Class: Stereo_msgs::DisparityImage

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/stereo_msgs/DisparityImage.rb

Constant Summary collapse

@@struct_f2L4Cf3 = 
::ROS::Struct.new("f2L4Cf3")
@@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','sensor_msgs/Image','float32','float32','sensor_msgs/RegionOfInterest','float32','float32','float32']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ DisparityImage

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

  • :image (sensor_msgs/Image) —

    initialize value

  • :f (float32) —

    initialize value

  • :T (float32) —

    initialize value

  • :valid_window (sensor_msgs/RegionOfInterest) —

    initialize value

  • :min_disparity (float32) —

    initialize value

  • :max_disparity (float32) —

    initialize value

  • :delta_d (float32) —

    initialize value



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# File 'lib/stereo_msgs/DisparityImage.rb', line 147

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[:image]
    @image = args[:image]
  else
    @image = Sensor_msgs::Image.new
  end
  if args[:f]
    @f = args[:f]
  else
    @f = 0.0
  end
  if args[:T]
    @T = args[:T]
  else
    @T = 0.0
  end
  if args[:valid_window]
    @valid_window = args[:valid_window]
  else
    @valid_window = Sensor_msgs::RegionOfInterest.new
  end
  if args[:min_disparity]
    @min_disparity = args[:min_disparity]
  else
    @min_disparity = 0.0
  end
  if args[:max_disparity]
    @max_disparity = args[:max_disparity]
  else
    @max_disparity = 0.0
  end
  if args[:delta_d]
    @delta_d = args[:delta_d]
  else
    @delta_d = 0.0
  end
end

Instance Attribute Details

#delta_d ⇒ Object

Returns the value of attribute delta_d.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def delta_d
  @delta_d
end

#f ⇒ Object

Returns the value of attribute f.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def f
  @f
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def header
  @header
end

#image ⇒ Object

Returns the value of attribute image.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def image
  @image
end

#max_disparity ⇒ Object

Returns the value of attribute max_disparity.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def max_disparity
  @max_disparity
end

#min_disparity ⇒ Object

Returns the value of attribute min_disparity.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def min_disparity
  @min_disparity
end

#T ⇒ Object

Returns the value of attribute T.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def T
  @T
end

#valid_window ⇒ Object

Returns the value of attribute valid_window.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 126

def valid_window
  @valid_window
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/stereo_msgs/DisparityImage.rb', line 11

def self.md5sum
  "04a177815f75271039fa21f16acad8c9"
end

.type ⇒ Object 



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# File 'lib/stereo_msgs/DisparityImage.rb', line 15

def self.type
  "stereo_msgs/DisparityImage"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/stereo_msgs/DisparityImage.rb', line 193

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/stereo_msgs/DisparityImage.rb', line 226

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    if @image == nil
      @image = Sensor_msgs::Image.new
    end
    if @valid_window == nil
      @valid_window = Sensor_msgs::RegionOfInterest.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('L3')
    (@image.header.seq, @image.header.stamp.secs, @image.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
    @image.header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('L2')
    (@image.height, @image.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
    @image.encoding = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('CL')
    (@image.is_bigendian, @image.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
    @image.data = str[start..(end_point-1)]
    start = end_point
    end_point += ROS::Struct::calc_size('f2L4Cf3')
    (@f, @T, @valid_window.x_offset, @valid_window.y_offset, @valid_window.height, @valid_window.width, @valid_window.do_rectify, @min_disparity, @max_disparity, @delta_d,) = @@struct_f2L4Cf3.unpack(str[start..(end_point-1)])
    @valid_window.do_rectify = bool(@valid_window.do_rectify)
    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/stereo_msgs/DisparityImage.rb', line 19

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/stereo_msgs/DisparityImage.rb', line 23

def message_definition
  "# Separate header for compatibility with current TimeSynchronizer.
# Likely to be removed in a later release, use image.header instead.
Header header

# Floating point disparity image. The disparities are pre-adjusted for any
# x-offset between the principal points of the two cameras (in the case
# that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)
sensor_msgs/Image image

# Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.
float32 f # Focal length, pixels
float32 T # Baseline, world units

# Subwindow of (potentially) valid disparity values.
sensor_msgs/RegionOfInterest valid_window

# The range of disparities searched.
# In the disparity image, any disparity less than min_disparity is invalid.
# The disparity search range defines the horopter, or 3D volume that the
# stereo algorithm can \"see\". Points with Z outside of:
#     Z_min = fT / max_disparity
#     Z_max = fT / min_disparity
# could not be found.
float32 min_disparity
float32 max_disparity

# Smallest allowed disparity increment. The smallest achievable depth range
# resolution is delta_Z = (Z^2/fT)*delta_d.
float32 delta_d

================================================================================
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

================================================================================
MSG: sensor_msgs/Image
# 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: sensor_msgs/RegionOfInterest
# This message is used to specify a region of interest within an image.
#
# When used to specify the ROI setting of the camera when the image was
# taken, the height and width fields should either match the height and
# width fields for the associated image; or height = width = 0
# indicates that the full resolution image was captured.

uint32 x_offset  # Leftmost pixel of the ROI
               # (0 if the ROI includes the left edge of the image)
uint32 y_offset  # Topmost pixel of the ROI
               # (0 if the ROI includes the top edge of the image)
uint32 height    # Height of ROI
uint32 width     # Width of ROI

# True if a distinct rectified ROI should be calculated from the \"raw\"
# ROI in this message. Typically this should be False if the full image
# is captured (ROI not used), and True if a subwindow is captured (ROI
# used).
bool do_rectify

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/stereo_msgs/DisparityImage.rb', line 199

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_L3.pack(@image.header.seq, @image.header.stamp.secs, @image.header.stamp.nsecs))
    _x = @image.header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_L2.pack(@image.height, @image.width))
    _x = @image.encoding
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_CL.pack(@image.is_bigendian, @image.step))
    _x = @image.data
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    buff.write(@@struct_f2L4Cf3.pack(@f, @T, @valid_window.x_offset, @valid_window.y_offset, @valid_window.height, @valid_window.width, @valid_window.do_rectify, @min_disparity, @max_disparity, @delta_d))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end