root / quad2 / arduino / src / ros_lib / sensor_msgs / CameraInfo.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_sensor_msgs_CameraInfo_h
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2 | #define _ROS_sensor_msgs_CameraInfo_h
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3 | |||
4 | #include <stdint.h> |
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5 | #include <string.h> |
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6 | #include <stdlib.h> |
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7 | #include "ros/msg.h" |
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8 | #include "std_msgs/Header.h" |
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9 | #include "sensor_msgs/RegionOfInterest.h" |
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10 | |||
11 | namespace sensor_msgs |
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12 | { |
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13 | |||
14 | class CameraInfo : public ros::Msg |
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15 | { |
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16 | public:
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17 | std_msgs::Header header; |
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18 | uint32_t height; |
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19 | uint32_t width; |
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20 | char * distortion_model;
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21 | uint8_t D_length; |
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22 | float st_D;
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23 | float * D;
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24 | float K[9]; |
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25 | float R[9]; |
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26 | float P[12]; |
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27 | uint32_t binning_x; |
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28 | uint32_t binning_y; |
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29 | sensor_msgs::RegionOfInterest roi; |
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30 | |||
31 | virtual int serialize(unsigned char *outbuffer) const |
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32 | { |
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33 | int offset = 0; |
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34 | offset += this->header.serialize(outbuffer + offset); |
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35 | *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; |
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36 | *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; |
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37 | *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; |
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38 | *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; |
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39 | offset += sizeof(this->height);
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40 | *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; |
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41 | *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; |
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42 | *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; |
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43 | *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; |
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44 | offset += sizeof(this->width);
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45 | uint32_t * length_distortion_model = (uint32_t *)(outbuffer + offset); |
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46 | *length_distortion_model = strlen( (const char*) this->distortion_model); |
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47 | offset += 4;
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48 | memcpy(outbuffer + offset, this->distortion_model, *length_distortion_model); |
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49 | offset += *length_distortion_model; |
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50 | *(outbuffer + offset++) = D_length; |
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51 | *(outbuffer + offset++) = 0;
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52 | *(outbuffer + offset++) = 0;
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53 | *(outbuffer + offset++) = 0;
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54 | for( uint8_t i = 0; i < D_length; i++){ |
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55 | int32_t * val_Di = (long *) &(this->D[i]);
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56 | int32_t exp_Di = (((*val_Di)>>23)&255); |
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57 | if(exp_Di != 0) |
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58 | exp_Di += 1023-127; |
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59 | int32_t sig_Di = *val_Di; |
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60 | *(outbuffer + offset++) = 0;
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61 | *(outbuffer + offset++) = 0;
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62 | *(outbuffer + offset++) = 0;
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63 | *(outbuffer + offset++) = (sig_Di<<5) & 0xff; |
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64 | *(outbuffer + offset++) = (sig_Di>>3) & 0xff; |
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65 | *(outbuffer + offset++) = (sig_Di>>11) & 0xff; |
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66 | *(outbuffer + offset++) = ((exp_Di<<4) & 0xF0) | ((sig_Di>>19)&0x0F); |
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67 | *(outbuffer + offset++) = (exp_Di>>4) & 0x7F; |
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68 | if(this->D[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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69 | } |
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70 | unsigned char * K_val = (unsigned char *) this->K; |
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71 | for( uint8_t i = 0; i < 9; i++){ |
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72 | int32_t * val_Ki = (long *) &(this->K[i]);
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73 | int32_t exp_Ki = (((*val_Ki)>>23)&255); |
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74 | if(exp_Ki != 0) |
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75 | exp_Ki += 1023-127; |
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76 | int32_t sig_Ki = *val_Ki; |
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77 | *(outbuffer + offset++) = 0;
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78 | *(outbuffer + offset++) = 0;
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79 | *(outbuffer + offset++) = 0;
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80 | *(outbuffer + offset++) = (sig_Ki<<5) & 0xff; |
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81 | *(outbuffer + offset++) = (sig_Ki>>3) & 0xff; |
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82 | *(outbuffer + offset++) = (sig_Ki>>11) & 0xff; |
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83 | *(outbuffer + offset++) = ((exp_Ki<<4) & 0xF0) | ((sig_Ki>>19)&0x0F); |
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84 | *(outbuffer + offset++) = (exp_Ki>>4) & 0x7F; |
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85 | if(this->K[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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86 | } |
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87 | unsigned char * R_val = (unsigned char *) this->R; |
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88 | for( uint8_t i = 0; i < 9; i++){ |
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89 | int32_t * val_Ri = (long *) &(this->R[i]);
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90 | int32_t exp_Ri = (((*val_Ri)>>23)&255); |
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91 | if(exp_Ri != 0) |
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92 | exp_Ri += 1023-127; |
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93 | int32_t sig_Ri = *val_Ri; |
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94 | *(outbuffer + offset++) = 0;
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95 | *(outbuffer + offset++) = 0;
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96 | *(outbuffer + offset++) = 0;
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97 | *(outbuffer + offset++) = (sig_Ri<<5) & 0xff; |
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98 | *(outbuffer + offset++) = (sig_Ri>>3) & 0xff; |
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99 | *(outbuffer + offset++) = (sig_Ri>>11) & 0xff; |
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100 | *(outbuffer + offset++) = ((exp_Ri<<4) & 0xF0) | ((sig_Ri>>19)&0x0F); |
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101 | *(outbuffer + offset++) = (exp_Ri>>4) & 0x7F; |
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102 | if(this->R[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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103 | } |
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104 | unsigned char * P_val = (unsigned char *) this->P; |
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105 | for( uint8_t i = 0; i < 12; i++){ |
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106 | int32_t * val_Pi = (long *) &(this->P[i]);
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107 | int32_t exp_Pi = (((*val_Pi)>>23)&255); |
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108 | if(exp_Pi != 0) |
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109 | exp_Pi += 1023-127; |
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110 | int32_t sig_Pi = *val_Pi; |
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111 | *(outbuffer + offset++) = 0;
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112 | *(outbuffer + offset++) = 0;
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113 | *(outbuffer + offset++) = 0;
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114 | *(outbuffer + offset++) = (sig_Pi<<5) & 0xff; |
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115 | *(outbuffer + offset++) = (sig_Pi>>3) & 0xff; |
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116 | *(outbuffer + offset++) = (sig_Pi>>11) & 0xff; |
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117 | *(outbuffer + offset++) = ((exp_Pi<<4) & 0xF0) | ((sig_Pi>>19)&0x0F); |
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118 | *(outbuffer + offset++) = (exp_Pi>>4) & 0x7F; |
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119 | if(this->P[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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120 | } |
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121 | *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF; |
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122 | *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF; |
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123 | *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF; |
