hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

stereo_msgs/DisparityImage.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_stereo_msgs_DisparityImage_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_stereo_msgs_DisparityImage_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9 #include "sensor_msgs/Image.h"
Gary Servin 0:04ac6be8229a 10 #include "sensor_msgs/RegionOfInterest.h"
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 namespace stereo_msgs
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class DisparityImage : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 19 _header_type header;
Gary Servin 0:04ac6be8229a 20 typedef sensor_msgs::Image _image_type;
Gary Servin 0:04ac6be8229a 21 _image_type image;
Gary Servin 0:04ac6be8229a 22 typedef float _f_type;
Gary Servin 0:04ac6be8229a 23 _f_type f;
Gary Servin 0:04ac6be8229a 24 typedef float _T_type;
Gary Servin 0:04ac6be8229a 25 _T_type T;
Gary Servin 0:04ac6be8229a 26 typedef sensor_msgs::RegionOfInterest _valid_window_type;
Gary Servin 0:04ac6be8229a 27 _valid_window_type valid_window;
Gary Servin 0:04ac6be8229a 28 typedef float _min_disparity_type;
Gary Servin 0:04ac6be8229a 29 _min_disparity_type min_disparity;
Gary Servin 0:04ac6be8229a 30 typedef float _max_disparity_type;
Gary Servin 0:04ac6be8229a 31 _max_disparity_type max_disparity;
Gary Servin 0:04ac6be8229a 32 typedef float _delta_d_type;
Gary Servin 0:04ac6be8229a 33 _delta_d_type delta_d;
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 DisparityImage():
Gary Servin 0:04ac6be8229a 36 header(),
Gary Servin 0:04ac6be8229a 37 image(),
Gary Servin 0:04ac6be8229a 38 f(0),
Gary Servin 0:04ac6be8229a 39 T(0),
Gary Servin 0:04ac6be8229a 40 valid_window(),
Gary Servin 0:04ac6be8229a 41 min_disparity(0),
Gary Servin 0:04ac6be8229a 42 max_disparity(0),
Gary Servin 0:04ac6be8229a 43 delta_d(0)
Gary Servin 0:04ac6be8229a 44 {
Gary Servin 0:04ac6be8229a 45 }
Gary Servin 0:04ac6be8229a 46
Gary Servin 0:04ac6be8229a 47 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 48 {
Gary Servin 0:04ac6be8229a 49 int offset = 0;
Gary Servin 0:04ac6be8229a 50 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 51 offset += this->image.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 52 union {
Gary Servin 0:04ac6be8229a 53 float real;
Gary Servin 0:04ac6be8229a 54 uint32_t base;
Gary Servin 0:04ac6be8229a 55 } u_f;
Gary Servin 0:04ac6be8229a 56 u_f.real = this->f;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 offset += sizeof(this->f);
Gary Servin 0:04ac6be8229a 62 union {
Gary Servin 0:04ac6be8229a 63 float real;
Gary Servin 0:04ac6be8229a 64 uint32_t base;
Gary Servin 0:04ac6be8229a 65 } u_T;
Gary Servin 0:04ac6be8229a 66 u_T.real = this->T;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 offset += sizeof(this->T);
Gary Servin 0:04ac6be8229a 72 offset += this->valid_window.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 73 union {
Gary Servin 0:04ac6be8229a 74 float real;
Gary Servin 0:04ac6be8229a 75 uint32_t base;
Gary Servin 0:04ac6be8229a 76 } u_min_disparity;
Gary Servin 0:04ac6be8229a 77 u_min_disparity.real = this->min_disparity;
Gary Servin 0:04ac6be8229a 78 *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 79 *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 80 *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 81 *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 82 offset += sizeof(this->min_disparity);
Gary Servin 0:04ac6be8229a 83 union {
Gary Servin 0:04ac6be8229a 84 float real;
Gary Servin 0:04ac6be8229a 85 uint32_t base;
Gary Servin 0:04ac6be8229a 86 } u_max_disparity;
Gary Servin 0:04ac6be8229a 87 u_max_disparity.real = this->max_disparity;
Gary Servin 0:04ac6be8229a 88 *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 89 *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 90 *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 91 *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 92 offset += sizeof(this->max_disparity);
Gary Servin 0:04ac6be8229a 93 union {
Gary Servin 0:04ac6be8229a 94 float real;
Gary Servin 0:04ac6be8229a 95 uint32_t base;
Gary Servin 0:04ac6be8229a 96 } u_delta_d;
