_RawCloudData.py
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00001 """autogenerated by genpy from cr_capture/RawCloudData.msg. Do not edit."""
00002 import sys
00003 python3 = True if sys.hexversion > 0x03000000 else False
00004 import genpy
00005 import struct
00006 
00007 import cr_capture.msg
00008 import sensor_msgs.msg
00009 import std_msgs.msg
00010 
00011 class RawCloudData(genpy.Message):
00012   _md5sum = "576b69ba11e4225220315b3f3359d42e"
00013   _type = "cr_capture/RawCloudData"
00014   _has_header = True #flag to mark the presence of a Header object
00015   _full_text = """Header header
00016 # range sensor
00017 sensor_msgs/Image intensity
00018 sensor_msgs/Image confidence
00019 sensor_msgs/Image depth
00020 sensor_msgs/Image depth16
00021 # sensor_msgs/PointCloud point_cloud_raw
00022 sensor_msgs/CameraInfo range_info
00023 
00024 # camera
00025 sensor_msgs/Image left_image
00026 sensor_msgs/Image right_image
00027 sensor_msgs/CameraInfo left_info
00028 sensor_msgs/CameraInfo right_info
00029 
00030 # result
00031 cr_capture/PixelIndices pixel_indices
00032 sensor_msgs/PointCloud2 point_cloud
00033 
00034 ================================================================================
00035 MSG: std_msgs/Header
00036 # Standard metadata for higher-level stamped data types.
00037 # This is generally used to communicate timestamped data 
00038 # in a particular coordinate frame.
00039 # 
00040 # sequence ID: consecutively increasing ID 
00041 uint32 seq
00042 #Two-integer timestamp that is expressed as:
00043 # * stamp.secs: seconds (stamp_secs) since epoch
00044 # * stamp.nsecs: nanoseconds since stamp_secs
00045 # time-handling sugar is provided by the client library
00046 time stamp
00047 #Frame this data is associated with
00048 # 0: no frame
00049 # 1: global frame
00050 string frame_id
00051 
00052 ================================================================================
00053 MSG: sensor_msgs/Image
00054 # This message contains an uncompressed image
00055 # (0, 0) is at top-left corner of image
00056 #
00057 
00058 Header header        # Header timestamp should be acquisition time of image
00059                      # Header frame_id should be optical frame of camera
00060                      # origin of frame should be optical center of cameara
00061                      # +x should point to the right in the image
00062                      # +y should point down in the image
00063                      # +z should point into to plane of the image
00064                      # If the frame_id here and the frame_id of the CameraInfo
00065                      # message associated with the image conflict
00066                      # the behavior is undefined
00067 
00068 uint32 height         # image height, that is, number of rows
00069 uint32 width          # image width, that is, number of columns
00070 
00071 # The legal values for encoding are in file src/image_encodings.cpp
00072 # If you want to standardize a new string format, join
00073 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.
00074 
00075 string encoding       # Encoding of pixels -- channel meaning, ordering, size
00076                       # taken from the list of strings in include/sensor_msgs/image_encodings.h
00077 
00078 uint8 is_bigendian    # is this data bigendian?
00079 uint32 step           # Full row length in bytes
00080 uint8[] data          # actual matrix data, size is (step * rows)
00081 
00082 ================================================================================
00083 MSG: sensor_msgs/CameraInfo
00084 # This message defines meta information for a camera. It should be in a
00085 # camera namespace on topic "camera_info" and accompanied by up to five
00086 # image topics named:
00087 #
00088 #   image_raw - raw data from the camera driver, possibly Bayer encoded
00089 #   image            - monochrome, distorted
00090 #   image_color      - color, distorted
00091 #   image_rect       - monochrome, rectified
00092 #   image_rect_color - color, rectified
00093 #
00094 # The image_pipeline contains packages (image_proc, stereo_image_proc)
00095 # for producing the four processed image topics from image_raw and
00096 # camera_info. The meaning of the camera parameters are described in
00097 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.
00098 #
00099 # The image_geometry package provides a user-friendly interface to
00100 # common operations using this meta information. If you want to, e.g.,
00101 # project a 3d point into image coordinates, we strongly recommend
00102 # using image_geometry.
00103 #
00104 # If the camera is uncalibrated, the matrices D, K, R, P should be left
00105 # zeroed out. In particular, clients may assume that K[0] == 0.0
00106 # indicates an uncalibrated camera.
00107 
00108 #######################################################################
00109 #                     Image acquisition info                          #
00110 #######################################################################
00111 
00112 # Time of image acquisition, camera coordinate frame ID
00113 Header header    # Header timestamp should be acquisition time of image
00114                  # Header frame_id should be optical frame of camera
00115                  # origin of frame should be optical center of camera
00116                  # +x should point to the right in the image
00117                  # +y should point down in the image
00118                  # +z should point into the plane of the image
00119 
00120 
00121 #######################################################################
00122 #                      Calibration Parameters                         #
00123 #######################################################################
00124 # These are fixed during camera calibration. Their values will be the #
00125 # same in all messages until the camera is recalibrated. Note that    #
00126 # self-calibrating systems may "recalibrate" frequently.              #
00127 #                                                                     #
00128 # The internal parameters can be used to warp a raw (distorted) image #
00129 # to:                                                                 #
00130 #   1. An undistorted image (requires D and K)                        #
00131 #   2. A rectified image (requires D, K, R)                           #
00132 # The projection matrix P projects 3D points into the rectified image.#
00133 #######################################################################
00134 
00135 # The image dimensions with which the camera was calibrated. Normally
00136 # this will be the full camera resolution in pixels.
00137 uint32 height
00138 uint32 width
00139 
00140 # The distortion model used. Supported models are listed in
00141 # sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a
00142 # simple model of radial and tangential distortion - is sufficent.
00143 string distortion_model
00144 
00145 # The distortion parameters, size depending on the distortion model.
00146 # For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
00147 float64[] D
00148 
00149 # Intrinsic camera matrix for the raw (distorted) images.
00150 #     [fx  0 cx]
00151 # K = [ 0 fy cy]
00152 #     [ 0  0  1]
00153 # Projects 3D points in the camera coordinate frame to 2D pixel
00154 # coordinates using the focal lengths (fx, fy) and principal point
00155 # (cx, cy).
00156 float64[9]  K # 3x3 row-major matrix
00157 
00158 # Rectification matrix (stereo cameras only)
00159 # A rotation matrix aligning the camera coordinate system to the ideal
00160 # stereo image plane so that epipolar lines in both stereo images are
00161 # parallel.
00162 float64[9]  R # 3x3 row-major matrix
00163 
00164 # Projection/camera matrix
00165 #     [fx'  0  cx' Tx]
00166 # P = [ 0  fy' cy' Ty]
00167 #     [ 0   0   1   0]
00168 # By convention, this matrix specifies the intrinsic (camera) matrix
00169 #  of the processed (rectified) image. That is, the left 3x3 portion
00170 #  is the normal camera intrinsic matrix for the rectified image.
00171 # It projects 3D points in the camera coordinate frame to 2D pixel
00172 #  coordinates using the focal lengths (fx', fy') and principal point
00173 #  (cx', cy') - these may differ from the values in K.
00174 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
00175 #  also have R = the identity and P[1:3,1:3] = K.
00176 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the
00177 #  position of the optical center of the second camera in the first
00178 #  camera's frame. We assume Tz = 0 so both cameras are in the same
00179 #  stereo image plane. The first camera always has Tx = Ty = 0. For
00180 #  the right (second) camera of a horizontal stereo pair, Ty = 0 and
00181 #  Tx = -fx' * B, where B is the baseline between the cameras.
00182 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto
00183 #  the rectified image is given by:
00184 #  [u v w]' = P * [X Y Z 1]'
00185 #         x = u / w
00186 #         y = v / w
00187 #  This holds for both images of a stereo pair.
00188 float64[12] P # 3x4 row-major matrix
00189 
00190 
00191 #######################################################################
00192 #                      Operational Parameters                         #
00193 #######################################################################
00194 # These define the image region actually captured by the camera       #
00195 # driver. Although they affect the geometry of the output image, they #
00196 # may be changed freely without recalibrating the camera.             #
00197 #######################################################################
00198 
00199 # Binning refers here to any camera setting which combines rectangular
00200 #  neighborhoods of pixels into larger "super-pixels." It reduces the
00201 #  resolution of the output image to
00202 #  (width / binning_x) x (height / binning_y).
00203 # The default values binning_x = binning_y = 0 is considered the same
00204 #  as binning_x = binning_y = 1 (no subsampling).
00205 uint32 binning_x
00206 uint32 binning_y
00207 
00208 # Region of interest (subwindow of full camera resolution), given in
00209 #  full resolution (unbinned) image coordinates. A particular ROI
00210 #  always denotes the same window of pixels on the camera sensor,
00211 #  regardless of binning settings.
00212 # The default setting of roi (all values 0) is considered the same as
00213 #  full resolution (roi.width = width, roi.height = height).
00214 RegionOfInterest roi
00215 
00216 ================================================================================
00217 MSG: sensor_msgs/RegionOfInterest
00218 # This message is used to specify a region of interest within an image.
00219 #
00220 # When used to specify the ROI setting of the camera when the image was
00221 # taken, the height and width fields should either match the height and
00222 # width fields for the associated image; or height = width = 0
00223 # indicates that the full resolution image was captured.
00224 
00225 uint32 x_offset  # Leftmost pixel of the ROI
00226                  # (0 if the ROI includes the left edge of the image)
00227 uint32 y_offset  # Topmost pixel of the ROI
00228                  # (0 if the ROI includes the top edge of the image)
00229 uint32 height    # Height of ROI
00230 uint32 width     # Width of ROI
00231 
00232 # True if a distinct rectified ROI should be calculated from the "raw"
00233 # ROI in this message. Typically this should be False if the full image
00234 # is captured (ROI not used), and True if a subwindow is captured (ROI
00235 # used).
00236 bool do_rectify
00237 
00238 ================================================================================
00239 MSG: cr_capture/PixelIndices
00240 Header header
00241 int32[] indices # [[lu,ru,v],...] 
