modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/CameraInfo.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 6:3c54bc7badd4 | 1 | #ifndef _ROS_sensor_msgs_CameraInfo_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_sensor_msgs_CameraInfo_h |
jjzak | 6:3c54bc7badd4 | 3 | |
jjzak | 6:3c54bc7badd4 | 4 | #include <stdint.h> |
jjzak | 6:3c54bc7badd4 | 5 | #include <string.h> |
jjzak | 6:3c54bc7badd4 | 6 | #include <stdlib.h> |
jjzak | 6:3c54bc7badd4 | 7 | #include "ros/msg.h" |
jjzak | 6:3c54bc7badd4 | 8 | #include "std_msgs/Header.h" |
jjzak | 6:3c54bc7badd4 | 9 | #include "sensor_msgs/RegionOfInterest.h" |
jjzak | 6:3c54bc7badd4 | 10 | |
jjzak | 6:3c54bc7badd4 | 11 | namespace sensor_msgs |
jjzak | 6:3c54bc7badd4 | 12 | { |
jjzak | 6:3c54bc7badd4 | 13 | |
jjzak | 6:3c54bc7badd4 | 14 | class CameraInfo : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 15 | { |
jjzak | 6:3c54bc7badd4 | 16 | public: |
jjzak | 6:3c54bc7badd4 | 17 | std_msgs::Header header; |
jjzak | 6:3c54bc7badd4 | 18 | uint32_t height; |
jjzak | 6:3c54bc7badd4 | 19 | uint32_t width; |
jjzak | 6:3c54bc7badd4 | 20 | char * distortion_model; |
jjzak | 6:3c54bc7badd4 | 21 | uint8_t D_length; |
jjzak | 6:3c54bc7badd4 | 22 | float st_D; |
jjzak | 6:3c54bc7badd4 | 23 | float * D; |
jjzak | 6:3c54bc7badd4 | 24 | float K[9]; |
jjzak | 6:3c54bc7badd4 | 25 | float R[9]; |
jjzak | 6:3c54bc7badd4 | 26 | float P[12]; |
jjzak | 6:3c54bc7badd4 | 27 | uint32_t binning_x; |
jjzak | 6:3c54bc7badd4 | 28 | uint32_t binning_y; |
jjzak | 6:3c54bc7badd4 | 29 | sensor_msgs::RegionOfInterest roi; |
jjzak | 6:3c54bc7badd4 | 30 | |
jjzak | 6:3c54bc7badd4 | 31 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 32 | { |
jjzak | 6:3c54bc7badd4 | 33 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 34 | offset += this->header.serialize(outbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 35 | *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 36 | *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 37 | *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 38 | *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 39 | offset += sizeof(this->height); |
jjzak | 6:3c54bc7badd4 | 40 | *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 41 | *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 42 | *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 43 | *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 44 | offset += sizeof(this->width); |
jjzak | 6:3c54bc7badd4 | 45 | uint32_t length_distortion_model = strlen( (const char*) this->distortion_model); |
jjzak | 6:3c54bc7badd4 | 46 | memcpy(outbuffer + offset, &length_distortion_model, sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 47 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 48 | memcpy(outbuffer + offset, this->distortion_model, length_distortion_model); |
jjzak | 6:3c54bc7badd4 | 49 | offset += length_distortion_model; |
jjzak | 6:3c54bc7badd4 | 50 | *(outbuffer + offset++) = D_length; |
jjzak | 6:3c54bc7badd4 | 51 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 52 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 53 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 54 | for( uint8_t i = 0; i < D_length; i++){ |
jjzak | 6:3c54bc7badd4 | 55 | int32_t * val_Di = (int32_t *) &(this->D[i]); |
jjzak | 6:3c54bc7badd4 | 56 | int32_t exp_Di = (((*val_Di)>>23)&255); |
jjzak | 6:3c54bc7badd4 | 57 | if(exp_Di != 0) |
jjzak | 6:3c54bc7badd4 | 58 | exp_Di += 1023-127; |
jjzak | 6:3c54bc7badd4 | 59 | int32_t sig_Di = *val_Di; |
jjzak | 6:3c54bc7badd4 | 60 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 61 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 62 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 63 | *(outbuffer + offset++) = (sig_Di<<5) & 0xff; |
jjzak | 6:3c54bc7badd4 | 64 | *(outbuffer + offset++) = (sig_Di>>3) & 0xff; |
jjzak | 6:3c54bc7badd4 | 65 | *(outbuffer + offset++) = (sig_Di>>11) & 0xff; |
