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

stereo_msgs/DisparityImage.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_stereo_msgs_DisparityImage_h
garyservin 0:fd24f7ca9688 2 #define _ROS_stereo_msgs_DisparityImage_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 "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "sensor_msgs/Image.h"
garyservin 0:fd24f7ca9688 10 #include "sensor_msgs/RegionOfInterest.h"
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 namespace stereo_msgs
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14
garyservin 0:fd24f7ca9688 15 class DisparityImage : public ros::Msg
garyservin 0:fd24f7ca9688 16 {
garyservin 0:fd24f7ca9688 17 public:
garyservin 0:fd24f7ca9688 18 std_msgs::Header header;
garyservin 0:fd24f7ca9688 19 sensor_msgs::Image image;
garyservin 0:fd24f7ca9688 20 float f;
garyservin 0:fd24f7ca9688 21 float T;
garyservin 0:fd24f7ca9688 22 sensor_msgs::RegionOfInterest valid_window;
garyservin 0:fd24f7ca9688 23 float min_disparity;
garyservin 0:fd24f7ca9688 24 float max_disparity;
garyservin 0:fd24f7ca9688 25 float delta_d;
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 DisparityImage():
garyservin 0:fd24f7ca9688 28 header(),
garyservin 0:fd24f7ca9688 29 image(),
garyservin 0:fd24f7ca9688 30 f(0),
garyservin 0:fd24f7ca9688 31 T(0),
garyservin 0:fd24f7ca9688 32 valid_window(),
garyservin 0:fd24f7ca9688 33 min_disparity(0),
garyservin 0:fd24f7ca9688 34 max_disparity(0),
garyservin 0:fd24f7ca9688 35 delta_d(0)
garyservin 0:fd24f7ca9688 36 {
garyservin 0:fd24f7ca9688 37 }
garyservin 0:fd24f7ca9688 38
garyservin 0:fd24f7ca9688 39 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 40 {
garyservin 0:fd24f7ca9688 41 int offset = 0;
garyservin 0:fd24f7ca9688 42 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 43 offset += this->image.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 44 union {
garyservin 0:fd24f7ca9688 45 float real;
garyservin 0:fd24f7ca9688 46 uint32_t base;
garyservin 0:fd24f7ca9688 47 } u_f;
garyservin 0:fd24f7ca9688 48 u_f.real = this->f;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 53 offset += sizeof(this->f);
garyservin 0:fd24f7ca9688 54 union {
garyservin 0:fd24f7ca9688 55 float real;
garyservin 0:fd24f7ca9688 56 uint32_t base;
garyservin 0:fd24f7ca9688 57 } u_T;
garyservin 0:fd24f7ca9688 58 u_T.real = this->T;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 63 offset += sizeof(this->T);
garyservin 0:fd24f7ca9688 64 offset += this->valid_window.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 65 union {
garyservin 0:fd24f7ca9688 66 float real;
garyservin 0:fd24f7ca9688 67 uint32_t base;
garyservin 0:fd24f7ca9688 68 } u_min_disparity;
garyservin 0:fd24f7ca9688 69 u_min_disparity.real = this->min_disparity;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 74 offset += sizeof(this->min_disparity);
garyservin 0:fd24f7ca9688 75 union {
garyservin 0:fd24f7ca9688 76 float real;
garyservin 0:fd24f7ca9688 77 uint32_t base;
garyservin 0:fd24f7ca9688 78 } u_max_disparity;
garyservin 0:fd24f7ca9688 79 u_max_disparity.real = this->max_disparity;
garyservin 0:fd24f7ca9688 80 *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 81 *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 82 *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 83 *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 84 offset += sizeof(this->max_disparity);
garyservin 0:fd24f7ca9688 85 union {
garyservin 0:fd24f7ca9688 86 float real;
garyservin 0:fd24f7ca9688 87 uint32_t base;
garyservin 0:fd24f7ca9688 88 } u_delta_d;
garyservin 0:fd24f7ca9688 89 u_delta_d.real = this->delta_d;
garyservin 0:fd24f7ca9688 90 *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 91 *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 92 *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 93 *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 94 offset += sizeof(this->delta_d);