00242 
00243 ================================================================================
00244 MSG: sensor_msgs/PointCloud2
00245 # This message holds a collection of N-dimensional points, which may
00246 # contain additional information such as normals, intensity, etc. The
00247 # point data is stored as a binary blob, its layout described by the
00248 # contents of the "fields" array.
00249 
00250 # The point cloud data may be organized 2d (image-like) or 1d
00251 # (unordered). Point clouds organized as 2d images may be produced by
00252 # camera depth sensors such as stereo or time-of-flight.
00253 
00254 # Time of sensor data acquisition, and the coordinate frame ID (for 3d
00255 # points).
00256 Header header
00257 
00258 # 2D structure of the point cloud. If the cloud is unordered, height is
00259 # 1 and width is the length of the point cloud.
00260 uint32 height
00261 uint32 width
00262 
00263 # Describes the channels and their layout in the binary data blob.
00264 PointField[] fields
00265 
00266 bool    is_bigendian # Is this data bigendian?
00267 uint32  point_step   # Length of a point in bytes
00268 uint32  row_step     # Length of a row in bytes
00269 uint8[] data         # Actual point data, size is (row_step*height)
00270 
00271 bool is_dense        # True if there are no invalid points
00272 
00273 ================================================================================
00274 MSG: sensor_msgs/PointField
00275 # This message holds the description of one point entry in the
00276 # PointCloud2 message format.
00277 uint8 INT8    = 1
00278 uint8 UINT8   = 2
00279 uint8 INT16   = 3
00280 uint8 UINT16  = 4
00281 uint8 INT32   = 5
00282 uint8 UINT32  = 6
00283 uint8 FLOAT32 = 7
00284 uint8 FLOAT64 = 8
00285 
00286 string name      # Name of field
00287 uint32 offset    # Offset from start of point struct
00288 uint8  datatype  # Datatype enumeration, see above
00289 uint32 count     # How many elements in the field
00290 
00291 """
00292   __slots__ = ['header','intensity','confidence','depth','depth16','range_info','left_image','right_image','left_info','right_info','pixel_indices','point_cloud']
00293   _slot_types = ['std_msgs/Header','sensor_msgs/Image','sensor_msgs/Image','sensor_msgs/Image','sensor_msgs/Image','sensor_msgs/CameraInfo','sensor_msgs/Image','sensor_msgs/Image','sensor_msgs/CameraInfo','sensor_msgs/CameraInfo','cr_capture/PixelIndices','sensor_msgs/PointCloud2']
00294 
00295   def __init__(self, *args, **kwds):
00296     """
00297     Constructor. Any message fields that are implicitly/explicitly
00298     set to None will be assigned a default value. The recommend
00299     use is keyword arguments as this is more robust to future message
00300     changes.  You cannot mix in-order arguments and keyword arguments.
00301 
00302     The available fields are:
00303        header,intensity,confidence,depth,depth16,range_info,left_image,right_image,left_info,right_info,pixel_indices,point_cloud
00304 
00305     :param args: complete set of field values, in .msg order
00306     :param kwds: use keyword arguments corresponding to message field names
00307     to set specific fields.
00308     """
00309     if args or kwds:
00310       super(RawCloudData, self).__init__(*args, **kwds)
00311       #message fields cannot be None, assign default values for those that are
00312       if self.header is None:
00313         self.header = std_msgs.msg.Header()
00314       if self.intensity is None:
00315         self.intensity = sensor_msgs.msg.Image()
00316       if self.confidence is None:
00317         self.confidence = sensor_msgs.msg.Image()
00318       if self.depth is None:
00319         self.depth = sensor_msgs.msg.Image()
00320       if self.depth16 is None:
00321         self.depth16 = sensor_msgs.msg.Image()
00322       if self.range_info is None:
00323         self.range_info = sensor_msgs.msg.CameraInfo()
00324       if self.left_image is None:
00325         self.left_image = sensor_msgs.msg.Image()
00326       if self.right_image is None:
00327         self.right_image = sensor_msgs.msg.Image()
00328       if self.left_info is None:
00329         self.left_info = sensor_msgs.msg.CameraInfo()
00330       if self.right_info is None:
00331         self.right_info = sensor_msgs.msg.CameraInfo()
00332       if self.pixel_indices is None:
00333         self.pixel_indices = cr_capture.msg.PixelIndices()
00334       if self.point_cloud is None:
00335         self.point_cloud = sensor_msgs.msg.PointCloud2()
00336     else:
00337       self.header = std_msgs.msg.Header()
00338       self.intensity = sensor_msgs.msg.Image()
00339       self.confidence = sensor_msgs.msg.Image()
00340       self.depth = sensor_msgs.msg.Image()
00341       self.depth16 = sensor_msgs.msg.Image()
00342       self.range_info = sensor_msgs.msg.CameraInfo()
00343       self.left_image = sensor_msgs.msg.Image()
00344       self.right_image = sensor_msgs.msg.Image()
00345       self.left_info = sensor_msgs.msg.CameraInfo()
00346       self.right_info = sensor_msgs.msg.CameraInfo()
00347       self.pixel_indices = cr_capture.msg.PixelIndices()
00348       self.point_cloud = sensor_msgs.msg.PointCloud2()
00349 
00350   def _get_types(self):
00351     """
00352     internal API method
00353     """
00354     return self._slot_types
00355 
00356   def serialize(self, buff):
00357     """
00358     serialize message into buffer
00359     :param buff: buffer, ``StringIO``
00360     """
00361     try:
00362       _x = self
00363       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
00364       _x = self.header.frame_id
00365       length = len(_x)
00366       if python3 or type(_x) == unicode:
00367         _x = _x.encode('utf-8')
00368         length = len(_x)
00369       buff.write(struct.pack('<I%ss'%length, length, _x))
00370       _x = self
00371       buff.write(_struct_3I.pack(_x.intensity.header.seq, _x.intensity.header.stamp.secs, _x.intensity.header.stamp.nsecs))
00372       _x = self.intensity.header.frame_id
00373       length = len(_x)
00374       if python3 or type(_x) == unicode:
00375         _x = _x.encode('utf-8')
00376         length = len(_x)
00377       buff.write(struct.pack('<I%ss'%length, length, _x))
00378       _x = self
00379       buff.write(_struct_2I.pack(_x.intensity.height, _x.intensity.width))
00380       _x = self.intensity.encoding
00381       length = len(_x)
00382       if python3 or type(_x) == unicode:
00383         _x = _x.encode('utf-8')
00384         length = len(_x)
00385       buff.write(struct.pack('<I%ss'%length, length, _x))
00386       _x = self
00387       buff.write(_struct_BI.pack(_x.intensity.is_bigendian, _x.intensity.step))
00388       _x = self.intensity.data
00389       length = len(_x)
00390       # - if encoded as a list instead, serialize as bytes instead of string
00391       if type(_x) in [list, tuple]:
00392         buff.write(struct.pack('<I%sB'%length, length, *_x))
00393       else:
00394         buff.write(struct.pack('<I%ss'%length, length, _x))
00395       _x = self
00396       buff.write(_struct_3I.pack(_x.confidence.header.seq, _x.confidence.header.stamp.secs, _x.confidence.header.stamp.nsecs))
00397       _x = self.confidence.header.frame_id
00398       length = len(_x)
00399       if python3 or type(_x) == unicode:
00400         _x = _x.encode('utf-8')
00401         length = len(_x)
00402       buff.write(struct.pack('<I%ss'%length, length, _x))
00403       _x = self
00404       buff.write(_struct_2I.pack(_x.confidence.height, _x.confidence.width))
00405       _x = self.confidence.encoding
00406       length = len(_x)
00407       if python3 or type(_x) == unicode:
00408         _x = _x.encode('utf-8')
00409         length = len(_x)
00410       buff.write(struct.pack('<I%ss'%length, length, _x))
00411       _x = self
00412       buff.write(_struct_BI.pack(_x.confidence.is_bigendian, _x.confidence.step))
00413       _x = self.confidence.data
00414       length = len(_x)
00415       # - if encoded as a list instead, serialize as bytes instead of string
00416       if type(_x) in [list, tuple]:
00417         buff.write(struct.pack('<I%sB'%length, length, *_x))
00418       else:
00419         buff.write(struct.pack('<I%ss'%length, length, _x))
00420       _x = self
00421       buff.write(_struct_3I.pack(_x.depth.header.seq, _x.depth.header.stamp.secs, _x.depth.header.stamp.nsecs))
00422       _x = self.depth.header.frame_id
00423       length = len(_x)
00424       if python3 or type(_x) == unicode:
00425         _x = _x.encode('utf-8')
00426         length = len(_x)
00427       buff.write(struct.pack('<I%ss'%length, length, _x))
00428       _x = self
00429       buff.write(_struct_2I.pack(_x.depth.height, _x.depth.width))
00430       _x = self.depth.encoding
00431       length = len(_x)
00432       if python3 or type(_x) == unicode:
00433         _x = _x.encode('utf-8')
00434         length = len(_x)
00435       buff.write(struct.pack('<I%ss'%length, length, _x))
00436       _x = self
00437       buff.write(_struct_BI.pack(_x.depth.is_bigendian, _x.depth.step))
00438       _x = self.depth.data
00439       length = len(_x)
00440       # - if encoded as a list instead, serialize as bytes instead of string
00441       if type(_x) in [list, tuple]:
00442         buff.write(struct.pack('<I%sB'%length, length, *_x))
00443       else:
00444         buff.write(struct.pack('<I%ss'%length, length, _x))
00445       _x = self
00446       buff.write(_struct_3I.pack(_x.depth16.header.seq, _x.depth16.header.stamp.secs, _x.depth16.header.stamp.nsecs))
00447       _x = self.depth16.header.frame_id
00448       length = len(_x)
00449       if python3 or type(_x) == unicode:
00450         _x = _x.encode('utf-8')
00451         length = len(_x)
00452       buff.write(struct.pack('<I%ss'%length, length, _x))
00453       _x = self
00454       buff.write(_struct_2I.pack(_x.depth16.height, _x.depth16.width))
00455       _x = self.depth16.encoding
00456       length = len(_x)
00457       if python3 or type(_x) == unicode:
00458         _x = _x.encode('utf-8')
00459         length = len(_x)
00460       buff.write(struct.pack('<I%ss'%length, length, _x))
00461       _x = self
00462       buff.write(_struct_BI.pack(_x.depth16.is_bigendian, _x.depth16.step))