jjzak | 6:3c54bc7badd4 | 66 | *(outbuffer + offset++) = ((exp_Di<<4) & 0xF0) | ((sig_Di>>19)&0x0F); |
jjzak | 6:3c54bc7badd4 | 67 | *(outbuffer + offset++) = (exp_Di>>4) & 0x7F; |
jjzak | 6:3c54bc7badd4 | 68 | if(this->D[i] < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 6:3c54bc7badd4 | 69 | } |
jjzak | 6:3c54bc7badd4 | 70 | unsigned char * K_val = (unsigned char *) this->K; |
jjzak | 6:3c54bc7badd4 | 71 | for( uint8_t i = 0; i < 9; i++){ |
jjzak | 6:3c54bc7badd4 | 72 | int32_t * val_Ki = (int32_t *) &(this->K[i]); |
jjzak | 6:3c54bc7badd4 | 73 | int32_t exp_Ki = (((*val_Ki)>>23)&255); |
jjzak | 6:3c54bc7badd4 | 74 | if(exp_Ki != 0) |
jjzak | 6:3c54bc7badd4 | 75 | exp_Ki += 1023-127; |
jjzak | 6:3c54bc7badd4 | 76 | int32_t sig_Ki = *val_Ki; |
jjzak | 6:3c54bc7badd4 | 77 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 78 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 79 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 80 | *(outbuffer + offset++) = (sig_Ki<<5) & 0xff; |
jjzak | 6:3c54bc7badd4 | 81 | *(outbuffer + offset++) = (sig_Ki>>3) & 0xff; |
jjzak | 6:3c54bc7badd4 | 82 | *(outbuffer + offset++) = (sig_Ki>>11) & 0xff; |
jjzak | 6:3c54bc7badd4 | 83 | *(outbuffer + offset++) = ((exp_Ki<<4) & 0xF0) | ((sig_Ki>>19)&0x0F); |
jjzak | 6:3c54bc7badd4 | 84 | *(outbuffer + offset++) = (exp_Ki>>4) & 0x7F; |
jjzak | 6:3c54bc7badd4 | 85 | if(this->K[i] < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 6:3c54bc7badd4 | 86 | } |
jjzak | 6:3c54bc7badd4 | 87 | unsigned char * R_val = (unsigned char *) this->R; |
jjzak | 6:3c54bc7badd4 | 88 | for( uint8_t i = 0; i < 9; i++){ |
jjzak | 6:3c54bc7badd4 | 89 | int32_t * val_Ri = (int32_t *) &(this->R[i]); |
jjzak | 6:3c54bc7badd4 | 90 | int32_t exp_Ri = (((*val_Ri)>>23)&255); |
jjzak | 6:3c54bc7badd4 | 91 | if(exp_Ri != 0) |
jjzak | 6:3c54bc7badd4 | 92 | exp_Ri += 1023-127; |
jjzak | 6:3c54bc7badd4 | 93 | int32_t sig_Ri = *val_Ri; |
jjzak | 6:3c54bc7badd4 | 94 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 95 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 96 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 97 | *(outbuffer + offset++) = (sig_Ri<<5) & 0xff; |
jjzak | 6:3c54bc7badd4 | 98 | *(outbuffer + offset++) = (sig_Ri>>3) & 0xff; |
jjzak | 6:3c54bc7badd4 | 99 | *(outbuffer + offset++) = (sig_Ri>>11) & 0xff; |
jjzak | 6:3c54bc7badd4 | 100 | *(outbuffer + offset++) = ((exp_Ri<<4) & 0xF0) | ((sig_Ri>>19)&0x0F); |
jjzak | 6:3c54bc7badd4 | 101 | *(outbuffer + offset++) = (exp_Ri>>4) & 0x7F; |
jjzak | 6:3c54bc7badd4 | 102 | if(this->R[i] < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 6:3c54bc7badd4 | 103 | } |
jjzak | 6:3c54bc7badd4 | 104 | unsigned char * P_val = (unsigned char *) this->P; |
jjzak | 6:3c54bc7badd4 | 105 | for( uint8_t i = 0; i < 12; i++){ |
jjzak | 6:3c54bc7badd4 | 106 | int32_t * val_Pi = (int32_t *) &(this->P[i]); |
jjzak | 6:3c54bc7badd4 | 107 | int32_t exp_Pi = (((*val_Pi)>>23)&255); |
jjzak | 6:3c54bc7badd4 | 108 | if(exp_Pi != 0) |
jjzak | 6:3c54bc7badd4 | 109 | exp_Pi += 1023-127; |
jjzak | 6:3c54bc7badd4 | 110 | int32_t sig_Pi = *val_Pi; |
jjzak | 6:3c54bc7badd4 | 111 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 112 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 113 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 114 | *(outbuffer + offset++) = (sig_Pi<<5) & 0xff; |
jjzak | 6:3c54bc7badd4 | 115 | *(outbuffer + offset++) = (sig_Pi>>3) & 0xff; |
jjzak | 6:3c54bc7badd4 | 116 | *(outbuffer + offset++) = (sig_Pi>>11) & 0xff; |
jjzak | 6:3c54bc7badd4 | 117 | *(outbuffer + offset++) = ((exp_Pi<<4) & 0xF0) | ((sig_Pi>>19)&0x0F); |
jjzak | 6:3c54bc7badd4 | 118 | *(outbuffer + offset++) = (exp_Pi>>4) & 0x7F; |
jjzak | 6:3c54bc7badd4 | 119 | if(this->P[i] < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 6:3c54bc7badd4 | 120 | } |
jjzak | 6:3c54bc7badd4 | 121 | *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 122 | *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 123 | *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 124 | *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 125 | offset += sizeof(this->binning_x); |
