Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

stereo_msgs/DisparityImage.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?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_stereo_msgs_DisparityImage_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_stereo_msgs_DisparityImage_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/Image.h"
garyservin 0:9e9b7db60fd5 10 #include "sensor_msgs/RegionOfInterest.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace stereo_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class DisparityImage : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 19 _header_type header;
garyservin 0:9e9b7db60fd5 20 typedef sensor_msgs::Image _image_type;
garyservin 0:9e9b7db60fd5 21 _image_type image;
garyservin 0:9e9b7db60fd5 22 typedef float _f_type;
garyservin 0:9e9b7db60fd5 23 _f_type f;
garyservin 0:9e9b7db60fd5 24 typedef float _T_type;
garyservin 0:9e9b7db60fd5 25 _T_type T;
garyservin 0:9e9b7db60fd5 26 typedef sensor_msgs::RegionOfInterest _valid_window_type;
garyservin 0:9e9b7db60fd5 27 _valid_window_type valid_window;
garyservin 0:9e9b7db60fd5 28 typedef float _min_disparity_type;
garyservin 0:9e9b7db60fd5 29 _min_disparity_type min_disparity;
garyservin 0:9e9b7db60fd5 30 typedef float _max_disparity_type;
garyservin 0:9e9b7db60fd5 31 _max_disparity_type max_disparity;
garyservin 0:9e9b7db60fd5 32 typedef float _delta_d_type;
garyservin 0:9e9b7db60fd5 33 _delta_d_type delta_d;
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 DisparityImage():
garyservin 0:9e9b7db60fd5 36 header(),
garyservin 0:9e9b7db60fd5 37 image(),
garyservin 0:9e9b7db60fd5 38 f(0),
garyservin 0:9e9b7db60fd5 39 T(0),
garyservin 0:9e9b7db60fd5 40 valid_window(),
garyservin 0:9e9b7db60fd5 41 min_disparity(0),
garyservin 0:9e9b7db60fd5 42 max_disparity(0),
garyservin 0:9e9b7db60fd5 43 delta_d(0)
garyservin 0:9e9b7db60fd5 44 {
garyservin 0:9e9b7db60fd5 45 }
garyservin 0:9e9b7db60fd5 46
garyservin 0:9e9b7db60fd5 47 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 48 {
garyservin 0:9e9b7db60fd5 49 int offset = 0;
garyservin 0:9e9b7db60fd5 50 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 51 offset += this->image.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 52 union {
garyservin 0:9e9b7db60fd5 53 float real;
garyservin 0:9e9b7db60fd5 54 uint32_t base;
garyservin 0:9e9b7db60fd5 55 } u_f;
garyservin 0:9e9b7db60fd5 56 u_f.real = this->f;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->f);
garyservin 0:9e9b7db60fd5 62 union {
garyservin 0:9e9b7db60fd5 63 float real;
garyservin 0:9e9b7db60fd5 64 uint32_t base;
garyservin 0:9e9b7db60fd5 65 } u_T;
garyservin 0:9e9b7db60fd5 66 u_T.real = this->T;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->T);
garyservin 0:9e9b7db60fd5 72 offset += this->valid_window.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 73 union {
garyservin 0:9e9b7db60fd5 74 float real;
garyservin 0:9e9b7db60fd5 75 uint32_t base;
garyservin 0:9e9b7db60fd5 76 } u_min_disparity;
garyservin 0:9e9b7db60fd5 77 u_min_disparity.real = this->min_disparity;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 offset += sizeof(this->min_disparity);
garyservin 0:9e9b7db60fd5 83 union {
garyservin 0:9e9b7db60fd5 84 float real;
garyservin 0:9e9b7db60fd5 85 uint32_t base;
garyservin 0:9e9b7db60fd5 86 } u_max_disparity;
garyservin 0:9e9b7db60fd5 87 u_max_disparity.real = this->max_disparity;
garyservin 0:9e9b7db60fd5 88 *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->max_disparity);
garyservin 0:9e9b7db60fd5 93 union {
garyservin 0:9e9b7db60fd5 94 float real;
garyservin 0:9e9b7db60fd5 95 uint32_t base;
garyservin 0:9e9b7db60fd5 96 } u_delta_d;
garyservin 0:9e9b7db60fd5 97 u_delta_d.real = this->delta_d;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->delta_d);