00463       _x = self.depth16.data
00464       length = len(_x)
00465       # - if encoded as a list instead, serialize as bytes instead of string
00466       if type(_x) in [list, tuple]:
00467         buff.write(struct.pack('<I%sB'%length, length, *_x))
00468       else:
00469         buff.write(struct.pack('<I%ss'%length, length, _x))
00470       _x = self
00471       buff.write(_struct_3I.pack(_x.range_info.header.seq, _x.range_info.header.stamp.secs, _x.range_info.header.stamp.nsecs))
00472       _x = self.range_info.header.frame_id
00473       length = len(_x)
00474       if python3 or type(_x) == unicode:
00475         _x = _x.encode('utf-8')
00476         length = len(_x)
00477       buff.write(struct.pack('<I%ss'%length, length, _x))
00478       _x = self
00479       buff.write(_struct_2I.pack(_x.range_info.height, _x.range_info.width))
00480       _x = self.range_info.distortion_model
00481       length = len(_x)
00482       if python3 or type(_x) == unicode:
00483         _x = _x.encode('utf-8')
00484         length = len(_x)
00485       buff.write(struct.pack('<I%ss'%length, length, _x))
00486       length = len(self.range_info.D)
00487       buff.write(_struct_I.pack(length))
00488       pattern = '<%sd'%length
00489       buff.write(struct.pack(pattern, *self.range_info.D))
00490       buff.write(_struct_9d.pack(*self.range_info.K))
00491       buff.write(_struct_9d.pack(*self.range_info.R))
00492       buff.write(_struct_12d.pack(*self.range_info.P))
00493       _x = self
00494       buff.write(_struct_6IB3I.pack(_x.range_info.binning_x, _x.range_info.binning_y, _x.range_info.roi.x_offset, _x.range_info.roi.y_offset, _x.range_info.roi.height, _x.range_info.roi.width, _x.range_info.roi.do_rectify, _x.left_image.header.seq, _x.left_image.header.stamp.secs, _x.left_image.header.stamp.nsecs))
00495       _x = self.left_image.header.frame_id
00496       length = len(_x)
00497       if python3 or type(_x) == unicode:
00498         _x = _x.encode('utf-8')
00499         length = len(_x)
00500       buff.write(struct.pack('<I%ss'%length, length, _x))
00501       _x = self
00502       buff.write(_struct_2I.pack(_x.left_image.height, _x.left_image.width))
00503       _x = self.left_image.encoding
00504       length = len(_x)
00505       if python3 or type(_x) == unicode:
00506         _x = _x.encode('utf-8')
00507         length = len(_x)
00508       buff.write(struct.pack('<I%ss'%length, length, _x))
00509       _x = self
00510       buff.write(_struct_BI.pack(_x.left_image.is_bigendian, _x.left_image.step))
00511       _x = self.left_image.data
00512       length = len(_x)
00513       # - if encoded as a list instead, serialize as bytes instead of string
00514       if type(_x) in [list, tuple]:
00515         buff.write(struct.pack('<I%sB'%length, length, *_x))
00516       else:
00517         buff.write(struct.pack('<I%ss'%length, length, _x))
00518       _x = self
00519       buff.write(_struct_3I.pack(_x.right_image.header.seq, _x.right_image.header.stamp.secs, _x.right_image.header.stamp.nsecs))
00520       _x = self.right_image.header.frame_id
00521       length = len(_x)
00522       if python3 or type(_x) == unicode:
00523         _x = _x.encode('utf-8')
00524         length = len(_x)
00525       buff.write(struct.pack('<I%ss'%length, length, _x))
00526       _x = self
00527       buff.write(_struct_2I.pack(_x.right_image.height, _x.right_image.width))
00528       _x = self.right_image.encoding
00529       length = len(_x)
00530       if python3 or type(_x) == unicode:
00531         _x = _x.encode('utf-8')
00532         length = len(_x)
00533       buff.write(struct.pack('<I%ss'%length, length, _x))
00534       _x = self
00535       buff.write(_struct_BI.pack(_x.right_image.is_bigendian, _x.right_image.step))
00536       _x = self.right_image.data
00537       length = len(_x)
00538       # - if encoded as a list instead, serialize as bytes instead of string
00539       if type(_x) in [list, tuple]:
00540         buff.write(struct.pack('<I%sB'%length, length, *_x))
00541       else:
00542         buff.write(struct.pack('<I%ss'%length, length, _x))
00543       _x = self
00544       buff.write(_struct_3I.pack(_x.left_info.header.seq, _x.left_info.header.stamp.secs, _x.left_info.header.stamp.nsecs))
00545       _x = self.left_info.header.frame_id
00546       length = len(_x)
00547       if python3 or type(_x) == unicode:
00548         _x = _x.encode('utf-8')
00549         length = len(_x)
00550       buff.write(struct.pack('<I%ss'%length, length, _x))
00551       _x = self
00552       buff.write(_struct_2I.pack(_x.left_info.height, _x.left_info.width))
00553       _x = self.left_info.distortion_model
00554       length = len(_x)
00555       if python3 or type(_x) == unicode:
00556         _x = _x.encode('utf-8')
00557         length = len(_x)
00558       buff.write(struct.pack('<I%ss'%length, length, _x))
00559       length = len(self.left_info.D)
00560       buff.write(_struct_I.pack(length))
00561       pattern = '<%sd'%length
00562       buff.write(struct.pack(pattern, *self.left_info.D))
00563       buff.write(_struct_9d.pack(*self.left_info.K))
00564       buff.write(_struct_9d.pack(*self.left_info.R))
00565       buff.write(_struct_12d.pack(*self.left_info.P))
00566       _x = self
00567       buff.write(_struct_6IB3I.pack(_x.left_info.binning_x, _x.left_info.binning_y, _x.left_info.roi.x_offset, _x.left_info.roi.y_offset, _x.left_info.roi.height, _x.left_info.roi.width, _x.left_info.roi.do_rectify, _x.right_info.header.seq, _x.right_info.header.stamp.secs, _x.right_info.header.stamp.nsecs))
00568       _x = self.right_info.header.frame_id
00569       length = len(_x)
00570       if python3 or type(_x) == unicode:
00571         _x = _x.encode('utf-8')
00572         length = len(_x)
00573       buff.write(struct.pack('<I%ss'%length, length, _x))
00574       _x = self
00575       buff.write(_struct_2I.pack(_x.right_info.height, _x.right_info.width))
00576       _x = self.right_info.distortion_model
00577       length = len(_x)
00578       if python3 or type(_x) == unicode:
00579         _x = _x.encode('utf-8')
00580         length = len(_x)
00581       buff.write(struct.pack('<I%ss'%length, length, _x))
00582       length = len(self.right_info.D)
00583       buff.write(_struct_I.pack(length))
00584       pattern = '<%sd'%length
00585       buff.write(struct.pack(pattern, *self.right_info.D))
00586       buff.write(_struct_9d.pack(*self.right_info.K))
00587       buff.write(_struct_9d.pack(*self.right_info.R))
00588       buff.write(_struct_12d.pack(*self.right_info.P))
00589       _x = self
00590       buff.write(_struct_6IB3I.pack(_x.right_info.binning_x, _x.right_info.binning_y, _x.right_info.roi.x_offset, _x.right_info.roi.y_offset, _x.right_info.roi.height, _x.right_info.roi.width, _x.right_info.roi.do_rectify, _x.pixel_indices.header.seq, _x.pixel_indices.header.stamp.secs, _x.pixel_indices.header.stamp.nsecs))
00591       _x = self.pixel_indices.header.frame_id
00592       length = len(_x)
00593       if python3 or type(_x) == unicode:
00594         _x = _x.encode('utf-8')
00595         length = len(_x)
00596       buff.write(struct.pack('<I%ss'%length, length, _x))
00597       length = len(self.pixel_indices.indices)
00598       buff.write(_struct_I.pack(length))
00599       pattern = '<%si'%length
00600       buff.write(struct.pack(pattern, *self.pixel_indices.indices))
00601       _x = self
00602       buff.write(_struct_3I.pack(_x.point_cloud.header.seq, _x.point_cloud.header.stamp.secs, _x.point_cloud.header.stamp.nsecs))
00603       _x = self.point_cloud.header.frame_id
00604       length = len(_x)
00605       if python3 or type(_x) == unicode:
00606         _x = _x.encode('utf-8')
00607         length = len(_x)
00608       buff.write(struct.pack('<I%ss'%length, length, _x))
00609       _x = self
00610       buff.write(_struct_2I.pack(_x.point_cloud.height, _x.point_cloud.width))
00611       length = len(self.point_cloud.fields)
00612       buff.write(_struct_I.pack(length))
00613       for val1 in self.point_cloud.fields:
00614         _x = val1.name
00615         length = len(_x)
00616         if python3 or type(_x) == unicode:
00617           _x = _x.encode('utf-8')
00618           length = len(_x)
00619         buff.write(struct.pack('<I%ss'%length, length, _x))
00620         _x = val1
00621         buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
00622       _x = self
00623       buff.write(_struct_B2I.pack(_x.point_cloud.is_bigendian, _x.point_cloud.point_step, _x.point_cloud.row_step))
00624       _x = self.point_cloud.data
00625       length = len(_x)
00626       # - if encoded as a list instead, serialize as bytes instead of string
00627       if type(_x) in [list, tuple]:
00628         buff.write(struct.pack('<I%sB'%length, length, *_x))
00629       else:
00630         buff.write(struct.pack('<I%ss'%length, length, _x))
00631       buff.write(_struct_B.pack(self.point_cloud.is_dense))
00632     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
00633     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
00634 
00635   def deserialize(self, str):
00636     """
00637     unpack serialized message in str into this message instance
00638     :param str: byte array of serialized message, ``str``
00639     """
00640     try:
00641       if self.header is None:
00642         self.header = std_msgs.msg.Header()
00643       if self.intensity is None:
00644         self.intensity = sensor_msgs.msg.Image()
00645       if self.confidence is None:
00646         self.confidence = sensor_msgs.msg.Image()
00647       if self.depth is None:
00648         self.depth = sensor_msgs.msg.Image()
00649       if self.depth16 is None:
00650         self.depth16 = sensor_msgs.msg.Image()
00651       if self.range_info is None:
00652         self.range_info = sensor_msgs.msg.CameraInfo()
00653       if self.left_image is None:
00654         self.left_image = sensor_msgs.msg.Image()
00655       if self.right_image is None:
00656         self.right_image = sensor_msgs.msg.Image()
00657       if self.left_info is None:
00658         self.left_info = sensor_msgs.msg.CameraInfo()
00659       if self.right_info is None:
00660         self.right_info = sensor_msgs.msg.CameraInfo()
00661       if self.pixel_indices is None:
