Diff: opencv_apps/Contour.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Contour.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_Contour_h
+#define _ROS_opencv_apps_Contour_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Contour : public ros::Msg
+  {
+    public:
+      uint8_t points_length;
+      opencv_apps::Point2D st_points;
+      opencv_apps::Point2D * points;
+
+    Contour():
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (opencv_apps::Point2D*)realloc(this->points, points_lengthT * sizeof(opencv_apps::Point2D));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(opencv_apps::Point2D));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Contour"; };
+    const char * getMD5(){ return "8f02263beef99aa03117a577a3eb879d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file