Jacob Hernandez
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
Fork of
ros_lib_kinetic
by 
Gary Servin
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