jjzak | 6:3c54bc7badd4 | 126 | *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 127 | *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 128 | *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 129 | *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 130 | offset += sizeof(this->binning_y); |
jjzak | 6:3c54bc7badd4 | 131 | offset += this->roi.serialize(outbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 132 | return offset; |
jjzak | 6:3c54bc7badd4 | 133 | } |
jjzak | 6:3c54bc7badd4 | 134 | |
jjzak | 6:3c54bc7badd4 | 135 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 136 | { |
jjzak | 6:3c54bc7badd4 | 137 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 138 | offset += this->header.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 139 | this->height = ((uint32_t) (*(inbuffer + offset))); |
jjzak | 6:3c54bc7badd4 | 140 | this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 141 | this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 142 | this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 143 | offset += sizeof(this->height); |
jjzak | 6:3c54bc7badd4 | 144 | this->width = ((uint32_t) (*(inbuffer + offset))); |
jjzak | 6:3c54bc7badd4 | 145 | this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 146 | this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 147 | this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 148 | offset += sizeof(this->width); |
jjzak | 6:3c54bc7badd4 | 149 | uint32_t length_distortion_model; |
jjzak | 6:3c54bc7badd4 | 150 | memcpy(&length_distortion_model, (inbuffer + offset), sizeof(uint32_t)); |
jjzak | 6:3c54bc7badd4 | 151 | offset += 4; |
jjzak | 6:3c54bc7badd4 | 152 | for(unsigned int k= offset; k< offset+length_distortion_model; ++k){ |
jjzak | 6:3c54bc7badd4 | 153 | inbuffer[k-1]=inbuffer[k]; |
jjzak | 6:3c54bc7badd4 | 154 | } |
jjzak | 6:3c54bc7badd4 | 155 | inbuffer[offset+length_distortion_model-1]=0; |
jjzak | 6:3c54bc7badd4 | 156 | this->distortion_model = (char *)(inbuffer + offset-1); |
jjzak | 6:3c54bc7badd4 | 157 | offset += length_distortion_model; |
jjzak | 6:3c54bc7badd4 | 158 | uint8_t D_lengthT = *(inbuffer + offset++); |
jjzak | 6:3c54bc7badd4 | 159 | if(D_lengthT > D_length) |
jjzak | 6:3c54bc7badd4 | 160 | this->D = (float*)realloc(this->D, D_lengthT * sizeof(float)); |
jjzak | 6:3c54bc7badd4 | 161 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 162 | D_length = D_lengthT; |
jjzak | 6:3c54bc7badd4 | 163 | for( uint8_t i = 0; i < D_length; i++){ |
jjzak | 6:3c54bc7badd4 | 164 | uint32_t * val_st_D = (uint32_t*) &(this->st_D); |
jjzak | 6:3c54bc7badd4 | 165 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 166 | *val_st_D = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 6:3c54bc7badd4 | 167 | *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 6:3c54bc7badd4 | 168 | *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 6:3c54bc7badd4 | 169 | *val_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 6:3c54bc7badd4 | 170 | uint32_t exp_st_D = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 6:3c54bc7badd4 | 171 | exp_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 6:3c54bc7badd4 | 172 | if(exp_st_D !=0) |
jjzak | 6:3c54bc7badd4 | 173 | *val_st_D |= ((exp_st_D)-1023+127)<<23; |
jjzak | 6:3c54bc7badd4 | 174 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_D = -this->st_D; |
jjzak | 6:3c54bc7badd4 | 175 | memcpy( &(this->D[i]), &(this->st_D), sizeof(float)); |
jjzak | 6:3c54bc7badd4 | 176 | } |
jjzak | 6:3c54bc7badd4 | 177 | uint8_t * K_val = (uint8_t*) this->K; |
jjzak | 6:3c54bc7badd4 | 178 | for( uint8_t i = 0; i < 9; i++){ |
jjzak | 6:3c54bc7badd4 | 179 | uint32_t * val_Ki = (uint32_t*) &(this->K[i]); |