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124 | *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF; |
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125 | offset += sizeof(this->binning_x);
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126 | *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF; |
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127 | *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF; |
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128 | *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF; |
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129 | *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF; |
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130 | offset += sizeof(this->binning_y);
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131 | offset += this->roi.serialize(outbuffer + offset); |
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132 | return offset;
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133 | } |
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134 | |||
135 | virtual int deserialize(unsigned char *inbuffer) |
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136 | { |
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137 | int offset = 0; |
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138 | offset += this->header.deserialize(inbuffer + offset); |
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139 | this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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140 | this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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141 | this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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142 | this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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143 | offset += sizeof(this->height);
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144 | this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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145 | this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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146 | this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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147 | this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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148 | offset += sizeof(this->width);
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149 | uint32_t length_distortion_model = *(uint32_t *)(inbuffer + offset); |
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150 | offset += 4;
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151 | for(unsigned int k= offset; k< offset+length_distortion_model; ++k){ |
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152 | inbuffer[k-1]=inbuffer[k];
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153 | } |
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154 | inbuffer[offset+length_distortion_model-1]=0; |
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155 | this->distortion_model = (char *)(inbuffer + offset-1); |
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156 | offset += length_distortion_model; |
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157 | uint8_t D_lengthT = *(inbuffer + offset++); |
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158 | if(D_lengthT > D_length)
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159 | this->D = (float*)realloc(this->D, D_lengthT * sizeof(float)); |
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160 | offset += 3;
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161 | D_length = D_lengthT; |
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162 | for( uint8_t i = 0; i < D_length; i++){ |
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163 | uint32_t * val_st_D = (uint32_t*) &(this->st_D); |
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164 | offset += 3;
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165 | *val_st_D = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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166 | *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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167 | *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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168 | *val_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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169 | uint32_t exp_st_D = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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170 | exp_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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171 | if(exp_st_D !=0) |
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172 | *val_st_D |= ((exp_st_D)-1023+127)<<23; |
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173 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_D = -this->st_D; |
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174 | memcpy( &(this->D[i]), &(this->st_D), sizeof(float)); |
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175 | } |
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176 | uint8_t * K_val = (uint8_t*) this->K; |
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177 | for( uint8_t i = 0; i < 9; i++){ |
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178 | uint32_t * val_Ki = (uint32_t*) &(this->K[i]); |
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179 | offset += 3;
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180 | *val_Ki = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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181 | *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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182 | *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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183 | *val_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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184 | uint32_t exp_Ki = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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185 | exp_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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186 | if(exp_Ki !=0) |
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187 | *val_Ki |= ((exp_Ki)-1023+127)<<23; |
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188 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->K[i] = -this->K[i]; |
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189 | } |
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190 | uint8_t * R_val = (uint8_t*) this->R; |
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191 | for( uint8_t i = 0; i < 9; i++){ |
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192 | uint32_t * val_Ri = (uint32_t*) &(this->R[i]); |
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193 | offset += 3;
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194 | *val_Ri = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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195 | *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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196 | *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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197 | *val_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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198 | uint32_t exp_Ri = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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199 | exp_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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200 | if(exp_Ri !=0) |
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201 | *val_Ri |= ((exp_Ri)-1023+127)<<23; |
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202 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->R[i] = -this->R[i]; |
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203 | } |
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204 | uint8_t * P_val = (uint8_t*) this->P; |
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205 | for( uint8_t i = 0; i < 12; i++){ |
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206 | uint32_t * val_Pi = (uint32_t*) &(this->P[i]); |
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207 | offset += 3;
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208 | *val_Pi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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209 | *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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210 | *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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211 | *val_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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212 | uint32_t exp_Pi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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213 | exp_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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214 | if(exp_Pi !=0) |
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215 | *val_Pi |= ((exp_Pi)-1023+127)<<23; |
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216 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->P[i] = -this->P[i]; |
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217 | } |
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218 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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219 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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220 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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221 | this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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222 | offset += sizeof(this->binning_x);
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223 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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224 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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225 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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226 | this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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227 | offset += sizeof(this->binning_y);
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228 | offset += this->roi.deserialize(inbuffer + offset); |
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229 | return offset;
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230 | } |
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231 | |||
232 | const char * getType(){ return "sensor_msgs/CameraInfo"; }; |
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233 | const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; }; |
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234 | |||
235 | }; |
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236 | |||
237 | } |
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238 | #endif |