nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

sensor_msgs/CameraInfo.h@0:77afd7560544, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:30 2011 +0000
Revision:
0:77afd7560544
Child:
3:1cf99502f396

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_CameraInfo_h





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#define ros_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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      unsigned long height;





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      unsigned long width;





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      char * distortion_model;





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      unsigned char 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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      unsigned long binning_x;





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      unsigned long binning_y;





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      sensor_msgs::RegionOfInterest roi;





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    virtual int serialize(unsigned char *outbuffer)





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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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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_height;





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      u_height.real = this->height;





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      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->height);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_width;





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      u_width.real = this->width;





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      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->width);





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      long * length_distortion_model = (long *)(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( unsigned char i = 0; i < D_length; i++){





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





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      long 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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      long 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( unsigned char i = 0; i < 9; i++){





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





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      long 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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      long 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( unsigned char i = 0; i < 9; i++){





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





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      long 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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      long 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( unsigned char i = 0; i < 12; i++){





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





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      long 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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      long 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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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_binning_x;





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      u_binning_x.real = this->binning_x;





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      *(outbuffer + offset + 0) = (u_binning_x.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_binning_x.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_binning_x.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_binning_x.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->binning_x);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_binning_y;





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      u_binning_y.real = this->binning_y;





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      *(outbuffer + offset + 0) = (u_binning_y.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_binning_y.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_binning_y.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_binning_y.base >> (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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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_height;





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      u_height.base = 0;





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->height = u_height.real;





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      offset += sizeof(this->height);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_width;





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      u_width.base = 0;





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->width = u_width.real;





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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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      unsigned char 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( unsigned char i = 0; i < D_length; i++){





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      unsigned long * val_st_D = (unsigned long*) &(this->st_D);





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      offset += 3;





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





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





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





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





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





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





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      for( unsigned char i = 0; i < 9; i++){





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





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      offset += 3;





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





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





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





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





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





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





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      for( unsigned char i = 0; i < 9; i++){





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





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      offset += 3;





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





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





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





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





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





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





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      for( unsigned char i = 0; i < 12; i++){





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





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      offset += 3;





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





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





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





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





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





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      exp_Pi |= ((unsigned long)(*(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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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_binning_x;





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      u_binning_x.base = 0;





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      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->binning_x = u_binning_x.real;





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      offset += sizeof(this->binning_x);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_binning_y;





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      u_binning_y.base = 0;





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      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->binning_y = u_binning_y.real;





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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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   274

    }





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





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   278

  };





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   280

}





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#endif