00662         self.pixel_indices = cr_capture.msg.PixelIndices()
00663       if self.point_cloud is None:
00664         self.point_cloud = sensor_msgs.msg.PointCloud2()
00665       end = 0
00666       _x = self
00667       start = end
00668       end += 12
00669       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00670       start = end
00671       end += 4
00672       (length,) = _struct_I.unpack(str[start:end])
00673       start = end
00674       end += length
00675       if python3:
00676         self.header.frame_id = str[start:end].decode('utf-8')
00677       else:
00678         self.header.frame_id = str[start:end]
00679       _x = self
00680       start = end
00681       end += 12
00682       (_x.intensity.header.seq, _x.intensity.header.stamp.secs, _x.intensity.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00683       start = end
00684       end += 4
00685       (length,) = _struct_I.unpack(str[start:end])
00686       start = end
00687       end += length
00688       if python3:
00689         self.intensity.header.frame_id = str[start:end].decode('utf-8')
00690       else:
00691         self.intensity.header.frame_id = str[start:end]
00692       _x = self
00693       start = end
00694       end += 8
00695       (_x.intensity.height, _x.intensity.width,) = _struct_2I.unpack(str[start:end])
00696       start = end
00697       end += 4
00698       (length,) = _struct_I.unpack(str[start:end])
00699       start = end
00700       end += length
00701       if python3:
00702         self.intensity.encoding = str[start:end].decode('utf-8')
00703       else:
00704         self.intensity.encoding = str[start:end]
00705       _x = self
00706       start = end
00707       end += 5
00708       (_x.intensity.is_bigendian, _x.intensity.step,) = _struct_BI.unpack(str[start:end])
00709       start = end
00710       end += 4
00711       (length,) = _struct_I.unpack(str[start:end])
00712       start = end
00713       end += length
00714       self.intensity.data = str[start:end]
00715       _x = self
00716       start = end
00717       end += 12
00718       (_x.confidence.header.seq, _x.confidence.header.stamp.secs, _x.confidence.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00719       start = end
00720       end += 4
00721       (length,) = _struct_I.unpack(str[start:end])
00722       start = end
00723       end += length
00724       if python3:
00725         self.confidence.header.frame_id = str[start:end].decode('utf-8')
00726       else:
00727         self.confidence.header.frame_id = str[start:end]
00728       _x = self
00729       start = end
00730       end += 8
00731       (_x.confidence.height, _x.confidence.width,) = _struct_2I.unpack(str[start:end])
00732       start = end
00733       end += 4
00734       (length,) = _struct_I.unpack(str[start:end])
00735       start = end
00736       end += length
00737       if python3:
00738         self.confidence.encoding = str[start:end].decode('utf-8')
00739       else:
00740         self.confidence.encoding = str[start:end]
00741       _x = self
00742       start = end
00743       end += 5
00744       (_x.confidence.is_bigendian, _x.confidence.step,) = _struct_BI.unpack(str[start:end])
00745       start = end
00746       end += 4
00747       (length,) = _struct_I.unpack(str[start:end])
00748       start = end
00749       end += length
00750       self.confidence.data = str[start:end]
00751       _x = self
00752       start = end
00753       end += 12
00754       (_x.depth.header.seq, _x.depth.header.stamp.secs, _x.depth.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00755       start = end
00756       end += 4
00757       (length,) = _struct_I.unpack(str[start:end])
00758       start = end
00759       end += length
00760       if python3:
00761         self.depth.header.frame_id = str[start:end].decode('utf-8')
00762       else:
00763         self.depth.header.frame_id = str[start:end]
00764       _x = self
00765       start = end
00766       end += 8
00767       (_x.depth.height, _x.depth.width,) = _struct_2I.unpack(str[start:end])
00768       start = end
00769       end += 4
00770       (length,) = _struct_I.unpack(str[start:end])
00771       start = end
00772       end += length
00773       if python3:
00774         self.depth.encoding = str[start:end].decode('utf-8')
00775       else:
00776         self.depth.encoding = str[start:end]
00777       _x = self
00778       start = end
00779       end += 5
00780       (_x.depth.is_bigendian, _x.depth.step,) = _struct_BI.unpack(str[start:end])
00781       start = end
00782       end += 4
00783       (length,) = _struct_I.unpack(str[start:end])
00784       start = end
00785       end += length
00786       self.depth.data = str[start:end]
00787       _x = self
00788       start = end
00789       end += 12
00790       (_x.depth16.header.seq, _x.depth16.header.stamp.secs, _x.depth16.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00791       start = end
00792       end += 4
00793       (length,) = _struct_I.unpack(str[start:end])
00794       start = end
00795       end += length
00796       if python3:
00797         self.depth16.header.frame_id = str[start:end].decode('utf-8')
00798       else:
00799         self.depth16.header.frame_id = str[start:end]
00800       _x = self
00801       start = end
00802       end += 8
00803       (_x.depth16.height, _x.depth16.width,) = _struct_2I.unpack(str[start:end])
00804       start = end
00805       end += 4
00806       (length,) = _struct_I.unpack(str[start:end])
00807       start = end
00808       end += length
00809       if python3:
00810         self.depth16.encoding = str[start:end].decode('utf-8')
00811       else:
00812         self.depth16.encoding = str[start:end]
00813       _x = self
00814       start = end
00815       end += 5
00816       (_x.depth16.is_bigendian, _x.depth16.step,) = _struct_BI.unpack(str[start:end])
00817       start = end
00818       end += 4
00819       (length,) = _struct_I.unpack(str[start:end])
00820       start = end
00821       end += length
00822       self.depth16.data = str[start:end]
00823       _x = self
00824       start = end
00825       end += 12
00826       (_x.range_info.header.seq, _x.range_info.header.stamp.secs, _x.range_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00827       start = end
00828       end += 4
00829       (length,) = _struct_I.unpack(str[start:end])
00830       start = end
00831       end += length
00832       if python3:
00833         self.range_info.header.frame_id = str[start:end].decode('utf-8')
00834       else:
00835         self.range_info.header.frame_id = str[start:end]
00836       _x = self
00837       start = end
00838       end += 8
00839       (_x.range_info.height, _x.range_info.width,) = _struct_2I.unpack(str[start:end])
00840       start = end
00841       end += 4
00842       (length,) = _struct_I.unpack(str[start:end])
00843       start = end
00844       end += length
00845       if python3:
00846         self.range_info.distortion_model = str[start:end].decode('utf-8')
00847       else:
00848         self.range_info.distortion_model = str[start:end]
00849       start = end
00850       end += 4
00851       (length,) = _struct_I.unpack(str[start:end])
00852       pattern = '<%sd'%length
00853       start = end
00854       end += struct.calcsize(pattern)
00855       self.range_info.D = struct.unpack(pattern, str[start:end])
00856       start = end
00857       end += 72
00858       self.range_info.K = _struct_9d.unpack(str[start:end])
00859       start = end
00860       end += 72
00861       self.range_info.R = _struct_9d.unpack(str[start:end])
00862       start = end
00863       end += 96
00864       self.range_info.P = _struct_12d.unpack(str[start:end])
00865       _x = self
00866       start = end
00867       end += 37
00868       (_x.range_info.binning_x, _x.range_info.binning_y, _x.range_info.roi.x_offset, _x.range_info.roi.y_offset, _x.range_info.roi.height, _x.range_info.roi.width, _x.range_info.roi.do_rectify, _x.left_image.header.seq, _x.left_image.header.stamp.secs, _x.left_image.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
00869       self.range_info.roi.do_rectify = bool(self.range_info.roi.do_rectify)
00870       start = end
00871       end += 4
00872       (length,) = _struct_I.unpack(str[start:end])
00873       start = end
00874       end += length
00875       if python3:
00876         self.left_image.header.frame_id = str[start:end].decode('utf-8')
00877       else:
00878         self.left_image.header.frame_id = str[start:end]
00879       _x = self
00880       start = end
00881       end += 8
00882       (_x.left_image.height, _x.left_image.width,) = _struct_2I.unpack(str[start:end])
00883       start = end
00884       end += 4
00885       (length,) = _struct_I.unpack(str[start:end])
00886       start = end
00887       end += length
00888       if python3:
00889         self.left_image.encoding = str[start:end].decode('utf-8')
00890       else:
00891         self.left_image.encoding = str[start:end]
00892       _x = self
00893       start = end
00894       end += 5
00895       (_x.left_image.is_bigendian, _x.left_image.step,) = _struct_BI.unpack(str[start:end])
00896       start = end
00897       end += 4
00898       (length,) = _struct_I.unpack(str[start:end])
00899       start = end
00900       end += length
00901       self.left_image.data = str[start:end]
00902       _x = self
00903       start = end
00904       end += 12
00905       (_x.right_image.header.seq, _x.right_image.header.stamp.secs, _x.right_image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00906       start = end
00907       end += 4
00908       (length,) = _struct_I.unpack(str[start:end])
00909       start = end
00910       end += length
00911       if python3:
00912         self.right_image.header.frame_id = str[start:end].decode('utf-8')
00913       else:
00914         self.right_image.header.frame_id = str[start:end]
00915       _x = self
00916       start = end
00917       end += 8
00918       (_x.right_image.height, _x.right_image.width,) = _struct_2I.unpack(str[start:end])
00919       start = end
00920       end += 4
00921       (length,) = _struct_I.unpack(str[start:end])
00922       start = end
00923       end += length
00924       if python3:
