change rate38400->115200
Fork of ros_lib_kinetic by
Diff: stereo_msgs/DisparityImage.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/stereo_msgs/DisparityImage.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,176 @@ +#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 \ No newline at end of file