garyservin 0:fd24f7ca9688 95 return offset;
garyservin 0:fd24f7ca9688 96 }
garyservin 0:fd24f7ca9688 97
garyservin 0:fd24f7ca9688 98 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 99 {
garyservin 0:fd24f7ca9688 100 int offset = 0;
garyservin 0:fd24f7ca9688 101 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 102 offset += this->image.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 103 union {
garyservin 0:fd24f7ca9688 104 float real;
garyservin 0:fd24f7ca9688 105 uint32_t base;
garyservin 0:fd24f7ca9688 106 } u_f;
garyservin 0:fd24f7ca9688 107 u_f.base = 0;
garyservin 0:fd24f7ca9688 108 u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 109 u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 110 u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 111 u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 112 this->f = u_f.real;
garyservin 0:fd24f7ca9688 113 offset += sizeof(this->f);
garyservin 0:fd24f7ca9688 114 union {
garyservin 0:fd24f7ca9688 115 float real;
garyservin 0:fd24f7ca9688 116 uint32_t base;
garyservin 0:fd24f7ca9688 117 } u_T;
garyservin 0:fd24f7ca9688 118 u_T.base = 0;
garyservin 0:fd24f7ca9688 119 u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 120 u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 121 u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 122 u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 123 this->T = u_T.real;
garyservin 0:fd24f7ca9688 124 offset += sizeof(this->T);
garyservin 0:fd24f7ca9688 125 offset += this->valid_window.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 126 union {
garyservin 0:fd24f7ca9688 127 float real;
garyservin 0:fd24f7ca9688 128 uint32_t base;
garyservin 0:fd24f7ca9688 129 } u_min_disparity;
garyservin 0:fd24f7ca9688 130 u_min_disparity.base = 0;
garyservin 0:fd24f7ca9688 131 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 132 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 133 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 134 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 135 this->min_disparity = u_min_disparity.real;
garyservin 0:fd24f7ca9688 136 offset += sizeof(this->min_disparity);
garyservin 0:fd24f7ca9688 137 union {
garyservin 0:fd24f7ca9688 138 float real;
garyservin 0:fd24f7ca9688 139 uint32_t base;
garyservin 0:fd24f7ca9688 140 } u_max_disparity;
garyservin 0:fd24f7ca9688 141 u_max_disparity.base = 0;
garyservin 0:fd24f7ca9688 142 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 143 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 144 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 145 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 146 this->max_disparity = u_max_disparity.real;
garyservin 0:fd24f7ca9688 147 offset += sizeof(this->max_disparity);
garyservin 0:fd24f7ca9688 148 union {
garyservin 0:fd24f7ca9688 149 float real;
garyservin 0:fd24f7ca9688 150 uint32_t base;
garyservin 0:fd24f7ca9688 151 } u_delta_d;
garyservin 0:fd24f7ca9688 152 u_delta_d.base = 0;
garyservin 0:fd24f7ca9688 153 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 154 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 155 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 156 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 157 this->delta_d = u_delta_d.real;
garyservin 0:fd24f7ca9688 158 offset += sizeof(this->delta_d);
garyservin 0:fd24f7ca9688 159 return offset;
garyservin 0:fd24f7ca9688 160 }
garyservin 0:fd24f7ca9688 161
garyservin 0:fd24f7ca9688 162 const char * getType(){ return "stereo_msgs/DisparityImage"; };
garyservin 0:fd24f7ca9688 163 const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; };
garyservin 0:fd24f7ca9688 164
garyservin 0:fd24f7ca9688 165 };
garyservin 0:fd24f7ca9688 166
garyservin 0:fd24f7ca9688 167 }
garyservin 0:fd24f7ca9688 168 #endif