00925         self.right_image.encoding = str[start:end].decode('utf-8')
00926       else:
00927         self.right_image.encoding = str[start:end]
00928       _x = self
00929       start = end
00930       end += 5
00931       (_x.right_image.is_bigendian, _x.right_image.step,) = _struct_BI.unpack(str[start:end])
00932       start = end
00933       end += 4
00934       (length,) = _struct_I.unpack(str[start:end])
00935       start = end
00936       end += length
00937       self.right_image.data = str[start:end]
00938       _x = self
00939       start = end
00940       end += 12
00941       (_x.left_info.header.seq, _x.left_info.header.stamp.secs, _x.left_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00942       start = end
00943       end += 4
00944       (length,) = _struct_I.unpack(str[start:end])
00945       start = end
00946       end += length
00947       if python3:
00948         self.left_info.header.frame_id = str[start:end].decode('utf-8')
00949       else:
00950         self.left_info.header.frame_id = str[start:end]
00951       _x = self
00952       start = end
00953       end += 8
00954       (_x.left_info.height, _x.left_info.width,) = _struct_2I.unpack(str[start:end])
00955       start = end
00956       end += 4
00957       (length,) = _struct_I.unpack(str[start:end])
00958       start = end
00959       end += length
00960       if python3:
00961         self.left_info.distortion_model = str[start:end].decode('utf-8')
00962       else:
00963         self.left_info.distortion_model = str[start:end]
00964       start = end
00965       end += 4
00966       (length,) = _struct_I.unpack(str[start:end])
00967       pattern = '<%sd'%length
00968       start = end
00969       end += struct.calcsize(pattern)
00970       self.left_info.D = struct.unpack(pattern, str[start:end])
00971       start = end
00972       end += 72
00973       self.left_info.K = _struct_9d.unpack(str[start:end])
00974       start = end
00975       end += 72
00976       self.left_info.R = _struct_9d.unpack(str[start:end])
00977       start = end
00978       end += 96
00979       self.left_info.P = _struct_12d.unpack(str[start:end])
00980       _x = self
00981       start = end
00982       end += 37
00983       (_x.left_info.binning_x, _x.left_info.binning_y, _x.left_info.roi.x_offset, _x.left_info.roi.y_offset, _x.left_info.roi.height, _x.left_info.roi.width, _x.left_info.roi.do_rectify, _x.right_info.header.seq, _x.right_info.header.stamp.secs, _x.right_info.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
00984       self.left_info.roi.do_rectify = bool(self.left_info.roi.do_rectify)
00985       start = end
00986       end += 4
00987       (length,) = _struct_I.unpack(str[start:end])
00988       start = end
00989       end += length
00990       if python3:
00991         self.right_info.header.frame_id = str[start:end].decode('utf-8')
00992       else:
00993         self.right_info.header.frame_id = str[start:end]
00994       _x = self
00995       start = end
00996       end += 8
00997       (_x.right_info.height, _x.right_info.width,) = _struct_2I.unpack(str[start:end])
00998       start = end
00999       end += 4
01000       (length,) = _struct_I.unpack(str[start:end])
01001       start = end
01002       end += length
01003       if python3:
01004         self.right_info.distortion_model = str[start:end].decode('utf-8')
01005       else:
01006         self.right_info.distortion_model = str[start:end]
01007       start = end
01008       end += 4
01009       (length,) = _struct_I.unpack(str[start:end])
01010       pattern = '<%sd'%length
01011       start = end
01012       end += struct.calcsize(pattern)
01013       self.right_info.D = struct.unpack(pattern, str[start:end])
01014       start = end
01015       end += 72
01016       self.right_info.K = _struct_9d.unpack(str[start:end])
01017       start = end
01018       end += 72
01019       self.right_info.R = _struct_9d.unpack(str[start:end])
01020       start = end
01021       end += 96
01022       self.right_info.P = _struct_12d.unpack(str[start:end])
01023       _x = self
01024       start = end
01025       end += 37
01026       (_x.right_info.binning_x, _x.right_info.binning_y, _x.right_info.roi.x_offset, _x.right_info.roi.y_offset, _x.right_info.roi.height, _x.right_info.roi.width, _x.right_info.roi.do_rectify, _x.pixel_indices.header.seq, _x.pixel_indices.header.stamp.secs, _x.pixel_indices.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
01027       self.right_info.roi.do_rectify = bool(self.right_info.roi.do_rectify)
01028       start = end
01029       end += 4
01030       (length,) = _struct_I.unpack(str[start:end])
01031       start = end
01032       end += length
01033       if python3:
01034         self.pixel_indices.header.frame_id = str[start:end].decode('utf-8')
01035       else:
01036         self.pixel_indices.header.frame_id = str[start:end]
01037       start = end
01038       end += 4
01039       (length,) = _struct_I.unpack(str[start:end])
01040       pattern = '<%si'%length
01041       start = end
01042       end += struct.calcsize(pattern)
01043       self.pixel_indices.indices = struct.unpack(pattern, str[start:end])
01044       _x = self
01045       start = end
01046       end += 12
01047       (_x.point_cloud.header.seq, _x.point_cloud.header.stamp.secs, _x.point_cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01048       start = end
01049       end += 4
01050       (length,) = _struct_I.unpack(str[start:end])
01051       start = end
01052       end += length
01053       if python3:
01054         self.point_cloud.header.frame_id = str[start:end].decode('utf-8')
01055       else:
01056         self.point_cloud.header.frame_id = str[start:end]
01057       _x = self
01058       start = end
01059       end += 8
01060       (_x.point_cloud.height, _x.point_cloud.width,) = _struct_2I.unpack(str[start:end])
01061       start = end
01062       end += 4
01063       (length,) = _struct_I.unpack(str[start:end])
01064       self.point_cloud.fields = []
01065       for i in range(0, length):
01066         val1 = sensor_msgs.msg.PointField()
01067         start = end
01068         end += 4
01069         (length,) = _struct_I.unpack(str[start:end])
01070         start = end
01071         end += length
01072         if python3:
01073           val1.name = str[start:end].decode('utf-8')
01074         else:
01075           val1.name = str[start:end]
01076         _x = val1
01077         start = end
01078         end += 9
01079         (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
01080         self.point_cloud.fields.append(val1)
01081       _x = self
01082       start = end
01083       end += 9
01084       (_x.point_cloud.is_bigendian, _x.point_cloud.point_step, _x.point_cloud.row_step,) = _struct_B2I.unpack(str[start:end])
01085       self.point_cloud.is_bigendian = bool(self.point_cloud.is_bigendian)
01086       start = end
01087       end += 4
01088       (length,) = _struct_I.unpack(str[start:end])
01089       start = end
01090       end += length
01091       self.point_cloud.data = str[start:end]
01092       start = end
01093       end += 1
01094       (self.point_cloud.is_dense,) = _struct_B.unpack(str[start:end])
01095       self.point_cloud.is_dense = bool(self.point_cloud.is_dense)
01096       return self
01097     except struct.error as e:
01098       raise genpy.DeserializationError(e) #most likely buffer underfill
01099 
01100 
01101   def serialize_numpy(self, buff, numpy):
01102     """
01103     serialize message with numpy array types into buffer
01104     :param buff: buffer, ``StringIO``
01105     :param numpy: numpy python module
01106     """
01107     try:
01108       _x = self
01109       buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
01110       _x = self.header.frame_id
01111       length = len(_x)
01112       if python3 or type(_x) == unicode:
01113         _x = _x.encode('utf-8')
01114         length = len(_x)
01115       buff.write(struct.pack('<I%ss'%length, length, _x))
01116       _x = self
01117       buff.write(_struct_3I.pack(_x.intensity.header.seq, _x.intensity.header.stamp.secs, _x.intensity.header.stamp.nsecs))
01118       _x = self.intensity.header.frame_id
01119       length = len(_x)
01120       if python3 or type(_x) == unicode:
01121         _x = _x.encode('utf-8')
01122         length = len(_x)
01123       buff.write(struct.pack('<I%ss'%length, length, _x))
01124       _x = self
01125       buff.write(_struct_2I.pack(_x.intensity.height, _x.intensity.width))
01126       _x = self.intensity.encoding
01127       length = len(_x)
01128       if python3 or type(_x) == unicode:
01129         _x = _x.encode('utf-8')
01130         length = len(_x)
01131       buff.write(struct.pack('<I%ss'%length, length, _x))
01132       _x = self
01133       buff.write(_struct_BI.pack(_x.intensity.is_bigendian, _x.intensity.step))
01134       _x = self.intensity.data
01135       length = len(_x)
01136       # - if encoded as a list instead, serialize as bytes instead of string
01137       if type(_x) in [list, tuple]:
01138         buff.write(struct.pack('<I%sB'%length, length, *_x))
01139       else:
01140         buff.write(struct.pack('<I%ss'%length, length, _x))
01141       _x = self
01142       buff.write(_struct_3I.pack(_x.confidence.header.seq, _x.confidence.header.stamp.secs, _x.confidence.header.stamp.nsecs))
01143       _x = self.confidence.header.frame_id
01144       length = len(_x)
01145       if python3 or type(_x) == unicode:
01146         _x = _x.encode('utf-8')
01147         length = len(_x)
01148       buff.write(struct.pack('<I%ss'%length, length, _x))
01149       _x = self
01150       buff.write(_struct_2I.pack(_x.confidence.height, _x.confidence.width))
01151       _x = self.confidence.encoding
01152       length = len(_x)
01153       if python3 or type(_x) == unicode:
01154         _x = _x.encode('utf-8')
01155         length = len(_x)
01156       buff.write(struct.pack('<I%ss'%length, length, _x))
01157       _x = self
01158       buff.write(_struct_BI.pack(_x.confidence.is_bigendian, _x.confidence.step))
01159       _x = self.confidence.data
01160       length = len(_x)
01161       # - if encoded as a list instead, serialize as bytes instead of string
01162       if type(_x) in [list, tuple]:
