Diff: sensor_msgs/CameraInfo.h

Revision:

6:3c54bc7badd4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CameraInfo.h	Sat Oct 26 15:39:01 2013 +0000
@@ -0,0 +1,239 @@
+#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:
+      std_msgs::Header header;
+      uint32_t height;
+      uint32_t width;
+      char * distortion_model;
+      uint8_t D_length;
+      float st_D;
+      float * D;
+      float K[9];
+      float R[9];
+      float P[12];
+      uint32_t binning_x;
+      uint32_t binning_y;
+      sensor_msgs::RegionOfInterest 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( (const char*) this->distortion_model);
+      memcpy(outbuffer + offset, &length_distortion_model, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->distortion_model, length_distortion_model);
+      offset += length_distortion_model;
+      *(outbuffer + offset++) = D_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < D_length; i++){
+      int32_t * val_Di = (int32_t *) &(this->D[i]);
+      int32_t exp_Di = (((*val_Di)>>23)&255);
+      if(exp_Di != 0)
+        exp_Di += 1023-127;
+      int32_t sig_Di = *val_Di;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_Di<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_Di>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_Di>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_Di<<4) & 0xF0) | ((sig_Di>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_Di>>4) & 0x7F;
+      if(this->D[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      unsigned char * K_val = (unsigned char *) this->K;
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_Ki = (int32_t *) &(this->K[i]);
+      int32_t exp_Ki = (((*val_Ki)>>23)&255);
+      if(exp_Ki != 0)
+        exp_Ki += 1023-127;
+      int32_t sig_Ki = *val_Ki;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_Ki<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_Ki>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_Ki>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_Ki<<4) & 0xF0) | ((sig_Ki>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_Ki>>4) & 0x7F;
+      if(this->K[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      unsigned char * R_val = (unsigned char *) this->R;
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_Ri = (int32_t *) &(this->R[i]);
+      int32_t exp_Ri = (((*val_Ri)>>23)&255);
+      if(exp_Ri != 0)
+        exp_Ri += 1023-127;
+      int32_t sig_Ri = *val_Ri;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_Ri<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_Ri>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_Ri>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_Ri<<4) & 0xF0) | ((sig_Ri>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_Ri>>4) & 0x7F;
+      if(this->R[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      unsigned char * P_val = (unsigned char *) this->P;
+      for( uint8_t i = 0; i < 12; i++){
+      int32_t * val_Pi = (int32_t *) &(this->P[i]);
+      int32_t exp_Pi = (((*val_Pi)>>23)&255);
+      if(exp_Pi != 0)
+        exp_Pi += 1023-127;
+      int32_t sig_Pi = *val_Pi;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_Pi<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_Pi>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_Pi>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_Pi<<4) & 0xF0) | ((sig_Pi>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_Pi>>4) & 0x7F;
+      if(this->P[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      *(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;
+      memcpy(&length_distortion_model, (inbuffer + offset), sizeof(uint32_t));
+      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;
+      uint8_t D_lengthT = *(inbuffer + offset++);
+      if(D_lengthT > D_length)
+        this->D = (float*)realloc(this->D, D_lengthT * sizeof(float));
+      offset += 3;
+      D_length = D_lengthT;
+      for( uint8_t i = 0; i < D_length; i++){
+      uint32_t * val_st_D = (uint32_t*) &(this->st_D);
+      offset += 3;
+      *val_st_D = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_st_D = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_st_D !=0)
+        *val_st_D |= ((exp_st_D)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_D = -this->st_D;
+        memcpy( &(this->D[i]), &(this->st_D), sizeof(float));
+      }
+      uint8_t * K_val = (uint8_t*) this->K;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_Ki = (uint32_t*) &(this->K[i]);
+      offset += 3;
+      *val_Ki = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_Ki = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_Ki !=0)
+        *val_Ki |= ((exp_Ki)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->K[i] = -this->K[i];
+      }
+      uint8_t * R_val = (uint8_t*) this->R;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_Ri = (uint32_t*) &(this->R[i]);
+      offset += 3;
+      *val_Ri = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_Ri = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_Ri !=0)
+        *val_Ri |= ((exp_Ri)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->R[i] = -this->R[i];
+      }
+      uint8_t * P_val = (uint8_t*) this->P;
+      for( uint8_t i = 0; i < 12; i++){
+      uint32_t * val_Pi = (uint32_t*) &(this->P[i]);
+      offset += 3;
+      *val_Pi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_Pi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_Pi !=0)
+        *val_Pi |= ((exp_Pi)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->P[i] = -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