_RobotMeasurement.py

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"""autogenerated by genpy from calibration_msgs/RobotMeasurement.msg. Do not edit."""
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct

import sensor_msgs.msg
import calibration_msgs.msg
import geometry_msgs.msg
import genpy
import std_msgs.msg

class RobotMeasurement(genpy.Message):
  _md5sum = "fe22486c078efbf7892430dd0b99305c"
  _type = "calibration_msgs/RobotMeasurement"
  _has_header = False #flag to mark the presence of a Header object
  _full_text = """string sample_id    # Tag to figure out which yaml file this was generated from

string target_id    # Defines the target that we were sensing.
string chain_id     # Defines where this target was attached

CameraMeasurement[] M_cam
LaserMeasurement[]  M_laser
ChainMeasurement[]  M_chain

================================================================================
MSG: calibration_msgs/CameraMeasurement
Header header
string camera_id
geometry_msgs/Point[] image_points
sensor_msgs/CameraInfo cam_info

# True -> The extra debugging fields are populated
bool verbose

# Extra, partially processed data. Only needed for debugging
sensor_msgs/Image image
sensor_msgs/Image image_rect
calibration_msgs/CalibrationPattern features

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

================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z

================================================================================
MSG: sensor_msgs/CameraInfo
# This message defines meta information for a camera. It should be in a
# camera namespace on topic "camera_info" and accompanied by up to five
# image topics named:
#
#   image_raw - raw data from the camera driver, possibly Bayer encoded
#   image            - monochrome, distorted
#   image_color      - color, distorted
#   image_rect       - monochrome, rectified
#   image_rect_color - color, rectified
#
# The image_pipeline contains packages (image_proc, stereo_image_proc)
# for producing the four processed image topics from image_raw and
# camera_info. The meaning of the camera parameters are described in
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.
#
# The image_geometry package provides a user-friendly interface to
# common operations using this meta information. If you want to, e.g.,
# project a 3d point into image coordinates, we strongly recommend
# using image_geometry.
#
# If the camera is uncalibrated, the matrices D, K, R, P should be left
# zeroed out. In particular, clients may assume that K[0] == 0.0
# indicates an uncalibrated camera.

#######################################################################
#                     Image acquisition info                          #
#######################################################################

# Time of image acquisition, camera coordinate frame ID
Header header    # Header timestamp should be acquisition time of image
                 # Header frame_id should be optical frame of camera
                 # origin of frame should be optical center of camera
                 # +x should point to the right in the image
                 # +y should point down in the image
                 # +z should point into the plane of the image


#######################################################################
#                      Calibration Parameters                         #
#######################################################################
# These are fixed during camera calibration. Their values will be the #
# same in all messages until the camera is recalibrated. Note that    #
# self-calibrating systems may "recalibrate" frequently.              #
#                                                                     #
# The internal parameters can be used to warp a raw (distorted) image #
# to:                                                                 #
#   1. An undistorted image (requires D and K)                        #
#   2. A rectified image (requires D, K, R)                           #
# The projection matrix P projects 3D points into the rectified image.#
#######################################################################

# The image dimensions with which the camera was calibrated. Normally
# this will be the full camera resolution in pixels.
uint32 height
uint32 width

# The distortion model used. Supported models are listed in
# sensor_msgs/distortion_models.h. For most cameras, "plumb_bob" - a
# simple model of radial and tangential distortion - is sufficent.
string distortion_model

# The distortion parameters, size depending on the distortion model.
# For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
float64[] D

# Intrinsic camera matrix for the raw (distorted) images.
#     [fx  0 cx]
# K = [ 0 fy cy]
#     [ 0  0  1]
# Projects 3D points in the camera coordinate frame to 2D pixel
# coordinates using the focal lengths (fx, fy) and principal point
# (cx, cy).
float64[9]  K # 3x3 row-major matrix

# Rectification matrix (stereo cameras only)
# A rotation matrix aligning the camera coordinate system to the ideal
# stereo image plane so that epipolar lines in both stereo images are
# parallel.
float64[9]  R # 3x3 row-major matrix

# Projection/camera matrix
#     [fx'  0  cx' Tx]
# P = [ 0  fy' cy' Ty]
#     [ 0   0   1   0]
# By convention, this matrix specifies the intrinsic (camera) matrix
#  of the processed (rectified) image. That is, the left 3x3 portion
#  is the normal camera intrinsic matrix for the rectified image.
# It projects 3D points in the camera coordinate frame to 2D pixel
#  coordinates using the focal lengths (fx', fy') and principal point
#  (cx', cy') - these may differ from the values in K.
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
#  also have R = the identity and P[1:3,1:3] = K.
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the
#  position of the optical center of the second camera in the first
#  camera's frame. We assume Tz = 0 so both cameras are in the same
#  stereo image plane. The first camera always has Tx = Ty = 0. For
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and
#  Tx = -fx' * B, where B is the baseline between the cameras.
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto
#  the rectified image is given by:
#  [u v w]' = P * [X Y Z 1]'
#         x = u / w
#         y = v / w
#  This holds for both images of a stereo pair.
float64[12] P # 3x4 row-major matrix


#######################################################################
#                      Operational Parameters                         #
#######################################################################
# These define the image region actually captured by the camera       #
# driver. Although they affect the geometry of the output image, they #
# may be changed freely without recalibrating the camera.             #
#######################################################################

# Binning refers here to any camera setting which combines rectangular
#  neighborhoods of pixels into larger "super-pixels." It reduces the
#  resolution of the output image to
#  (width / binning_x) x (height / binning_y).
# The default values binning_x = binning_y = 0 is considered the same
#  as binning_x = binning_y = 1 (no subsampling).
uint32 binning_x
uint32 binning_y

# Region of interest (subwindow of full camera resolution), given in
#  full resolution (unbinned) image coordinates. A particular ROI
#  always denotes the same window of pixels on the camera sensor,
#  regardless of binning settings.
# The default setting of roi (all values 0) is considered the same as
#  full resolution (roi.width = width, roi.height = height).
RegionOfInterest roi

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

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

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

================================================================================
MSG: sensor_msgs/Image
# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#

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

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

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.