jjzak | 6:3c54bc7badd4 | 180 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 181 | *val_Ki = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 6:3c54bc7badd4 | 182 | *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 6:3c54bc7badd4 | 183 | *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 6:3c54bc7badd4 | 184 | *val_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 6:3c54bc7badd4 | 185 | uint32_t exp_Ki = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 6:3c54bc7badd4 | 186 | exp_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 6:3c54bc7badd4 | 187 | if(exp_Ki !=0) |
jjzak | 6:3c54bc7badd4 | 188 | *val_Ki |= ((exp_Ki)-1023+127)<<23; |
jjzak | 6:3c54bc7badd4 | 189 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->K[i] = -this->K[i]; |
jjzak | 6:3c54bc7badd4 | 190 | } |
jjzak | 6:3c54bc7badd4 | 191 | uint8_t * R_val = (uint8_t*) this->R; |
jjzak | 6:3c54bc7badd4 | 192 | for( uint8_t i = 0; i < 9; i++){ |
jjzak | 6:3c54bc7badd4 | 193 | uint32_t * val_Ri = (uint32_t*) &(this->R[i]); |
jjzak | 6:3c54bc7badd4 | 194 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 195 | *val_Ri = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 6:3c54bc7badd4 | 196 | *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 6:3c54bc7badd4 | 197 | *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 6:3c54bc7badd4 | 198 | *val_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 6:3c54bc7badd4 | 199 | uint32_t exp_Ri = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 6:3c54bc7badd4 | 200 | exp_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 6:3c54bc7badd4 | 201 | if(exp_Ri !=0) |
jjzak | 6:3c54bc7badd4 | 202 | *val_Ri |= ((exp_Ri)-1023+127)<<23; |
jjzak | 6:3c54bc7badd4 | 203 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->R[i] = -this->R[i]; |
jjzak | 6:3c54bc7badd4 | 204 | } |
jjzak | 6:3c54bc7badd4 | 205 | uint8_t * P_val = (uint8_t*) this->P; |
jjzak | 6:3c54bc7badd4 | 206 | for( uint8_t i = 0; i < 12; i++){ |
jjzak | 6:3c54bc7badd4 | 207 | uint32_t * val_Pi = (uint32_t*) &(this->P[i]); |
jjzak | 6:3c54bc7badd4 | 208 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 209 | *val_Pi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 6:3c54bc7badd4 | 210 | *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 6:3c54bc7badd4 | 211 | *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 6:3c54bc7badd4 | 212 | *val_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 6:3c54bc7badd4 | 213 | uint32_t exp_Pi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 6:3c54bc7badd4 | 214 | exp_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 6:3c54bc7badd4 | 215 | if(exp_Pi !=0) |
jjzak | 6:3c54bc7badd4 | 216 | *val_Pi |= ((exp_Pi)-1023+127)<<23; |
jjzak | 6:3c54bc7badd4 | 217 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->P[i] = -this->P[i]; |
jjzak | 6:3c54bc7badd4 | 218 | } |
jjzak | 6:3c54bc7badd4 | 219 | this->binning_x = ((uint32_t) (*(inbuffer + offset))); |
jjzak | 6:3c54bc7badd4 | 220 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 221 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 222 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 223 | offset += sizeof(this->binning_x); |
jjzak | 6:3c54bc7badd4 | 224 | this->binning_y = ((uint32_t) (*(inbuffer + offset))); |
jjzak | 6:3c54bc7badd4 | 225 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 226 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 227 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 228 | offset += sizeof(this->binning_y); |
jjzak | 6:3c54bc7badd4 | 229 | offset += this->roi.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 230 | return offset; |
jjzak | 6:3c54bc7badd4 | 231 | } |
jjzak | 6:3c54bc7badd4 | 232 | |
jjzak | 6:3c54bc7badd4 | 233 | const char * getType(){ return "sensor_msgs/CameraInfo"; }; |
jjzak | 6:3c54bc7badd4 | 234 | const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; }; |
jjzak | 6:3c54bc7badd4 | 235 | |
jjzak | 6:3c54bc7badd4 | 236 | }; |
jjzak | 6:3c54bc7badd4 | 237 | |
jjzak | 6:3c54bc7badd4 | 238 | } |
jjzak | 6:3c54bc7badd4 | 239 | #endif |