ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

opencv_apps/Face.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_opencv_apps_Face_h
garyservin 0:fd24f7ca9688 2 #define _ROS_opencv_apps_Face_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "opencv_apps/Rect.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace opencv_apps
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class Face : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 opencv_apps::Rect face;
garyservin 0:fd24f7ca9688 17 uint8_t eyes_length;
garyservin 0:fd24f7ca9688 18 opencv_apps::Rect st_eyes;
garyservin 0:fd24f7ca9688 19 opencv_apps::Rect * eyes;
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 Face():
garyservin 0:fd24f7ca9688 22 face(),
garyservin 0:fd24f7ca9688 23 eyes_length(0), eyes(NULL)
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 offset += this->face.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 31 *(outbuffer + offset++) = eyes_length;
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 35 for( uint8_t i = 0; i < eyes_length; i++){
garyservin 0:fd24f7ca9688 36 offset += this->eyes[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 37 }
garyservin 0:fd24f7ca9688 38 return offset;
garyservin 0:fd24f7ca9688 39 }
garyservin 0:fd24f7ca9688 40
garyservin 0:fd24f7ca9688 41 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 42 {
garyservin 0:fd24f7ca9688 43 int offset = 0;
garyservin 0:fd24f7ca9688 44 offset += this->face.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 45 uint8_t eyes_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 46 if(eyes_lengthT > eyes_length)
garyservin 0:fd24f7ca9688 47 this->eyes = (opencv_apps::Rect*)realloc(this->eyes, eyes_lengthT * sizeof(opencv_apps::Rect));
garyservin 0:fd24f7ca9688 48 offset += 3;
garyservin 0:fd24f7ca9688 49 eyes_length = eyes_lengthT;
garyservin 0:fd24f7ca9688 50 for( uint8_t i = 0; i < eyes_length; i++){
garyservin 0:fd24f7ca9688 51 offset += this->st_eyes.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 52 memcpy( &(this->eyes[i]), &(this->st_eyes), sizeof(opencv_apps::Rect));
garyservin 0:fd24f7ca9688 53 }
garyservin 0:fd24f7ca9688 54 return offset;
garyservin 0:fd24f7ca9688 55 }
garyservin 0:fd24f7ca9688 56
garyservin 0:fd24f7ca9688 57 const char * getType(){ return "opencv_apps/Face"; };
garyservin 0:fd24f7ca9688 58 const char * getMD5(){ return "0c2547d2eaf71219898bf5c25e36907e"; };
garyservin 0:fd24f7ca9688 59
garyservin 0:fd24f7ca9688 60 };
garyservin 0:fd24f7ca9688 61
garyservin 0:fd24f7ca9688 62 }
garyservin 0:fd24f7ca9688 63 #endif