01163         buff.write(struct.pack('<I%sB'%length, length, *_x))
01164       else:
01165         buff.write(struct.pack('<I%ss'%length, length, _x))
01166       _x = self
01167       buff.write(_struct_3I.pack(_x.depth.header.seq, _x.depth.header.stamp.secs, _x.depth.header.stamp.nsecs))
01168       _x = self.depth.header.frame_id
01169       length = len(_x)
01170       if python3 or type(_x) == unicode:
01171         _x = _x.encode('utf-8')
01172         length = len(_x)
01173       buff.write(struct.pack('<I%ss'%length, length, _x))
01174       _x = self
01175       buff.write(_struct_2I.pack(_x.depth.height, _x.depth.width))
01176       _x = self.depth.encoding
01177       length = len(_x)
01178       if python3 or type(_x) == unicode:
01179         _x = _x.encode('utf-8')
01180         length = len(_x)
01181       buff.write(struct.pack('<I%ss'%length, length, _x))
01182       _x = self
01183       buff.write(_struct_BI.pack(_x.depth.is_bigendian, _x.depth.step))
01184       _x = self.depth.data
01185       length = len(_x)
01186       # - if encoded as a list instead, serialize as bytes instead of string
01187       if type(_x) in [list, tuple]:
01188         buff.write(struct.pack('<I%sB'%length, length, *_x))
01189       else:
01190         buff.write(struct.pack('<I%ss'%length, length, _x))
01191       _x = self
01192       buff.write(_struct_3I.pack(_x.depth16.header.seq, _x.depth16.header.stamp.secs, _x.depth16.header.stamp.nsecs))
01193       _x = self.depth16.header.frame_id
01194       length = len(_x)
01195       if python3 or type(_x) == unicode:
01196         _x = _x.encode('utf-8')
01197         length = len(_x)
01198       buff.write(struct.pack('<I%ss'%length, length, _x))
01199       _x = self
01200       buff.write(_struct_2I.pack(_x.depth16.height, _x.depth16.width))
01201       _x = self.depth16.encoding
01202       length = len(_x)
01203       if python3 or type(_x) == unicode:
01204         _x = _x.encode('utf-8')
01205         length = len(_x)
01206       buff.write(struct.pack('<I%ss'%length, length, _x))
01207       _x = self
01208       buff.write(_struct_BI.pack(_x.depth16.is_bigendian, _x.depth16.step))
01209       _x = self.depth16.data
01210       length = len(_x)
01211       # - if encoded as a list instead, serialize as bytes instead of string
01212       if type(_x) in [list, tuple]:
01213         buff.write(struct.pack('<I%sB'%length, length, *_x))
01214       else:
01215         buff.write(struct.pack('<I%ss'%length, length, _x))
01216       _x = self
01217       buff.write(_struct_3I.pack(_x.range_info.header.seq, _x.range_info.header.stamp.secs, _x.range_info.header.stamp.nsecs))
01218       _x = self.range_info.header.frame_id
01219       length = len(_x)
01220       if python3 or type(_x) == unicode:
01221         _x = _x.encode('utf-8')
01222         length = len(_x)
01223       buff.write(struct.pack('<I%ss'%length, length, _x))
01224       _x = self
01225       buff.write(_struct_2I.pack(_x.range_info.height, _x.range_info.width))
01226       _x = self.range_info.distortion_model
01227       length = len(_x)
01228       if python3 or type(_x) == unicode:
01229         _x = _x.encode('utf-8')
01230         length = len(_x)
01231       buff.write(struct.pack('<I%ss'%length, length, _x))
01232       length = len(self.range_info.D)
01233       buff.write(_struct_I.pack(length))
01234       pattern = '<%sd'%length
01235       buff.write(self.range_info.D.tostring())
01236       buff.write(self.range_info.K.tostring())
01237       buff.write(self.range_info.R.tostring())
01238       buff.write(self.range_info.P.tostring())
01239       _x = self
01240       buff.write(_struct_6IB3I.pack(_x.range_info.binning_x, _x.range_info.binning_y, _x.range_info.roi.x_offset, _x.range_info.roi.y_offset, _x.range_info.roi.height, _x.range_info.roi.width, _x.range_info.roi.do_rectify, _x.left_image.header.seq, _x.left_image.header.stamp.secs, _x.left_image.header.stamp.nsecs))
01241       _x = self.left_image.header.frame_id
01242       length = len(_x)
01243       if python3 or type(_x) == unicode:
01244         _x = _x.encode('utf-8')
01245         length = len(_x)
01246       buff.write(struct.pack('<I%ss'%length, length, _x))
01247       _x = self
01248       buff.write(_struct_2I.pack(_x.left_image.height, _x.left_image.width))
01249       _x = self.left_image.encoding
01250       length = len(_x)
01251       if python3 or type(_x) == unicode:
01252         _x = _x.encode('utf-8')
01253         length = len(_x)
01254       buff.write(struct.pack('<I%ss'%length, length, _x))
01255       _x = self
01256       buff.write(_struct_BI.pack(_x.left_image.is_bigendian, _x.left_image.step))
01257       _x = self.left_image.data
01258       length = len(_x)
01259       # - if encoded as a list instead, serialize as bytes instead of string
01260       if type(_x) in [list, tuple]:
01261         buff.write(struct.pack('<I%sB'%length, length, *_x))
01262       else:
01263         buff.write(struct.pack('<I%ss'%length, length, _x))
01264       _x = self
01265       buff.write(_struct_3I.pack(_x.right_image.header.seq, _x.right_image.header.stamp.secs, _x.right_image.header.stamp.nsecs))
01266       _x = self.right_image.header.frame_id
01267       length = len(_x)
01268       if python3 or type(_x) == unicode:
01269         _x = _x.encode('utf-8')
01270         length = len(_x)
01271       buff.write(struct.pack('<I%ss'%length, length, _x))
01272       _x = self
01273       buff.write(_struct_2I.pack(_x.right_image.height, _x.right_image.width))
01274       _x = self.right_image.encoding
01275       length = len(_x)
01276       if python3 or type(_x) == unicode:
01277         _x = _x.encode('utf-8')
01278         length = len(_x)
01279       buff.write(struct.pack('<I%ss'%length, length, _x))
01280       _x = self
01281       buff.write(_struct_BI.pack(_x.right_image.is_bigendian, _x.right_image.step))
01282       _x = self.right_image.data
01283       length = len(_x)
01284       # - if encoded as a list instead, serialize as bytes instead of string
01285       if type(_x) in [list, tuple]:
01286         buff.write(struct.pack('<I%sB'%length, length, *_x))
01287       else:
01288         buff.write(struct.pack('<I%ss'%length, length, _x))
01289       _x = self
01290       buff.write(_struct_3I.pack(_x.left_info.header.seq, _x.left_info.header.stamp.secs, _x.left_info.header.stamp.nsecs))
01291       _x = self.left_info.header.frame_id
01292       length = len(_x)
01293       if python3 or type(_x) == unicode:
01294         _x = _x.encode('utf-8')
01295         length = len(_x)
01296       buff.write(struct.pack('<I%ss'%length, length, _x))
01297       _x = self
01298       buff.write(_struct_2I.pack(_x.left_info.height, _x.left_info.width))
01299       _x = self.left_info.distortion_model
01300       length = len(_x)
01301       if python3 or type(_x) == unicode:
01302         _x = _x.encode('utf-8')
01303         length = len(_x)
01304       buff.write(struct.pack('<I%ss'%length, length, _x))
01305       length = len(self.left_info.D)
01306       buff.write(_struct_I.pack(length))
01307       pattern = '<%sd'%length
01308       buff.write(self.left_info.D.tostring())
01309       buff.write(self.left_info.K.tostring())
01310       buff.write(self.left_info.R.tostring())
01311       buff.write(self.left_info.P.tostring())
01312       _x = self
01313       buff.write(_struct_6IB3I.pack(_x.left_info.binning_x, _x.left_info.binning_y, _x.left_info.roi.x_offset, _x.left_info.roi.y_offset, _x.left_info.roi.height, _x.left_info.roi.width, _x.left_info.roi.do_rectify, _x.right_info.header.seq, _x.right_info.header.stamp.secs, _x.right_info.header.stamp.nsecs))
01314       _x = self.right_info.header.frame_id
01315       length = len(_x)
01316       if python3 or type(_x) == unicode:
01317         _x = _x.encode('utf-8')
01318         length = len(_x)
01319       buff.write(struct.pack('<I%ss'%length, length, _x))
01320       _x = self
01321       buff.write(_struct_2I.pack(_x.right_info.height, _x.right_info.width))
01322       _x = self.right_info.distortion_model
01323       length = len(_x)
01324       if python3 or type(_x) == unicode:
01325         _x = _x.encode('utf-8')
01326         length = len(_x)
01327       buff.write(struct.pack('<I%ss'%length, length, _x))
01328       length = len(self.right_info.D)
01329       buff.write(_struct_I.pack(length))
01330       pattern = '<%sd'%length
01331       buff.write(self.right_info.D.tostring())
01332       buff.write(self.right_info.K.tostring())
01333       buff.write(self.right_info.R.tostring())
01334       buff.write(self.right_info.P.tostring())
01335       _x = self
01336       buff.write(_struct_6IB3I.pack(_x.right_info.binning_x, _x.right_info.binning_y, _x.right_info.roi.x_offset, _x.right_info.roi.y_offset, _x.right_info.roi.height, _x.right_info.roi.width, _x.right_info.roi.do_rectify, _x.pixel_indices.header.seq, _x.pixel_indices.header.stamp.secs, _x.pixel_indices.header.stamp.nsecs))
01337       _x = self.pixel_indices.header.frame_id
01338       length = len(_x)
01339       if python3 or type(_x) == unicode:
01340         _x = _x.encode('utf-8')
01341         length = len(_x)
01342       buff.write(struct.pack('<I%ss'%length, length, _x))
01343       length = len(self.pixel_indices.indices)
01344       buff.write(_struct_I.pack(length))
01345       pattern = '<%si'%length
01346       buff.write(self.pixel_indices.indices.tostring())
01347       _x = self
01348       buff.write(_struct_3I.pack(_x.point_cloud.header.seq, _x.point_cloud.header.stamp.secs, _x.point_cloud.header.stamp.nsecs))
01349       _x = self.point_cloud.header.frame_id
01350       length = len(_x)
01351       if python3 or type(_x) == unicode:
01352         _x = _x.encode('utf-8')
01353         length = len(_x)
01354       buff.write(struct.pack('<I%ss'%length, length, _x))
01355       _x = self
01356       buff.write(_struct_2I.pack(_x.point_cloud.height, _x.point_cloud.width))
01357       length = len(self.point_cloud.fields)
01358       buff.write(_struct_I.pack(length))
01359       for val1 in self.point_cloud.fields:
01360         _x = val1.name
01361         length = len(_x)
01362         if python3 or type(_x) == unicode:
01363           _x = _x.encode('utf-8')
