change rate38400->115200
Fork of ros_lib_kinetic by
sensor_msgs/CameraInfo.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_sensor_msgs_CameraInfo_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_sensor_msgs_CameraInfo_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "std_msgs/Header.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "sensor_msgs/RegionOfInterest.h" |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | namespace sensor_msgs |
garyservin | 0:9e9b7db60fd5 | 12 | { |
garyservin | 0:9e9b7db60fd5 | 13 | |
garyservin | 0:9e9b7db60fd5 | 14 | class CameraInfo : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 15 | { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef uint32_t _height_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _height_type height; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef uint32_t _width_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _width_type width; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef const char* _distortion_model_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _distortion_model_type distortion_model; |
garyservin | 0:9e9b7db60fd5 | 25 | uint32_t D_length; |
garyservin | 0:9e9b7db60fd5 | 26 | typedef double _D_type; |
garyservin | 0:9e9b7db60fd5 | 27 | _D_type st_D; |
garyservin | 0:9e9b7db60fd5 | 28 | _D_type * D; |
garyservin | 0:9e9b7db60fd5 | 29 | double K[9]; |
garyservin | 0:9e9b7db60fd5 | 30 | double R[9]; |
garyservin | 0:9e9b7db60fd5 | 31 | double P[12]; |
garyservin | 0:9e9b7db60fd5 | 32 | typedef uint32_t _binning_x_type; |
garyservin | 0:9e9b7db60fd5 | 33 | _binning_x_type binning_x; |
garyservin | 0:9e9b7db60fd5 | 34 | typedef uint32_t _binning_y_type; |
garyservin | 0:9e9b7db60fd5 | 35 | _binning_y_type binning_y; |
garyservin | 0:9e9b7db60fd5 | 36 | typedef sensor_msgs::RegionOfInterest _roi_type; |
garyservin | 0:9e9b7db60fd5 | 37 | _roi_type roi; |
garyservin | 0:9e9b7db60fd5 | 38 | |
garyservin | 0:9e9b7db60fd5 | 39 | CameraInfo(): |
garyservin | 0:9e9b7db60fd5 | 40 | header(), |
garyservin | 0:9e9b7db60fd5 | 41 | height(0), |
garyservin | 0:9e9b7db60fd5 | 42 | width(0), |
garyservin | 0:9e9b7db60fd5 | 43 | distortion_model(""), |
garyservin | 0:9e9b7db60fd5 | 44 | D_length(0), D(NULL), |
garyservin | 0:9e9b7db60fd5 | 45 | K(), |
garyservin | 0:9e9b7db60fd5 | 46 | R(), |
garyservin | 0:9e9b7db60fd5 | 47 | P(), |
garyservin | 0:9e9b7db60fd5 | 48 | binning_x(0), |
garyservin | 0:9e9b7db60fd5 | 49 | binning_y(0), |
garyservin | 0:9e9b7db60fd5 | 50 | roi() |
garyservin | 0:9e9b7db60fd5 | 51 | { |
garyservin | 0:9e9b7db60fd5 | 52 | } |
garyservin | 0:9e9b7db60fd5 | 53 | |
garyservin | 0:9e9b7db60fd5 | 54 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 55 | { |
garyservin | 0:9e9b7db60fd5 | 56 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 57 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 58 | *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 59 | *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 62 | offset += sizeof(this->height); |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | offset += sizeof(this->width); |
garyservin | 0:9e9b7db60fd5 | 68 | uint32_t length_distortion_model = strlen(this->distortion_model); |
garyservin | 0:9e9b7db60fd5 | 69 | varToArr(outbuffer + offset, length_distortion_model); |
garyservin | 0:9e9b7db60fd5 | 70 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 71 | memcpy(outbuffer + offset, this->distortion_model, length_distortion_model); |
garyservin | 0:9e9b7db60fd5 | 72 | offset += length_distortion_model; |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 0) = (this->D_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 1) = (this->D_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 2) = (this->D_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 3) = (this->D_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | offset += sizeof(this->D_length); |
garyservin | 0:9e9b7db60fd5 | 78 | for( uint32_t i = 0; i < D_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 79 | union { |
garyservin | 0:9e9b7db60fd5 | 80 | double real; |
garyservin | 0:9e9b7db60fd5 | 81 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 82 | } u_Di; |
garyservin | 0:9e9b7db60fd5 | 83 | u_Di.real = this->D[i]; |
garyservin | 0:9e9b7db60fd5 | 84 | *(outbuffer + offset + 0) = (u_Di.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 85 | *(outbuffer + offset + 1) = (u_Di.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 86 | *(outbuffer + offset + 2) = (u_Di.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 87 | *(outbuffer + offset + 3) = (u_Di.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 88 | *(outbuffer + offset + 4) = (u_Di.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 89 | *(outbuffer + offset + 5) = (u_Di.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 90 | *(outbuffer + offset + 6) = (u_Di.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 91 | *(outbuffer + offset + 7) = (u_Di.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 92 | offset += sizeof(this->D[i]); |
garyservin | 0:9e9b7db60fd5 | 93 | } |
garyservin | 0:9e9b7db60fd5 | 94 | for( uint32_t i = 0; i < 9; i++){ |
garyservin | 0:9e9b7db60fd5 | 95 | union { |
garyservin | 0:9e9b7db60fd5 | 96 | double real; |
garyservin | 0:9e9b7db60fd5 | 97 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 98 | } u_Ki; |
garyservin | 0:9e9b7db60fd5 | 99 | u_Ki.real = this->K[i]; |
