ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
Diff: sensor_msgs/CameraInfo.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/CameraInfo.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,276 @@ +#ifndef _ROS_sensor_msgs_CameraInfo_h +#define _ROS_sensor_msgs_CameraInfo_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "sensor_msgs/RegionOfInterest.h" + +namespace sensor_msgs +{ + + class CameraInfo : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + typedef uint32_t _height_type; + _height_type height; + typedef uint32_t _width_type; + _width_type width; + typedef const char* _distortion_model_type; + _distortion_model_type distortion_model; + uint32_t D_length; + typedef double _D_type; + _D_type st_D; + _D_type * D; + double K[9]; + double R[9]; + double P[12]; + typedef uint32_t _binning_x_type; + _binning_x_type binning_x; + typedef uint32_t _binning_y_type; + _binning_y_type binning_y; + typedef sensor_msgs::RegionOfInterest _roi_type; + _roi_type roi; + + CameraInfo(): + header(), + height(0), + width(0), + distortion_model(""), + D_length(0), D(NULL), + K(), + R(), + P(), + binning_x(0), + binning_y(0), + roi() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; + offset += sizeof(this->height); + *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; + offset += sizeof(this->width); + uint32_t length_distortion_model = strlen(this->distortion_model); + varToArr(outbuffer + offset, length_distortion_model); + offset += 4; + memcpy(outbuffer + offset, this->distortion_model, length_distortion_model); + offset += length_distortion_model; + *(outbuffer + offset + 0) = (this->D_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->D_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->D_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->D_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->D_length); + for( uint32_t i = 0; i < D_length; i++){ + union { + double real; + uint64_t base; + } u_Di; + u_Di.real = this->D[i]; + *(outbuffer + offset + 0) = (u_Di.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_Di.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_Di.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_Di.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_Di.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_Di.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_Di.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_Di.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->D[i]); + } + for( uint32_t i = 0; i < 9; i++){ + union { + double real; + uint64_t base; + } u_Ki; + u_Ki.real = this->K[i]; + *(outbuffer + offset + 0) = (u_Ki.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_Ki.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_Ki.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_Ki.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_Ki.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_Ki.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_Ki.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_Ki.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->K[i]); + } + for( uint32_t i = 0; i < 9; i++){ + union { + double real; + uint64_t base; + } u_Ri; + u_Ri.real = this->R[i]; + *(outbuffer + offset + 0) = (u_Ri.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_Ri.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_Ri.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_Ri.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_Ri.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_Ri.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_Ri.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_Ri.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->R[i]); + } + for( uint32_t i = 0; i < 12; i++){ + union { + double real; + uint64_t base; + } u_Pi; + u_Pi.real = this->P[i]; + *(outbuffer + offset + 0) = (u_Pi.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_Pi.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_Pi.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_Pi.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_Pi.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_Pi.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_Pi.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_Pi.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->P[i]); + } + *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF; + offset += sizeof(this->binning_x); + *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF; + offset += sizeof(this->binning_y); + offset += this->roi.serialize(outbuffer + offset); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + this->height = ((uint32_t) (*(inbuffer + offset))); + this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->height); + this->width = ((uint32_t) (*(inbuffer + offset))); + this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->width); + uint32_t length_distortion_model; + arrToVar(length_distortion_model, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_distortion_model; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_distortion_model-1]=0; + this->distortion_model = (char *)(inbuffer + offset-1); + offset += length_distortion_model; + uint32_t D_lengthT = ((uint32_t) (*(inbuffer + offset))); + D_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + D_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + D_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->D_length); + if(D_lengthT > D_length) + this->D = (double*)realloc(this->D, D_lengthT * sizeof(double)); + D_length = D_lengthT; + for( uint32_t i = 0; i < D_length; i++){ + union { + double real; + uint64_t base; + } u_st_D; + u_st_D.base = 0; + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_D = u_st_D.real; + offset += sizeof(this->st_D); + memcpy( &(this->D[i]), &(this->st_D), sizeof(double)); + } + for( uint32_t i = 0; i < 9; i++){ + union { + double real; + uint64_t base; + } u_Ki; + u_Ki.base = 0; + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->K[i] = u_Ki.real; + offset += sizeof(this->K[i]); + } + for( uint32_t i = 0; i < 9; i++){ + union { + double real; + uint64_t base; + } u_Ri; + u_Ri.base = 0; + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->R[i] = u_Ri.real; + offset += sizeof(this->R[i]); + } + for( uint32_t i = 0; i < 12; i++){ + union { + double real; + uint64_t base; + } u_Pi; + u_Pi.base = 0; + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->P[i] = u_Pi.real; + offset += sizeof(this->P[i]); + } + this->binning_x = ((uint32_t) (*(inbuffer + offset))); + this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->binning_x); + this->binning_y = ((uint32_t) (*(inbuffer + offset))); + this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->binning_y); + offset += this->roi.deserialize(inbuffer + offset); + return offset; + } + + const char * getType(){ return "sensor_msgs/CameraInfo"; }; + const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; }; + + }; + +} +#endif \ No newline at end of file