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
sensor_msgs/CameraInfo.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#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