Gary Servin 0:04ac6be8229a 97 u_delta_d.real = this->delta_d;
Gary Servin 0:04ac6be8229a 98 *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 99 *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 100 *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 101 *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 102 offset += sizeof(this->delta_d);
Gary Servin 0:04ac6be8229a 103 return offset;
Gary Servin 0:04ac6be8229a 104 }
Gary Servin 0:04ac6be8229a 105
Gary Servin 0:04ac6be8229a 106 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 107 {
Gary Servin 0:04ac6be8229a 108 int offset = 0;
Gary Servin 0:04ac6be8229a 109 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 110 offset += this->image.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 111 union {
Gary Servin 0:04ac6be8229a 112 float real;
Gary Servin 0:04ac6be8229a 113 uint32_t base;
Gary Servin 0:04ac6be8229a 114 } u_f;
Gary Servin 0:04ac6be8229a 115 u_f.base = 0;
Gary Servin 0:04ac6be8229a 116 u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 117 u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 118 u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 119 u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 120 this->f = u_f.real;
Gary Servin 0:04ac6be8229a 121 offset += sizeof(this->f);
Gary Servin 0:04ac6be8229a 122 union {
Gary Servin 0:04ac6be8229a 123 float real;
Gary Servin 0:04ac6be8229a 124 uint32_t base;
Gary Servin 0:04ac6be8229a 125 } u_T;
Gary Servin 0:04ac6be8229a 126 u_T.base = 0;
Gary Servin 0:04ac6be8229a 127 u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 128 u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 129 u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 130 u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 131 this->T = u_T.real;
Gary Servin 0:04ac6be8229a 132 offset += sizeof(this->T);
Gary Servin 0:04ac6be8229a 133 offset += this->valid_window.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 134 union {
Gary Servin 0:04ac6be8229a 135 float real;
Gary Servin 0:04ac6be8229a 136 uint32_t base;
Gary Servin 0:04ac6be8229a 137 } u_min_disparity;
Gary Servin 0:04ac6be8229a 138 u_min_disparity.base = 0;
Gary Servin 0:04ac6be8229a 139 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 140 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 141 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 142 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 143 this->min_disparity = u_min_disparity.real;
Gary Servin 0:04ac6be8229a 144 offset += sizeof(this->min_disparity);
Gary Servin 0:04ac6be8229a 145 union {
Gary Servin 0:04ac6be8229a 146 float real;
Gary Servin 0:04ac6be8229a 147 uint32_t base;
Gary Servin 0:04ac6be8229a 148 } u_max_disparity;
Gary Servin 0:04ac6be8229a 149 u_max_disparity.base = 0;
Gary Servin 0:04ac6be8229a 150 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 151 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 152 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 153 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 154 this->max_disparity = u_max_disparity.real;
Gary Servin 0:04ac6be8229a 155 offset += sizeof(this->max_disparity);
Gary Servin 0:04ac6be8229a 156 union {
Gary Servin 0:04ac6be8229a 157 float real;
Gary Servin 0:04ac6be8229a 158 uint32_t base;
Gary Servin 0:04ac6be8229a 159 } u_delta_d;
Gary Servin 0:04ac6be8229a 160 u_delta_d.base = 0;
Gary Servin 0:04ac6be8229a 161 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 162 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 163 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 164 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 165 this->delta_d = u_delta_d.real;
Gary Servin 0:04ac6be8229a 166 offset += sizeof(this->delta_d);
Gary Servin 0:04ac6be8229a 167 return offset;
Gary Servin 0:04ac6be8229a 168 }
Gary Servin 0:04ac6be8229a 169
Gary Servin 0:04ac6be8229a 170 const char * getType(){ return "stereo_msgs/DisparityImage"; };
Gary Servin 0:04ac6be8229a 171 const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; };
Gary Servin 0:04ac6be8229a 172
Gary Servin 0:04ac6be8229a 173 };
Gary Servin 0:04ac6be8229a 174
Gary Servin 0:04ac6be8229a 175 }
Gary Servin 0:04ac6be8229a 176 #endif