RegionOfInterest.h

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
// This is an automatically generated file.
 
// Generated from the following "sensor_msgs/RegionOfInterest" msg definition:
//   # 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
// Instances of this class can be read and written with YARP ports,
// using a ROS-compatible format.
 
#ifndef YARP_ROSMSG_sensor_msgs_RegionOfInterest_h
#define YARP_ROSMSG_sensor_msgs_RegionOfInterest_h
 
#include <yarp/os/Wire.h>
#include <yarp/os/Type.h>
#include <yarp/os/idl/WireTypes.h>
#include <string>
#include <vector>
 
namespace yarp {
namespace rosmsg {
namespace sensor_msgs {
 
class RegionOfInterest : public yarp::os::idl::WirePortable
{
public:
    std::uint32_t x_offset;
    std::uint32_t y_offset;
    std::uint32_t height;
    std::uint32_t width;
    bool do_rectify;
 
    RegionOfInterest() :
            x_offset(0),
            y_offset(0),
            height(0),
            width(0),
            do_rectify(false)
    {
    }
 
    void clear()
    {
        // *** x_offset ***
        x_offset = 0;
 
        // *** y_offset ***
        y_offset = 0;
 
        // *** height ***
        height = 0;
 
        // *** width ***
        width = 0;
 
        // *** do_rectify ***
        do_rectify = false;
    }
 
    bool readBare(yarp::os::ConnectionReader& connection) override
    {
        // *** x_offset ***
        x_offset = connection.expectInt32();
 
        // *** y_offset ***
        y_offset = connection.expectInt32();
 
        // *** height ***
        height = connection.expectInt32();
 
        // *** width ***
        width = connection.expectInt32();
 
        // *** do_rectify ***
        if (!connection.expectBlock((char*)&do_rectify, 1)) {
            return false;
        }
 
        return !connection.isError();
    }
 
    bool readBottle(yarp::os::ConnectionReader& connection) override
    {
        connection.convertTextMode();
        yarp::os::idl::WireReader reader(connection);
        if (!reader.readListHeader(5)) {
            return false;
        }
 
        // *** x_offset ***
        x_offset = reader.expectInt32();
 
        // *** y_offset ***
        y_offset = reader.expectInt32();
 
        // *** height ***
        height = reader.expectInt32();
 
        // *** width ***
        width = reader.expectInt32();
 
        // *** do_rectify ***
        do_rectify = reader.expectInt8();
 
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::read;
    bool read(yarp::os::ConnectionReader& connection) override
    {
        return (connection.isBareMode() ? readBare(connection)
                                        : readBottle(connection));
    }
 
    bool writeBare(yarp::os::ConnectionWriter& connection) const override
    {
        // *** x_offset ***
        connection.appendInt32(x_offset);
 
        // *** y_offset ***
        connection.appendInt32(y_offset);
 
        // *** height ***
        connection.appendInt32(height);
 
        // *** width ***
        connection.appendInt32(width);
 
        // *** do_rectify ***
        connection.appendBlock((char*)&do_rectify, 1);
 
        return !connection.isError();
    }
 
    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
    {
        connection.appendInt32(BOTTLE_TAG_LIST);
        connection.appendInt32(5);
 
        // *** x_offset ***
        connection.appendInt32(BOTTLE_TAG_INT32);
        connection.appendInt32(x_offset);
 
        // *** y_offset ***
        connection.appendInt32(BOTTLE_TAG_INT32);
        connection.appendInt32(y_offset);
 
        // *** height ***
        connection.appendInt32(BOTTLE_TAG_INT32);
        connection.appendInt32(height);
 
        // *** width ***
        connection.appendInt32(BOTTLE_TAG_INT32);
        connection.appendInt32(width);
 
        // *** do_rectify ***
        connection.appendInt32(BOTTLE_TAG_INT8);
        connection.appendInt8(do_rectify);
 
        connection.convertTextMode();
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::write;
    bool write(yarp::os::ConnectionWriter& connection) const override
    {
        return (connection.isBareMode() ? writeBare(connection)
                                        : writeBottle(connection));
    }
 
    // This class will serialize ROS style or YARP style depending on protocol.
    // If you need to force a serialization style, use one of these classes:
    typedef yarp::os::idl::BareStyle<yarp::rosmsg::sensor_msgs::RegionOfInterest> rosStyle;
    typedef yarp::os::idl::BottleStyle<yarp::rosmsg::sensor_msgs::RegionOfInterest> bottleStyle;
 
    // The name for this message, ROS will need this
    static constexpr const char* typeName = "sensor_msgs/RegionOfInterest";
 
    // The checksum for this message, ROS will need this
    static constexpr const char* typeChecksum = "bdb633039d588fcccb441a4d43ccfe09";
 
    // The source text for this message, ROS will need this
    static constexpr const char* typeText = "\
# This message is used to specify a region of interest within an image.\n\
#\n\
# When used to specify the ROI setting of the camera when the image was\n\
# taken, the height and width fields should either match the height and\n\
# width fields for the associated image; or height = width = 0\n\
# indicates that the full resolution image was captured.\n\
\n\
uint32 x_offset  # Leftmost pixel of the ROI\n\
                 # (0 if the ROI includes the left edge of the image)\n\
uint32 y_offset  # Topmost pixel of the ROI\n\
                 # (0 if the ROI includes the top edge of the image)\n\
uint32 height    # Height of ROI\n\
uint32 width     # Width of ROI\n\
\n\
# True if a distinct rectified ROI should be calculated from the \"raw\"\n\
# ROI in this message. Typically this should be False if the full image\n\
# is captured (ROI not used), and True if a subwindow is captured (ROI\n\
# used).\n\
bool do_rectify\n\
";
 
    yarp::os::Type getType() const override
    {
        yarp::os::Type typ = yarp::os::Type::byName(typeName, typeName);
        typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
        typ.addProperty("message_definition", yarp::os::Value(typeText));
        return typ;
    }
};
 
} // namespace sensor_msgs
} // namespace rosmsg
} // namespace yarp
 
#endif // YARP_ROSMSG_sensor_msgs_RegionOfInterest_h