Diff: manipulation_msgs/SceneRegion.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b manipulation_msgs/SceneRegion.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/manipulation_msgs/SceneRegion.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,106 @@
+#ifndef _ROS_manipulation_msgs_SceneRegion_h
+#define _ROS_manipulation_msgs_SceneRegion_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/CameraInfo.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace manipulation_msgs
+{
+
+  class SceneRegion : public ros::Msg
+  {
+    public:
+      sensor_msgs::PointCloud2 cloud;
+      uint8_t mask_length;
+      int32_t st_mask;
+      int32_t * mask;
+      sensor_msgs::Image image;
+      sensor_msgs::Image disparity_image;
+      sensor_msgs::CameraInfo cam_info;
+      geometry_msgs::PoseStamped roi_box_pose;
+      geometry_msgs::Vector3 roi_box_dims;
+
+    SceneRegion():
+      cloud(),
+      mask_length(0), mask(NULL),
+      image(),
+      disparity_image(),
+      cam_info(),
+      roi_box_pose(),
+      roi_box_dims()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->cloud.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = mask_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < mask_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_maski;
+      u_maski.real = this->mask[i];
+      *(outbuffer + offset + 0) = (u_maski.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_maski.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_maski.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_maski.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->mask[i]);
+      }
+      offset += this->image.serialize(outbuffer + offset);
+      offset += this->disparity_image.serialize(outbuffer + offset);
+      offset += this->cam_info.serialize(outbuffer + offset);
+      offset += this->roi_box_pose.serialize(outbuffer + offset);
+      offset += this->roi_box_dims.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->cloud.deserialize(inbuffer + offset);
+      uint8_t mask_lengthT = *(inbuffer + offset++);
+      if(mask_lengthT > mask_length)
+        this->mask = (int32_t*)realloc(this->mask, mask_lengthT * sizeof(int32_t));
+      offset += 3;
+      mask_length = mask_lengthT;
+      for( uint8_t i = 0; i < mask_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_mask;
+      u_st_mask.base = 0;
+      u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_mask.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_mask = u_st_mask.real;
+      offset += sizeof(this->st_mask);
+        memcpy( &(this->mask[i]), &(this->st_mask), sizeof(int32_t));
+      }
+      offset += this->image.deserialize(inbuffer + offset);
+      offset += this->disparity_image.deserialize(inbuffer + offset);
+      offset += this->cam_info.deserialize(inbuffer + offset);
+      offset += this->roi_box_pose.deserialize(inbuffer + offset);
+      offset += this->roi_box_dims.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "manipulation_msgs/SceneRegion"; };
+    const char * getMD5(){ return "0a9ab02b19292633619876c9d247690c"; };
+
+  };
+
+}
+#endif