garyservin | 0:9e9b7db60fd5 | 100 | *(outbuffer + offset + 0) = (u_Ki.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 101 | *(outbuffer + offset + 1) = (u_Ki.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 102 | *(outbuffer + offset + 2) = (u_Ki.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 103 | *(outbuffer + offset + 3) = (u_Ki.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 104 | *(outbuffer + offset + 4) = (u_Ki.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 105 | *(outbuffer + offset + 5) = (u_Ki.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 106 | *(outbuffer + offset + 6) = (u_Ki.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 107 | *(outbuffer + offset + 7) = (u_Ki.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 108 | offset += sizeof(this->K[i]); |
garyservin | 0:9e9b7db60fd5 | 109 | } |
garyservin | 0:9e9b7db60fd5 | 110 | for( uint32_t i = 0; i < 9; i++){ |
garyservin | 0:9e9b7db60fd5 | 111 | union { |
garyservin | 0:9e9b7db60fd5 | 112 | double real; |
garyservin | 0:9e9b7db60fd5 | 113 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 114 | } u_Ri; |
garyservin | 0:9e9b7db60fd5 | 115 | u_Ri.real = this->R[i]; |
garyservin | 0:9e9b7db60fd5 | 116 | *(outbuffer + offset + 0) = (u_Ri.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 117 | *(outbuffer + offset + 1) = (u_Ri.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 118 | *(outbuffer + offset + 2) = (u_Ri.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 119 | *(outbuffer + offset + 3) = (u_Ri.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 120 | *(outbuffer + offset + 4) = (u_Ri.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 121 | *(outbuffer + offset + 5) = (u_Ri.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 122 | *(outbuffer + offset + 6) = (u_Ri.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 123 | *(outbuffer + offset + 7) = (u_Ri.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 124 | offset += sizeof(this->R[i]); |
garyservin | 0:9e9b7db60fd5 | 125 | } |
garyservin | 0:9e9b7db60fd5 | 126 | for( uint32_t i = 0; i < 12; i++){ |
garyservin | 0:9e9b7db60fd5 | 127 | union { |
garyservin | 0:9e9b7db60fd5 | 128 | double real; |
garyservin | 0:9e9b7db60fd5 | 129 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 130 | } u_Pi; |
garyservin | 0:9e9b7db60fd5 | 131 | u_Pi.real = this->P[i]; |
garyservin | 0:9e9b7db60fd5 | 132 | *(outbuffer + offset + 0) = (u_Pi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 133 | *(outbuffer + offset + 1) = (u_Pi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 134 | *(outbuffer + offset + 2) = (u_Pi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 135 | *(outbuffer + offset + 3) = (u_Pi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 136 | *(outbuffer + offset + 4) = (u_Pi.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 137 | *(outbuffer + offset + 5) = (u_Pi.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 138 | *(outbuffer + offset + 6) = (u_Pi.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 139 | *(outbuffer + offset + 7) = (u_Pi.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 140 | offset += sizeof(this->P[i]); |
garyservin | 0:9e9b7db60fd5 | 141 | } |
garyservin | 0:9e9b7db60fd5 | 142 | *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 143 | *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 144 | *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 145 | *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 146 | offset += sizeof(this->binning_x); |
garyservin | 0:9e9b7db60fd5 | 147 | *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 148 | *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 149 | *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 150 | *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 151 | offset += sizeof(this->binning_y); |
garyservin | 0:9e9b7db60fd5 | 152 | offset += this->roi.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 153 | return offset; |
garyservin | 0:9e9b7db60fd5 | 154 | } |
garyservin | 0:9e9b7db60fd5 | 155 | |
garyservin | 0:9e9b7db60fd5 | 156 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 157 | { |
garyservin | 0:9e9b7db60fd5 | 158 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 159 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 160 | this->height = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 161 | this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 162 | this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 163 | this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 164 | offset += sizeof(this->height); |
garyservin | 0:9e9b7db60fd5 | 165 | this->width = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 166 | this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 167 | this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 168 | this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 169 | offset += sizeof(this->width); |
garyservin | 0:9e9b7db60fd5 | 170 | uint32_t length_distortion_model; |
garyservin | 0:9e9b7db60fd5 | 171 | arrToVar(length_distortion_model, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 172 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 173 | for(unsigned int k= offset; k< offset+length_distortion_model; ++k){ |
garyservin | 0:9e9b7db60fd5 | 174 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 175 | } |
garyservin | 0:9e9b7db60fd5 | 176 | inbuffer[offset+length_distortion_model-1]=0; |
garyservin | 0:9e9b7db60fd5 | 177 | this->distortion_model = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 178 | offset += length_distortion_model; |