garyservin 0:9e9b7db60fd5 103 return offset;
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 107 {
garyservin 0:9e9b7db60fd5 108 int offset = 0;
garyservin 0:9e9b7db60fd5 109 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 110 offset += this->image.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 111 union {
garyservin 0:9e9b7db60fd5 112 float real;
garyservin 0:9e9b7db60fd5 113 uint32_t base;
garyservin 0:9e9b7db60fd5 114 } u_f;
garyservin 0:9e9b7db60fd5 115 u_f.base = 0;
garyservin 0:9e9b7db60fd5 116 u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 117 u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 118 u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 119 u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 120 this->f = u_f.real;
garyservin 0:9e9b7db60fd5 121 offset += sizeof(this->f);
garyservin 0:9e9b7db60fd5 122 union {
garyservin 0:9e9b7db60fd5 123 float real;
garyservin 0:9e9b7db60fd5 124 uint32_t base;
garyservin 0:9e9b7db60fd5 125 } u_T;
garyservin 0:9e9b7db60fd5 126 u_T.base = 0;
garyservin 0:9e9b7db60fd5 127 u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 128 u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 129 u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 130 u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 131 this->T = u_T.real;
garyservin 0:9e9b7db60fd5 132 offset += sizeof(this->T);
garyservin 0:9e9b7db60fd5 133 offset += this->valid_window.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 134 union {
garyservin 0:9e9b7db60fd5 135 float real;
garyservin 0:9e9b7db60fd5 136 uint32_t base;
garyservin 0:9e9b7db60fd5 137 } u_min_disparity;
garyservin 0:9e9b7db60fd5 138 u_min_disparity.base = 0;
garyservin 0:9e9b7db60fd5 139 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 140 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 141 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 142 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 143 this->min_disparity = u_min_disparity.real;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->min_disparity);
garyservin 0:9e9b7db60fd5 145 union {
garyservin 0:9e9b7db60fd5 146 float real;
garyservin 0:9e9b7db60fd5 147 uint32_t base;
garyservin 0:9e9b7db60fd5 148 } u_max_disparity;
garyservin 0:9e9b7db60fd5 149 u_max_disparity.base = 0;
garyservin 0:9e9b7db60fd5 150 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 151 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 152 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 153 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 154 this->max_disparity = u_max_disparity.real;
garyservin 0:9e9b7db60fd5 155 offset += sizeof(this->max_disparity);
garyservin 0:9e9b7db60fd5 156 union {
garyservin 0:9e9b7db60fd5 157 float real;
garyservin 0:9e9b7db60fd5 158 uint32_t base;
garyservin 0:9e9b7db60fd5 159 } u_delta_d;
garyservin 0:9e9b7db60fd5 160 u_delta_d.base = 0;
garyservin 0:9e9b7db60fd5 161 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 162 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 163 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 164 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 165 this->delta_d = u_delta_d.real;
garyservin 0:9e9b7db60fd5 166 offset += sizeof(this->delta_d);
garyservin 0:9e9b7db60fd5 167 return offset;
garyservin 0:9e9b7db60fd5 168 }
garyservin 0:9e9b7db60fd5 169
garyservin 0:9e9b7db60fd5 170 const char * getType(){ return "stereo_msgs/DisparityImage"; };
garyservin 0:9e9b7db60fd5 171 const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; };
garyservin 0:9e9b7db60fd5 172
garyservin 0:9e9b7db60fd5 173 };
garyservin 0:9e9b7db60fd5 174
garyservin 0:9e9b7db60fd5 175 }
garyservin 0:9e9b7db60fd5 176 #endif