01364           length = len(_x)
01365         buff.write(struct.pack('<I%ss'%length, length, _x))
01366         _x = val1
01367         buff.write(_struct_IBI.pack(_x.offset, _x.datatype, _x.count))
01368       _x = self
01369       buff.write(_struct_B2I.pack(_x.point_cloud.is_bigendian, _x.point_cloud.point_step, _x.point_cloud.row_step))
01370       _x = self.point_cloud.data
01371       length = len(_x)
01372       # - if encoded as a list instead, serialize as bytes instead of string
01373       if type(_x) in [list, tuple]:
01374         buff.write(struct.pack('<I%sB'%length, length, *_x))
01375       else:
01376         buff.write(struct.pack('<I%ss'%length, length, _x))
01377       buff.write(_struct_B.pack(self.point_cloud.is_dense))
01378     except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(_x))))
01379     except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(_x))))
01380 
01381   def deserialize_numpy(self, str, numpy):
01382     """
01383     unpack serialized message in str into this message instance using numpy for array types
01384     :param str: byte array of serialized message, ``str``
01385     :param numpy: numpy python module
01386     """
01387     try:
01388       if self.header is None:
01389         self.header = std_msgs.msg.Header()
01390       if self.intensity is None:
01391         self.intensity = sensor_msgs.msg.Image()
01392       if self.confidence is None:
01393         self.confidence = sensor_msgs.msg.Image()
01394       if self.depth is None:
01395         self.depth = sensor_msgs.msg.Image()
01396       if self.depth16 is None:
01397         self.depth16 = sensor_msgs.msg.Image()
01398       if self.range_info is None:
01399         self.range_info = sensor_msgs.msg.CameraInfo()
01400       if self.left_image is None:
01401         self.left_image = sensor_msgs.msg.Image()
01402       if self.right_image is None:
01403         self.right_image = sensor_msgs.msg.Image()
01404       if self.left_info is None:
01405         self.left_info = sensor_msgs.msg.CameraInfo()
01406       if self.right_info is None:
01407         self.right_info = sensor_msgs.msg.CameraInfo()
01408       if self.pixel_indices is None:
01409         self.pixel_indices = cr_capture.msg.PixelIndices()
01410       if self.point_cloud is None:
01411         self.point_cloud = sensor_msgs.msg.PointCloud2()
01412       end = 0
01413       _x = self
01414       start = end
01415       end += 12
01416       (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01417       start = end
01418       end += 4
01419       (length,) = _struct_I.unpack(str[start:end])
01420       start = end
01421       end += length
01422       if python3:
01423         self.header.frame_id = str[start:end].decode('utf-8')
01424       else:
01425         self.header.frame_id = str[start:end]
01426       _x = self
01427       start = end
01428       end += 12
01429       (_x.intensity.header.seq, _x.intensity.header.stamp.secs, _x.intensity.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01430       start = end
01431       end += 4
01432       (length,) = _struct_I.unpack(str[start:end])
01433       start = end
01434       end += length
01435       if python3:
01436         self.intensity.header.frame_id = str[start:end].decode('utf-8')
01437       else:
01438         self.intensity.header.frame_id = str[start:end]
01439       _x = self
01440       start = end
01441       end += 8
01442       (_x.intensity.height, _x.intensity.width,) = _struct_2I.unpack(str[start:end])
01443       start = end
01444       end += 4
01445       (length,) = _struct_I.unpack(str[start:end])
01446       start = end
01447       end += length
01448       if python3:
01449         self.intensity.encoding = str[start:end].decode('utf-8')
01450       else:
01451         self.intensity.encoding = str[start:end]
01452       _x = self
01453       start = end
01454       end += 5
01455       (_x.intensity.is_bigendian, _x.intensity.step,) = _struct_BI.unpack(str[start:end])
01456       start = end
01457       end += 4
01458       (length,) = _struct_I.unpack(str[start:end])
01459       start = end
01460       end += length
01461       self.intensity.data = str[start:end]
01462       _x = self
01463       start = end
01464       end += 12
01465       (_x.confidence.header.seq, _x.confidence.header.stamp.secs, _x.confidence.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01466       start = end
01467       end += 4
01468       (length,) = _struct_I.unpack(str[start:end])
01469       start = end
01470       end += length
01471       if python3:
01472         self.confidence.header.frame_id = str[start:end].decode('utf-8')
01473       else:
01474         self.confidence.header.frame_id = str[start:end]
01475       _x = self
01476       start = end
01477       end += 8
01478       (_x.confidence.height, _x.confidence.width,) = _struct_2I.unpack(str[start:end])
01479       start = end
01480       end += 4
01481       (length,) = _struct_I.unpack(str[start:end])
01482       start = end
01483       end += length
01484       if python3:
01485         self.confidence.encoding = str[start:end].decode('utf-8')
01486       else:
01487         self.confidence.encoding = str[start:end]
01488       _x = self
01489       start = end
01490       end += 5
01491       (_x.confidence.is_bigendian, _x.confidence.step,) = _struct_BI.unpack(str[start:end])
01492       start = end
01493       end += 4
01494       (length,) = _struct_I.unpack(str[start:end])
01495       start = end
01496       end += length
01497       self.confidence.data = str[start:end]
01498       _x = self
01499       start = end
01500       end += 12
01501       (_x.depth.header.seq, _x.depth.header.stamp.secs, _x.depth.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01502       start = end
01503       end += 4
01504       (length,) = _struct_I.unpack(str[start:end])
01505       start = end
01506       end += length
01507       if python3:
01508         self.depth.header.frame_id = str[start:end].decode('utf-8')
01509       else:
01510         self.depth.header.frame_id = str[start:end]
01511       _x = self
01512       start = end
01513       end += 8
01514       (_x.depth.height, _x.depth.width,) = _struct_2I.unpack(str[start:end])
01515       start = end
01516       end += 4
01517       (length,) = _struct_I.unpack(str[start:end])
01518       start = end
01519       end += length
01520       if python3:
01521         self.depth.encoding = str[start:end].decode('utf-8')
01522       else:
01523         self.depth.encoding = str[start:end]
01524       _x = self
01525       start = end
01526       end += 5
01527       (_x.depth.is_bigendian, _x.depth.step,) = _struct_BI.unpack(str[start:end])
01528       start = end
01529       end += 4
01530       (length,) = _struct_I.unpack(str[start:end])
01531       start = end
01532       end += length
01533       self.depth.data = str[start:end]
01534       _x = self
01535       start = end
01536       end += 12
01537       (_x.depth16.header.seq, _x.depth16.header.stamp.secs, _x.depth16.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01538       start = end
01539       end += 4
01540       (length,) = _struct_I.unpack(str[start:end])
01541       start = end
01542       end += length
01543       if python3:
01544         self.depth16.header.frame_id = str[start:end].decode('utf-8')
01545       else:
01546         self.depth16.header.frame_id = str[start:end]
01547       _x = self
01548       start = end
01549       end += 8
01550       (_x.depth16.height, _x.depth16.width,) = _struct_2I.unpack(str[start:end])
01551       start = end
01552       end += 4
01553       (length,) = _struct_I.unpack(str[start:end])
01554       start = end
01555       end += length
01556       if python3:
01557         self.depth16.encoding = str[start:end].decode('utf-8')
01558       else:
01559         self.depth16.encoding = str[start:end]
01560       _x = self
01561       start = end
01562       end += 5
01563       (_x.depth16.is_bigendian, _x.depth16.step,) = _struct_BI.unpack(str[start:end])
01564       start = end
01565       end += 4
01566       (length,) = _struct_I.unpack(str[start:end])
01567       start = end
01568       end += length
01569       self.depth16.data = str[start:end]
01570       _x = self
01571       start = end
01572       end += 12
01573       (_x.range_info.header.seq, _x.range_info.header.stamp.secs, _x.range_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01574       start = end
01575       end += 4
01576       (length,) = _struct_I.unpack(str[start:end])
01577       start = end
01578       end += length
01579       if python3:
01580         self.range_info.header.frame_id = str[start:end].decode('utf-8')
01581       else:
01582         self.range_info.header.frame_id = str[start:end]
01583       _x = self
01584       start = end
01585       end += 8
01586       (_x.range_info.height, _x.range_info.width,) = _struct_2I.unpack(str[start:end])
01587       start = end
01588       end += 4
01589       (length,) = _struct_I.unpack(str[start:end])
01590       start = end
01591       end += length
01592       if python3:
01593         self.range_info.distortion_model = str[start:end].decode('utf-8')
01594       else:
01595         self.range_info.distortion_model = str[start:end]
01596       start = end
01597       end += 4
01598       (length,) = _struct_I.unpack(str[start:end])
01599       pattern = '<%sd'%length
01600       start = end
01601       end += struct.calcsize(pattern)
01602       self.range_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01603       start = end
01604       end += 72
01605       self.range_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
01606       start = end
01607       end += 72
01608       self.range_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
01609       start = end
01610       end += 96
01611       self.range_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
01612       _x = self
01613       start = end
01614       end += 37
01615       (_x.range_info.binning_x, _x.range_info.binning_y, _x.range_info.roi.x_offset, _x.range_info.roi.y_offset, _x.range_info.roi.height, _x.range_info.roi.width, _x.range_info.roi.do_rectify, _x.left_image.header.seq, _x.left_image.header.stamp.secs, _x.left_image.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
