Class: Sensor_msgs::Image

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/sensor_msgs/Image.rb

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_CL = 
::ROS::Struct.new("CL")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','uint32','uint32','string','uint8','uint32','uint8[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ Image

Constructor. You can set the default values using keyword operators.

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :header (Header) —

    initialize value

  • :height (uint32) —

    initialize value

  • :width (uint32) —

    initialize value

  • :encoding (string) —

    initialize value

  • :is_bigendian (uint8) —

    initialize value

  • :step (uint32) —

    initialize value

  • :data (uint8[]) —

    initialize value



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# File 'lib/sensor_msgs/Image.rb', line 89

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:header]
    @header = args[:header]
  else
    @header = Std_msgs::Header.new
  end
  if args[:height]
    @height = args[:height]
  else
    @height = 0
  end
  if args[:width]
    @width = args[:width]
  else
    @width = 0
  end
  if args[:encoding]
    @encoding = args[:encoding]
  else
    @encoding = ''
  end
  if args[:is_bigendian]
    @is_bigendian = args[:is_bigendian]
  else
    @is_bigendian = 0
  end
  if args[:step]
    @step = args[:step]
  else
    @step = 0
  end
  if args[:data]
    @data = args[:data]
  else
    @data = ''
  end
end

Instance Attribute Details

#data ⇒ Object

Returns the value of attribute data.



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# File 'lib/sensor_msgs/Image.rb', line 70

def data
  @data
end

#encoding ⇒ Object

Returns the value of attribute encoding.



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# File 'lib/sensor_msgs/Image.rb', line 70

def encoding
  @encoding
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/sensor_msgs/Image.rb', line 70

def header
  @header
end

#height ⇒ Object

Returns the value of attribute height.



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# File 'lib/sensor_msgs/Image.rb', line 70

def height
  @height
end

#is_bigendian ⇒ Object

Returns the value of attribute is_bigendian.



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# File 'lib/sensor_msgs/Image.rb', line 70

def is_bigendian
  @is_bigendian
end

#step ⇒ Object

Returns the value of attribute step.



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# File 'lib/sensor_msgs/Image.rb', line 70

def step
  @step
end

#width ⇒ Object

Returns the value of attribute width.



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# File 'lib/sensor_msgs/Image.rb', line 70

def width
  @width
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/sensor_msgs/Image.rb', line 9

def self.md5sum
  "060021388200f6f0f447d0fcd9c64743"
end

.type ⇒ Object 



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# File 'lib/sensor_msgs/Image.rb', line 13

def self.type
  "sensor_msgs/Image"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/Image.rb', line 130

def _get_types
  @slot_types
end

#deserialize(str) ⇒ Object

unpack serialized message in str into this message instance

@param [String] str: byte array of serialized message



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# File 'lib/sensor_msgs/Image.rb', line 158

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L2')
    (@height, @width,) = @@struct_L2.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @encoding = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('CL')
    (@is_bigendian, @step,) = @@struct_CL.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @data = str[start..(end_point-1)]
    return self
  rescue => exception
    raise "message DeserializationError: #{exception}" #most likely buffer underfill
  end
end

#has_header? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/sensor_msgs/Image.rb', line 17

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/sensor_msgs/Image.rb', line 21

def message_definition
  "# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#

Header header        # Header timestamp should be acquisition time of image
                   # Header frame_id should be optical frame of camera
                   # origin of frame should be optical center of cameara
                   # +x should point to the right in the image
                   # +y should point down in the image
                   # +z should point into to plane of the image
                   # If the frame_id here and the frame_id of the CameraInfo
                   # message associated with the image conflict
                   # the behavior is undefined

uint32 height         # image height, that is, number of rows
uint32 width          # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# [email protected] and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                    # taken from the list of strings in src/image_encodings.cpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/sensor_msgs/Image.rb', line 136

def serialize(buff)
  begin
    buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
    _x = @header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L2.pack(@height, @width))
    _x = @encoding
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_CL.pack(@is_bigendian, @step))
    _x = @data
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end