real;
00124         uint32_t base;
00125       } u_T;
00126       u_T.base = 0;
00127       u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00128       u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00129       u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00130       u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00131       this->T = u_T.real;
00132       offset += sizeof(this->T);
00133       offset += this->valid_window.deserialize(inbuffer + offset);
00134       union {
00135         float real;
00136         uint32_t base;
00137       } u_min_disparity;
00138       u_min_disparity.base = 0;
00139       u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00140       u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00141       u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00142       u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00143       this->min_disparity = u_min_disparity.real;
00144       offset += sizeof(this->min_disparity);
00145       union {
00146         float real;
00147         uint32_t base;
00148       } u_max_disparity;
00149       u_max_disparity.base = 0;
00150       u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00151       u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00152       u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00153       u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00154       this->max_disparity = u_max_disparity.real;
00155       offset += sizeof(this->max_disparity);
00156       union {
00157         float real;
00158         uint32_t base;
00159       } u_delta_d;
00160       u_delta_d.base = 0;
00161       u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00162       u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00163       u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00164       u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00165       this->delta_d = u_delta_d.real;
00166       offset += sizeof(this->delta_d);
00167      return offset;
00168     }
00169 
00170     const char * getType(){ return "stereo_msgs/DisparityImage"; };
00171     const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; };
00172 
00173   };
00174 
00175 }
00176 #endif