Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
DisparityImage.h
00001 #ifndef _ROS_stereo_msgs_DisparityImage_h 00002 #define _ROS_stereo_msgs_DisparityImage_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "sensor_msgs/Image.h" 00010 #include "sensor_msgs/RegionOfInterest.h" 00011 00012 namespace stereo_msgs 00013 { 00014 00015 class DisparityImage : public ros::Msg 00016 { 00017 public: 00018 typedef std_msgs::Header _header_type; 00019 _header_type header; 00020 typedef sensor_msgs::Image _image_type; 00021 _image_type image; 00022 typedef float _f_type; 00023 _f_type f; 00024 typedef float _T_type; 00025 _T_type T; 00026 typedef sensor_msgs::RegionOfInterest _valid_window_type; 00027 _valid_window_type valid_window; 00028 typedef float _min_disparity_type; 00029 _min_disparity_type min_disparity; 00030 typedef float _max_disparity_type; 00031 _max_disparity_type max_disparity; 00032 typedef float _delta_d_type; 00033 _delta_d_type delta_d; 00034 00035 DisparityImage(): 00036 header(), 00037 image(), 00038 f(0), 00039 T(0), 00040 valid_window(), 00041 min_disparity(0), 00042 max_disparity(0), 00043 delta_d(0) 00044 { 00045 } 00046 00047 virtual int serialize(unsigned char *outbuffer) const 00048 { 00049 int offset = 0; 00050 offset += this->header.serialize(outbuffer + offset); 00051 offset += this->image.serialize(outbuffer + offset); 00052 union { 00053 float real; 00054 uint32_t base; 00055 } u_f; 00056 u_f.real = this->f; 00057 *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF; 00058 *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF; 00059 *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF; 00060 *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF; 00061 offset += sizeof(this->f); 00062 union { 00063 float real; 00064 uint32_t base; 00065 } u_T; 00066 u_T.real = this->T; 00067 *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF; 00068 *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF; 00069 *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF; 00070 *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF; 00071 offset += sizeof(this->T); 00072 offset += this->valid_window.serialize(outbuffer + offset); 00073 union { 00074 float real; 00075 uint32_t base; 00076 } u_min_disparity; 00077 u_min_disparity.real = this->min_disparity; 00078 *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF; 00079 *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF; 00080 *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF; 00081 *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF; 00082 offset += sizeof(this->min_disparity); 00083 union { 00084 float real; 00085 uint32_t base; 00086 } u_max_disparity; 00087 u_max_disparity.real = this->max_disparity; 00088 *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF; 00089 *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF; 00090 *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF; 00091 *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF; 00092 offset += sizeof(this->max_disparity); 00093 union { 00094 float real; 00095 uint32_t base; 00096 } u_delta_d; 00097 u_delta_d.real = this->delta_d; 00098 *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF; 00099 *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF; 00100 *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF; 00101 *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF; 00102 offset += sizeof(this->delta_d); 00103 return offset; 00104 } 00105 00106 virtual int deserialize(unsigned char *inbuffer) 00107 { 00108 int offset = 0; 00109 offset += this->header.deserialize(inbuffer + offset); 00110 offset += this->image.deserialize(inbuffer + offset); 00111 union { 00112 float real; 00113 uint32_t base; 00114 } u_f; 00115 u_f.base = 0; 00116 u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00117 u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00118 u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00119 u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00120 this->f = u_f.real; 00121 offset += sizeof(this->f); 00122 union { 00123 float real; 00124 uint32_t base; 00125 } u_T; 00126 u_T.base = 0; 00127 u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00128 u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00129 u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00130 u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00131 this->T = u_T.real; 00132 offset += sizeof(this->T); 00133 offset += this->valid_window.deserialize(inbuffer + offset); 00134 union { 00135 float real; 00136 uint32_t base; 00137 } u_min_disparity; 00138 u_min_disparity.base = 0; 00139 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00140 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00141 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00142 u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00143 this->min_disparity = u_min_disparity.real; 00144 offset += sizeof(this->min_disparity); 00145 union { 00146 float real; 00147 uint32_t base; 00148 } u_max_disparity; 00149 u_max_disparity.base = 0; 00150 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00151 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00152 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00153 u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00154 this->max_disparity = u_max_disparity.real; 00155 offset += sizeof(this->max_disparity); 00156 union { 00157 float real; 00158 uint32_t base; 00159 } u_delta_d; 00160 u_delta_d.base = 0; 00161 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00162 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00163 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00164 u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00165 this->delta_d = u_delta_d.real; 00166 offset += sizeof(this->delta_d); 00167 return offset; 00168 } 00169 00170 const char * getType(){ return "stereo_msgs/DisparityImage"; }; 00171 const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; }; 00172 00173 }; 00174 00175 } 00176 #endif
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