Diff: sensor_msgs/CameraInfo.h

Revision:

0:77afd7560544

Child:

3:1cf99502f396

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CameraInfo.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,281 @@
+#ifndef ros_CameraInfo_h
+#define ros_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;
+      unsigned long height;
+      unsigned long width;
+      char * distortion_model;
+      unsigned char D_length;
+      float st_D;
+      float * D;
+      float K[9];
+      float R[9];
+      float P[12];
+      unsigned long binning_x;
+      unsigned long binning_y;
+      sensor_msgs::RegionOfInterest roi;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_height;
+      u_height.real = this->height;
+      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_width;
+      u_width.real = this->width;
+      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      long * length_distortion_model = (long *)(outbuffer + offset);
+      *length_distortion_model = strlen( (const char*) this->distortion_model);
+      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( unsigned char i = 0; i < D_length; i++){
+      long * val_Di = (long *) &(this->D[i]);
+      long exp_Di = (((*val_Di)>>23)&255);
+      if(exp_Di != 0)
+        exp_Di += 1023-127;
+      long 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( unsigned char i = 0; i < 9; i++){
+      long * val_Ki = (long *) &(this->K[i]);
+      long exp_Ki = (((*val_Ki)>>23)&255);
+      if(exp_Ki != 0)
+        exp_Ki += 1023-127;
+      long 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( unsigned char i = 0; i < 9; i++){
+      long * val_Ri = (long *) &(this->R[i]);
+      long exp_Ri = (((*val_Ri)>>23)&255);
+      if(exp_Ri != 0)
+        exp_Ri += 1023-127;
+      long 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( unsigned char i = 0; i < 12; i++){
+      long * val_Pi = (long *) &(this->P[i]);
+      long exp_Pi = (((*val_Pi)>>23)&255);
+      if(exp_Pi != 0)
+        exp_Pi += 1023-127;
+      long 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;
+      }
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_binning_x;
+      u_binning_x.real = this->binning_x;
+      *(outbuffer + offset + 0) = (u_binning_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_binning_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_binning_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_binning_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_x);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_binning_y;
+      u_binning_y.real = this->binning_y;
+      *(outbuffer + offset + 0) = (u_binning_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_binning_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_binning_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_binning_y.base >> (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);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_height;
+      u_height.base = 0;
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->height = u_height.real;
+      offset += sizeof(this->height);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_width;
+      u_width.base = 0;
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->width = u_width.real;
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model = *(uint32_t *)(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;
+      unsigned char 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( unsigned char i = 0; i < D_length; i++){
+      unsigned long * val_st_D = (unsigned long*) &(this->st_D);
+      offset += 3;
+      *val_st_D = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_st_D |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_st_D |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_st_D |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_st_D = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_st_D |= ((unsigned long)(*(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));
+      }
+      unsigned char * K_val = (unsigned char *) this->K;
+      for( unsigned char i = 0; i < 9; i++){
+      unsigned long * val_Ki = (unsigned long*) &(this->K[i]);
+      offset += 3;
+      *val_Ki = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Ki |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Ki |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Ki |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_Ki = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Ki |= ((unsigned long)(*(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];
+      }
+      unsigned char * R_val = (unsigned char *) this->R;
+      for( unsigned char i = 0; i < 9; i++){
+      unsigned long * val_Ri = (unsigned long*) &(this->R[i]);
+      offset += 3;
+      *val_Ri = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Ri |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Ri |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Ri |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_Ri = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Ri |= ((unsigned long)(*(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];
+      }
+      unsigned char * P_val = (unsigned char *) this->P;
+      for( unsigned char i = 0; i < 12; i++){
+      unsigned long * val_Pi = (unsigned long*) &(this->P[i]);
+      offset += 3;
+      *val_Pi = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Pi |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Pi |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Pi |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_Pi = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Pi |= ((unsigned long)(*(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];
+      }
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_binning_x;
+      u_binning_x.base = 0;
+      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->binning_x = u_binning_x.real;
+      offset += sizeof(this->binning_x);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_binning_y;
+      u_binning_y.base = 0;
+      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->binning_y = u_binning_y.real;
+      offset += sizeof(this->binning_y);
+      offset += this->roi.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+   virtual const char * getType(){ return "sensor_msgs/CameraInfo"; };
+
+  };
+
+}
+#endif
\ No newline at end of file