root / quad2 / arduino / src / ros_lib / sensor_msgs / CameraInfo.h @ c1426757
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#ifndef _ROS_sensor_msgs_CameraInfo_h
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#define _ROS_sensor_msgs_CameraInfo_h
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#include <stdint.h> |
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#include <string.h> |
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#include <stdlib.h> |
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#include "ros/msg.h" |
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#include "std_msgs/Header.h" |
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#include "sensor_msgs/RegionOfInterest.h" |
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namespace sensor_msgs |
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{ |
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class CameraInfo : public ros::Msg |
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{ |
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public:
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std_msgs::Header header; |
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uint32_t height; |
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uint32_t width; |
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char * distortion_model;
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uint8_t D_length; |
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float st_D;
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float * D;
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float K[9]; |
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float R[9]; |
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float P[12]; |
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uint32_t binning_x; |
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uint32_t binning_y; |
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sensor_msgs::RegionOfInterest roi; |
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virtual int serialize(unsigned char *outbuffer) const |
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{ |
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int offset = 0; |
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offset += this->header.serialize(outbuffer + offset); |
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*(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; |
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*(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; |
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*(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; |
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*(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; |
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offset += sizeof(this->height);
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*(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; |
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*(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; |
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*(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; |
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*(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; |
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offset += sizeof(this->width);
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uint32_t * length_distortion_model = (uint32_t *)(outbuffer + offset); |
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*length_distortion_model = strlen( (const char*) this->distortion_model); |
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offset += 4;
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memcpy(outbuffer + offset, this->distortion_model, *length_distortion_model); |
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offset += *length_distortion_model; |
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*(outbuffer + offset++) = D_length; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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for( uint8_t i = 0; i < D_length; i++){ |
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int32_t * val_Di = (long *) &(this->D[i]);
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int32_t exp_Di = (((*val_Di)>>23)&255); |
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if(exp_Di != 0) |
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exp_Di += 1023-127; |
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int32_t sig_Di = *val_Di; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = (sig_Di<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_Di>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_Di>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_Di<<4) & 0xF0) | ((sig_Di>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_Di>>4) & 0x7F; |
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if(this->D[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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} |
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unsigned char * K_val = (unsigned char *) this->K; |
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for( uint8_t i = 0; i < 9; i++){ |
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int32_t * val_Ki = (long *) &(this->K[i]);
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int32_t exp_Ki = (((*val_Ki)>>23)&255); |
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if(exp_Ki != 0) |
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exp_Ki += 1023-127; |
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int32_t sig_Ki = *val_Ki; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = (sig_Ki<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_Ki>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_Ki>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_Ki<<4) & 0xF0) | ((sig_Ki>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_Ki>>4) & 0x7F; |
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if(this->K[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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} |
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unsigned char * R_val = (unsigned char *) this->R; |
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for( uint8_t i = 0; i < 9; i++){ |
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int32_t * val_Ri = (long *) &(this->R[i]);
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int32_t exp_Ri = (((*val_Ri)>>23)&255); |
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if(exp_Ri != 0) |
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exp_Ri += 1023-127; |
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int32_t sig_Ri = *val_Ri; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = (sig_Ri<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_Ri>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_Ri>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_Ri<<4) & 0xF0) | ((sig_Ri>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_Ri>>4) & 0x7F; |
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if(this->R[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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} |
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unsigned char * P_val = (unsigned char *) this->P; |
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for( uint8_t i = 0; i < 12; i++){ |
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int32_t * val_Pi = (long *) &(this->P[i]);
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int32_t exp_Pi = (((*val_Pi)>>23)&255); |
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if(exp_Pi != 0) |
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exp_Pi += 1023-127; |
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int32_t sig_Pi = *val_Pi; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = (sig_Pi<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_Pi>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_Pi>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_Pi<<4) & 0xF0) | ((sig_Pi>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_Pi>>4) & 0x7F; |
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if(this->P[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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} |
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*(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF; |
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*(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF; |
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*(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF; |
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*(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF; |
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offset += sizeof(this->binning_x);
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*(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF; |
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*(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF; |
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*(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF; |
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*(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF; |
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offset += sizeof(this->binning_y);
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offset += this->roi.serialize(outbuffer + offset); |
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return offset;
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} |
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virtual int deserialize(unsigned char *inbuffer) |
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{ |
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int offset = 0; |
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offset += this->header.deserialize(inbuffer + offset); |
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this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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offset += sizeof(this->height);
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this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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offset += sizeof(this->width);
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uint32_t length_distortion_model = *(uint32_t *)(inbuffer + offset); |
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offset += 4;
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for(unsigned int k= offset; k< offset+length_distortion_model; ++k){ |
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inbuffer[k-1]=inbuffer[k];
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} |
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inbuffer[offset+length_distortion_model-1]=0; |
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this->distortion_model = (char *)(inbuffer + offset-1); |
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offset += length_distortion_model; |
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uint8_t D_lengthT = *(inbuffer + offset++); |
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if(D_lengthT > D_length)
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this->D = (float*)realloc(this->D, D_lengthT * sizeof(float)); |
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offset += 3;
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D_length = D_lengthT; |
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for( uint8_t i = 0; i < D_length; i++){ |
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uint32_t * val_st_D = (uint32_t*) &(this->st_D); |
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offset += 3;
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*val_st_D = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_st_D = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_st_D !=0) |
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*val_st_D |= ((exp_st_D)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_D = -this->st_D; |
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memcpy( &(this->D[i]), &(this->st_D), sizeof(float)); |
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} |
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uint8_t * K_val = (uint8_t*) this->K; |
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for( uint8_t i = 0; i < 9; i++){ |
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uint32_t * val_Ki = (uint32_t*) &(this->K[i]); |
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offset += 3;
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*val_Ki = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_Ki = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_Ki !=0) |
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*val_Ki |= ((exp_Ki)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->K[i] = -this->K[i]; |
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} |
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uint8_t * R_val = (uint8_t*) this->R; |
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for( uint8_t i = 0; i < 9; i++){ |
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uint32_t * val_Ri = (uint32_t*) &(this->R[i]); |
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offset += 3;
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*val_Ri = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_Ri = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_Ri !=0) |
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*val_Ri |= ((exp_Ri)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->R[i] = -this->R[i]; |
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} |
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uint8_t * P_val = (uint8_t*) this->P; |
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for( uint8_t i = 0; i < 12; i++){ |
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uint32_t * val_Pi = (uint32_t*) &(this->P[i]); |
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offset += 3;
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*val_Pi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_Pi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_Pi !=0) |
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*val_Pi |= ((exp_Pi)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->P[i] = -this->P[i]; |
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} |
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this->binning_x |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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offset += sizeof(this->binning_x);
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this->binning_y |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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offset += sizeof(this->binning_y);
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offset += this->roi.deserialize(inbuffer + offset); |
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return offset;
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} |
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const char * getType(){ return "sensor_msgs/CameraInfo"; }; |
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const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; }; |
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}; |
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} |
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#endif
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