01616       self.range_info.roi.do_rectify = bool(self.range_info.roi.do_rectify)
01617       start = end
01618       end += 4
01619       (length,) = _struct_I.unpack(str[start:end])
01620       start = end
01621       end += length
01622       if python3:
01623         self.left_image.header.frame_id = str[start:end].decode('utf-8')
01624       else:
01625         self.left_image.header.frame_id = str[start:end]
01626       _x = self
01627       start = end
01628       end += 8
01629       (_x.left_image.height, _x.left_image.width,) = _struct_2I.unpack(str[start:end])
01630       start = end
01631       end += 4
01632       (length,) = _struct_I.unpack(str[start:end])
01633       start = end
01634       end += length
01635       if python3:
01636         self.left_image.encoding = str[start:end].decode('utf-8')
01637       else:
01638         self.left_image.encoding = str[start:end]
01639       _x = self
01640       start = end
01641       end += 5
01642       (_x.left_image.is_bigendian, _x.left_image.step,) = _struct_BI.unpack(str[start:end])
01643       start = end
01644       end += 4
01645       (length,) = _struct_I.unpack(str[start:end])
01646       start = end
01647       end += length
01648       self.left_image.data = str[start:end]
01649       _x = self
01650       start = end
01651       end += 12
01652       (_x.right_image.header.seq, _x.right_image.header.stamp.secs, _x.right_image.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01653       start = end
01654       end += 4
01655       (length,) = _struct_I.unpack(str[start:end])
01656       start = end
01657       end += length
01658       if python3:
01659         self.right_image.header.frame_id = str[start:end].decode('utf-8')
01660       else:
01661         self.right_image.header.frame_id = str[start:end]
01662       _x = self
01663       start = end
01664       end += 8
01665       (_x.right_image.height, _x.right_image.width,) = _struct_2I.unpack(str[start:end])
01666       start = end
01667       end += 4
01668       (length,) = _struct_I.unpack(str[start:end])
01669       start = end
01670       end += length
01671       if python3:
01672         self.right_image.encoding = str[start:end].decode('utf-8')
01673       else:
01674         self.right_image.encoding = str[start:end]
01675       _x = self
01676       start = end
01677       end += 5
01678       (_x.right_image.is_bigendian, _x.right_image.step,) = _struct_BI.unpack(str[start:end])
01679       start = end
01680       end += 4
01681       (length,) = _struct_I.unpack(str[start:end])
01682       start = end
01683       end += length
01684       self.right_image.data = str[start:end]
01685       _x = self
01686       start = end
01687       end += 12
01688       (_x.left_info.header.seq, _x.left_info.header.stamp.secs, _x.left_info.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01689       start = end
01690       end += 4
01691       (length,) = _struct_I.unpack(str[start:end])
01692       start = end
01693       end += length
01694       if python3:
01695         self.left_info.header.frame_id = str[start:end].decode('utf-8')
01696       else:
01697         self.left_info.header.frame_id = str[start:end]
01698       _x = self
01699       start = end
01700       end += 8
01701       (_x.left_info.height, _x.left_info.width,) = _struct_2I.unpack(str[start:end])
01702       start = end
01703       end += 4
01704       (length,) = _struct_I.unpack(str[start:end])
01705       start = end
01706       end += length
01707       if python3:
01708         self.left_info.distortion_model = str[start:end].decode('utf-8')
01709       else:
01710         self.left_info.distortion_model = str[start:end]
01711       start = end
01712       end += 4
01713       (length,) = _struct_I.unpack(str[start:end])
01714       pattern = '<%sd'%length
01715       start = end
01716       end += struct.calcsize(pattern)
01717       self.left_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01718       start = end
01719       end += 72
01720       self.left_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
01721       start = end
01722       end += 72
01723       self.left_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
01724       start = end
01725       end += 96
01726       self.left_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
01727       _x = self
01728       start = end
01729       end += 37
01730       (_x.left_info.binning_x, _x.left_info.binning_y, _x.left_info.roi.x_offset, _x.left_info.roi.y_offset, _x.left_info.roi.height, _x.left_info.roi.width, _x.left_info.roi.do_rectify, _x.right_info.header.seq, _x.right_info.header.stamp.secs, _x.right_info.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
01731       self.left_info.roi.do_rectify = bool(self.left_info.roi.do_rectify)
01732       start = end
01733       end += 4
01734       (length,) = _struct_I.unpack(str[start:end])
01735       start = end
01736       end += length
01737       if python3:
01738         self.right_info.header.frame_id = str[start:end].decode('utf-8')
01739       else:
01740         self.right_info.header.frame_id = str[start:end]
01741       _x = self
01742       start = end
01743       end += 8
01744       (_x.right_info.height, _x.right_info.width,) = _struct_2I.unpack(str[start:end])
01745       start = end
01746       end += 4
01747       (length,) = _struct_I.unpack(str[start:end])
01748       start = end
01749       end += length
01750       if python3:
01751         self.right_info.distortion_model = str[start:end].decode('utf-8')
01752       else:
01753         self.right_info.distortion_model = str[start:end]
01754       start = end
01755       end += 4
01756       (length,) = _struct_I.unpack(str[start:end])
01757       pattern = '<%sd'%length
01758       start = end
01759       end += struct.calcsize(pattern)
01760       self.right_info.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
01761       start = end
01762       end += 72
01763       self.right_info.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
01764       start = end
01765       end += 72
01766       self.right_info.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
01767       start = end
01768       end += 96
01769       self.right_info.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
01770       _x = self
01771       start = end
01772       end += 37
01773       (_x.right_info.binning_x, _x.right_info.binning_y, _x.right_info.roi.x_offset, _x.right_info.roi.y_offset, _x.right_info.roi.height, _x.right_info.roi.width, _x.right_info.roi.do_rectify, _x.pixel_indices.header.seq, _x.pixel_indices.header.stamp.secs, _x.pixel_indices.header.stamp.nsecs,) = _struct_6IB3I.unpack(str[start:end])
01774       self.right_info.roi.do_rectify = bool(self.right_info.roi.do_rectify)
01775       start = end
01776       end += 4
01777       (length,) = _struct_I.unpack(str[start:end])
01778       start = end
01779       end += length
01780       if python3:
01781         self.pixel_indices.header.frame_id = str[start:end].decode('utf-8')
01782       else:
01783         self.pixel_indices.header.frame_id = str[start:end]
01784       start = end
01785       end += 4
01786       (length,) = _struct_I.unpack(str[start:end])
01787       pattern = '<%si'%length
01788       start = end
01789       end += struct.calcsize(pattern)
01790       self.pixel_indices.indices = numpy.frombuffer(str[start:end], dtype=numpy.int32, count=length)
01791       _x = self
01792       start = end
01793       end += 12
01794       (_x.point_cloud.header.seq, _x.point_cloud.header.stamp.secs, _x.point_cloud.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
01795       start = end
01796       end += 4
01797       (length,) = _struct_I.unpack(str[start:end])
01798       start = end
01799       end += length
01800       if python3:
01801         self.point_cloud.header.frame_id = str[start:end].decode('utf-8')
01802       else:
01803         self.point_cloud.header.frame_id = str[start:end]
01804       _x = self
01805       start = end
01806       end += 8
01807       (_x.point_cloud.height, _x.point_cloud.width,) = _struct_2I.unpack(str[start:end])
01808       start = end
01809       end += 4
01810       (length,) = _struct_I.unpack(str[start:end])
01811       self.point_cloud.fields = []
01812       for i in range(0, length):
01813         val1 = sensor_msgs.msg.PointField()
01814         start = end
01815         end += 4
01816         (length,) = _struct_I.unpack(str[start:end])
01817         start = end
01818         end += length
01819         if python3:
01820           val1.name = str[start:end].decode('utf-8')
01821         else:
01822           val1.name = str[start:end]
01823         _x = val1
01824         start = end
01825         end += 9
01826         (_x.offset, _x.datatype, _x.count,) = _struct_IBI.unpack(str[start:end])
01827         self.point_cloud.fields.append(val1)
01828       _x = self
01829       start = end
01830       end += 9
01831       (_x.point_cloud.is_bigendian, _x.point_cloud.point_step, _x.point_cloud.row_step,) = _struct_B2I.unpack(str[start:end])
01832       self.point_cloud.is_bigendian = bool(self.point_cloud.is_bigendian)
01833       start = end
01834       end += 4
01835       (length,) = _struct_I.unpack(str[start:end])
01836       start = end
01837       end += length
01838       self.point_cloud.data = str[start:end]
01839       start = end
01840       end += 1
01841       (self.point_cloud.is_dense,) = _struct_B.unpack(str[start:end])
01842       self.point_cloud.is_dense = bool(self.point_cloud.is_dense)
01843       return self
01844     except struct.error as e:
01845       raise genpy.DeserializationError(e) #most likely buffer underfill
01846 
01847 _struct_I = genpy.struct_I
01848 _struct_IBI = struct.Struct("<IBI")
01849 _struct_6IB3I = struct.Struct("<6IB3I")
01850 _struct_B = struct.Struct("<B")
01851 _struct_12d = struct.Struct("<12d")
01852 _struct_9d = struct.Struct("<9d")
01853 _struct_BI = struct.Struct("<BI")
01854 _struct_3I = struct.Struct("<3I")
01855 _struct_B2I = struct.Struct("<B2I")
01856 _struct_2I = struct.Struct("<2I")


cr_capture
Author(s): youhei kakiuchi, JSK
autogenerated on Mon Oct 6 2014 01:16:15