garyservin | 0:9e9b7db60fd5 | 179 | uint32_t D_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 180 | D_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 181 | D_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 182 | D_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 183 | offset += sizeof(this->D_length); |
garyservin | 0:9e9b7db60fd5 | 184 | if(D_lengthT > D_length) |
garyservin | 0:9e9b7db60fd5 | 185 | this->D = (double*)realloc(this->D, D_lengthT * sizeof(double)); |
garyservin | 0:9e9b7db60fd5 | 186 | D_length = D_lengthT; |
garyservin | 0:9e9b7db60fd5 | 187 | for( uint32_t i = 0; i < D_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 188 | union { |
garyservin | 0:9e9b7db60fd5 | 189 | double real; |
garyservin | 0:9e9b7db60fd5 | 190 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 191 | } u_st_D; |
garyservin | 0:9e9b7db60fd5 | 192 | u_st_D.base = 0; |
garyservin | 0:9e9b7db60fd5 | 193 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 194 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 195 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 196 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 197 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 198 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 199 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 200 | u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 201 | this->st_D = u_st_D.real; |
garyservin | 0:9e9b7db60fd5 | 202 | offset += sizeof(this->st_D); |
garyservin | 0:9e9b7db60fd5 | 203 | memcpy( &(this->D[i]), &(this->st_D), sizeof(double)); |
garyservin | 0:9e9b7db60fd5 | 204 | } |
garyservin | 0:9e9b7db60fd5 | 205 | for( uint32_t i = 0; i < 9; i++){ |
garyservin | 0:9e9b7db60fd5 | 206 | union { |
garyservin | 0:9e9b7db60fd5 | 207 | double real; |
garyservin | 0:9e9b7db60fd5 | 208 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 209 | } u_Ki; |
garyservin | 0:9e9b7db60fd5 | 210 | u_Ki.base = 0; |
garyservin | 0:9e9b7db60fd5 | 211 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 212 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 213 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 214 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 215 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 216 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 217 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 218 | u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 219 | this->K[i] = u_Ki.real; |
garyservin | 0:9e9b7db60fd5 | 220 | offset += sizeof(this->K[i]); |
garyservin | 0:9e9b7db60fd5 | 221 | } |
garyservin | 0:9e9b7db60fd5 | 222 | for( uint32_t i = 0; i < 9; i++){ |
garyservin | 0:9e9b7db60fd5 | 223 | union { |
garyservin | 0:9e9b7db60fd5 | 224 | double real; |
garyservin | 0:9e9b7db60fd5 | 225 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 226 | } u_Ri; |
garyservin | 0:9e9b7db60fd5 | 227 | u_Ri.base = 0; |
garyservin | 0:9e9b7db60fd5 | 228 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 229 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 230 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 231 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 232 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 233 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 234 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 235 | u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 236 | this->R[i] = u_Ri.real; |
garyservin | 0:9e9b7db60fd5 | 237 | offset += sizeof(this->R[i]); |
garyservin | 0:9e9b7db60fd5 | 238 | } |
garyservin | 0:9e9b7db60fd5 | 239 | for( uint32_t i = 0; i < 12; i++){ |
garyservin | 0:9e9b7db60fd5 | 240 | union { |
garyservin | 0:9e9b7db60fd5 | 241 | double real; |
garyservin | 0:9e9b7db60fd5 | 242 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 243 | } u_Pi; |
garyservin | 0:9e9b7db60fd5 | 244 | u_Pi.base = 0; |
garyservin | 0:9e9b7db60fd5 | 245 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 246 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 247 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 248 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 249 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 250 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 251 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 252 | u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 253 | this->P[i] = u_Pi.real; |
garyservin | 0:9e9b7db60fd5 | 254 | offset += sizeof(this->P[i]); |
garyservin | 0:9e9b7db60fd5 | 255 | } |
garyservin | 0:9e9b7db60fd5 | 256 | this->binning_x = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 257 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 258 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 259 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 260 | offset += sizeof(this->binning_x); |
garyservin | 0:9e9b7db60fd5 | 261 | this->binning_y = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 262 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 263 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 264 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 265 | offset += sizeof(this->binning_y); |
garyservin | 0:9e9b7db60fd5 | 266 | offset += this->roi.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 267 | return offset; |
garyservin | 0:9e9b7db60fd5 | 268 | } |
garyservin | 0:9e9b7db60fd5 | 269 | |
garyservin | 0:9e9b7db60fd5 | 270 | const char * getType(){ return "sensor_msgs/CameraInfo"; }; |
garyservin | 0:9e9b7db60fd5 | 271 | const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; }; |
garyservin | 0:9e9b7db60fd5 | 272 | |
garyservin | 0:9e9b7db60fd5 | 273 | }; |
garyservin | 0:9e9b7db60fd5 | 274 | |
garyservin | 0:9e9b7db60fd5 | 275 | } |
garyservin | 0:9e9b7db60fd5 | 276 | #endif |