Quadrotor

#ifndef _ROS_sensor_msgs_CameraInfo_h

#define _ROS_sensor_msgs_CameraInfo_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

#include "std_msgs/Header.h"

#include "sensor_msgs/RegionOfInterest.h"

namespace sensor_msgs

{

  class CameraInfo : public ros::Msg

  {

    public:

      std_msgs::Header header;

      uint32_t height;

      uint32_t width;

      char * distortion_model;

      uint8_t D_length;

      float st_D;

      float * D;

      float K[9];

      float R[9];

      float P[12];

      uint32_t binning_x;

      uint32_t binning_y;

      sensor_msgs::RegionOfInterest roi;

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      offset += this->header.serialize(outbuffer + offset);

      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;

      offset += sizeof(this->height);

      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;

      offset += sizeof(this->width);

      uint32_t * length_distortion_model = (uint32_t *)(outbuffer + offset);

      *length_distortion_model = strlen( (const char*) this->distortion_model);

      offset += 4;

      memcpy(outbuffer + offset, this->distortion_model, *length_distortion_model);

      offset += *length_distortion_model;

      *(outbuffer + offset++) = D_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      for( uint8_t i = 0; i < D_length; i++){

      int32_t * val_Di = (long *) &(this->D[i]);

      int32_t exp_Di = (((*val_Di)>>23)&255);

      if(exp_Di != 0)

        exp_Di += 1023-127;

      int32_t sig_Di = *val_Di;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_Di<<5) & 0xff;

      *(outbuffer + offset++) = (sig_Di>>3) & 0xff;

      *(outbuffer + offset++) = (sig_Di>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_Di<<4) & 0xF0) | ((sig_Di>>19)&0x0F);

      *(outbuffer + offset++) = (exp_Di>>4) & 0x7F;

      if(this->D[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      unsigned char * K_val = (unsigned char *) this->K;

      for( uint8_t i = 0; i < 9; i++){

      int32_t * val_Ki = (long *) &(this->K[i]);

      int32_t exp_Ki = (((*val_Ki)>>23)&255);

      if(exp_Ki != 0)

        exp_Ki += 1023-127;

      int32_t sig_Ki = *val_Ki;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_Ki<<5) & 0xff;

      *(outbuffer + offset++) = (sig_Ki>>3) & 0xff;

      *(outbuffer + offset++) = (sig_Ki>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_Ki<<4) & 0xF0) | ((sig_Ki>>19)&0x0F);

      *(outbuffer + offset++) = (exp_Ki>>4) & 0x7F;

      if(this->K[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      unsigned char * R_val = (unsigned char *) this->R;

      for( uint8_t i = 0; i < 9; i++){

      int32_t * val_Ri = (long *) &(this->R[i]);

      int32_t exp_Ri = (((*val_Ri)>>23)&255);

      if(exp_Ri != 0)

        exp_Ri += 1023-127;

      int32_t sig_Ri = *val_Ri;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_Ri<<5) & 0xff;

      *(outbuffer + offset++) = (sig_Ri>>3) & 0xff;

      *(outbuffer + offset++) = (sig_Ri>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_Ri<<4) & 0xF0) | ((sig_Ri>>19)&0x0F);

      *(outbuffer + offset++) = (exp_Ri>>4) & 0x7F;

      if(this->R[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      unsigned char * P_val = (unsigned char *) this->P;

      for( uint8_t i = 0; i < 12; i++){

      int32_t * val_Pi = (long *) &(this->P[i]);

      int32_t exp_Pi = (((*val_Pi)>>23)&255);

      if(exp_Pi != 0)

        exp_Pi += 1023-127;

      int32_t sig_Pi = *val_Pi;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_Pi<<5) & 0xff;

      *(outbuffer + offset++) = (sig_Pi>>3) & 0xff;

      *(outbuffer + offset++) = (sig_Pi>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_Pi<<4) & 0xF0) | ((sig_Pi>>19)&0x0F);

      *(outbuffer + offset++) = (exp_Pi>>4) & 0x7F;

      if(this->P[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;

      offset += sizeof(this->binning_x);

      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;

      offset += sizeof(this->binning_y);

      offset += this->roi.serialize(outbuffer + offset);

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      offset += this->header.deserialize(inbuffer + offset);

      this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      offset += sizeof(this->height);

      this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      offset += sizeof(this->width);

      uint32_t length_distortion_model = *(uint32_t *)(inbuffer + offset);

      offset += 4;

      for(unsigned int k= offset; k< offset+length_distortion_model; ++k){

          inbuffer[k-1]=inbuffer[k];

      }

      inbuffer[offset+length_distortion_model-1]=0;

      this->distortion_model = (char *)(inbuffer + offset-1);

      offset += length_distortion_model;

      uint8_t D_lengthT = *(inbuffer + offset++);

      if(D_lengthT > D_length)

        this->D = (float*)realloc(this->D, D_lengthT * sizeof(float));

      offset += 3;

      D_length = D_lengthT;

      for( uint8_t i = 0; i < D_length; i++){

      uint32_t * val_st_D = (uint32_t*) &(this->st_D);

      offset += 3;

      *val_st_D = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_st_D = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_st_D !=0)

        *val_st_D |= ((exp_st_D)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_D = -this->st_D;

        memcpy( &(this->D[i]), &(this->st_D), sizeof(float));

      }

      uint8_t * K_val = (uint8_t*) this->K;

      for( uint8_t i = 0; i < 9; i++){

      uint32_t * val_Ki = (uint32_t*) &(this->K[i]);

      offset += 3;

      *val_Ki = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_Ki = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_Ki !=0)

        *val_Ki |= ((exp_Ki)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->K[i] = -this->K[i];

      }

      uint8_t * R_val = (uint8_t*) this->R;

      for( uint8_t i = 0; i < 9; i++){

      uint32_t * val_Ri = (uint32_t*) &(this->R[i]);

      offset += 3;

      *val_Ri = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_Ri = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_Ri !=0)

        *val_Ri |= ((exp_Ri)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->R[i] = -this->R[i];

      }

      uint8_t * P_val = (uint8_t*) this->P;

      for( uint8_t i = 0; i < 12; i++){

      uint32_t * val_Pi = (uint32_t*) &(this->P[i]);

      offset += 3;

      *val_Pi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_Pi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_Pi !=0)

        *val_Pi |= ((exp_Pi)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->P[i] = -this->P[i];

      }

      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      offset += sizeof(this->binning_x);

      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      offset += sizeof(this->binning_y);

      offset += this->roi.deserialize(inbuffer + offset);

     return offset;

    }

    const char * getType(){ return "sensor_msgs/CameraInfo"; };

    const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; };

  };

}

#endif