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

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

================================================================================
MSG: calibration_msgs/CalibrationPattern
Header header
geometry_msgs/Point[] object_points
geometry_msgs/Point[] image_points
uint8 success

================================================================================
MSG: calibration_msgs/LaserMeasurement
Header header
string laser_id
sensor_msgs/JointState[] joint_points

# True -> The extra debugging fields are populated
bool verbose

# Extra, partially processed data. Only needed for debugging
calibration_msgs/DenseLaserSnapshot snapshot
sensor_msgs/Image laser_image
calibration_msgs/CalibrationPattern image_features
calibration_msgs/JointStateCalibrationPattern joint_features

================================================================================
MSG: sensor_msgs/JointState
# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.


Header header

string[] name
float64[] position
float64[] velocity
float64[] effort

================================================================================
MSG: calibration_msgs/DenseLaserSnapshot
# Provides all the state & sensor information for
# a single sweep of laser attached to some mechanism.
# Most likely, this will be used with PR2's tilting laser mechanism
Header header

# Store the laser intrinsics. This is very similar to the
# intrinsics commonly stored in 
float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]
float32 time_increment   # time between measurements [seconds]
float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]

# Define the size of the binary data
uint32 readings_per_scan    # (Width)
uint32 num_scans            # (Height)

# 2D Arrays storing laser data.
# We can think of each type data as being a single channel image.
# Each row of the image has data from a single scan, and scans are
# concatenated to form the entire 'image'.
float32[] ranges            # (Image data)
float32[] intensities       # (Image data)

# Store the start time of each scan
time[] scan_start

================================================================================
MSG: calibration_msgs/JointStateCalibrationPattern
Header header
geometry_msgs/Point[]  object_points
sensor_msgs/JointState[] joint_points


================================================================================
MSG: calibration_msgs/ChainMeasurement
Header header
string chain_id
sensor_msgs/JointState chain_state

"""
  __slots__ = ['sample_id','target_id','chain_id','M_cam','M_laser','M_chain']
  _slot_types = ['string','string','string','calibration_msgs/CameraMeasurement[]','calibration_msgs/LaserMeasurement[]','calibration_msgs/ChainMeasurement[]']

  def __init__(self, *args, **kwds):
    """
    Constructor. Any message fields that are implicitly/explicitly
    set to None will be assigned a default value. The recommend
    use is keyword arguments as this is more robust to future message
    changes.  You cannot mix in-order arguments and keyword arguments.

    The available fields are:
       sample_id,target_id,chain_id,M_cam,M_laser,M_chain

    :param args: complete set of field values, in .msg order
    :param kwds: use keyword arguments corresponding to message field names
    to set specific fields.
    """
    if args or kwds:
      super(RobotMeasurement, self).__init__(*args, **kwds)
      #message fields cannot be None, assign default values for those that are
      if self.sample_id is None:
        self.sample_id = ''
      if self.target_id is None:
        self.target_id = ''
      if self.chain_id is None:
        self.chain_id = ''
      if self.M_cam is None:
        self.M_cam = []
      if self.M_laser is None:
        self.M_laser = []
      if self.M_chain is None:
        self.M_chain = []
    else:
      self.sample_id = ''
      self.target_id = ''
      self.chain_id = ''
      self.M_cam = []
      self.M_laser = []
      self.M_chain = []

  def _get_types(self):
    """
    internal API method
    """
    return self._slot_types

  def serialize(self, buff):
    """
    serialize message into buffer
    :param buff: buffer, ``StringIO``
    """
    try:
      _x = self.sample_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.target_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.chain_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.M_cam)
      buff.write(_struct_I.pack(length))
      for val1 in self.M_cam:
        _v1 = val1.header
        buff.write(_struct_I.pack(_v1.seq))
        _v2 = _v1.stamp
        _x = _v2
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v1.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.camera_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.image_points)
        buff.write(_struct_I.pack(length))
        for val2 in val1.image_points:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v3 = val1.cam_info
        _v4 = _v3.header
        buff.write(_struct_I.pack(_v4.seq))
        _v5 = _v4.stamp
        _x = _v5
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v4.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v3
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v3.distortion_model
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v3.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v3.D))
        buff.write(_struct_9d.pack(*_v3.K))
        buff.write(_struct_9d.pack(*_v3.R))
        buff.write(_struct_12d.pack(*_v3.P))
        _x = _v3
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v6 = _v3.roi
        _x = _v6
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        buff.write(_struct_B.pack(val1.verbose))
        _v7 = val1.image
        _v8 = _v7.header
        buff.write(_struct_I.pack(_v8.seq))
        _v9 = _v8.stamp
        _x = _v9
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v8.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v7
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v7.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v7
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v7.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v10 = val1.image_rect
        _v11 = _v10.header
        buff.write(_struct_I.pack(_v11.seq))
        _v12 = _v11.stamp
        _x = _v12
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v11.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v10
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v10.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v10
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v10.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v13 = val1.features
        _v14 = _v13.header
        buff.write(_struct_I.pack(_v14.seq))
        _v15 = _v14.stamp
        _x = _v15
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v14.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v13.object_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v13.object_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v13.image_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v13.image_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_B.pack(_v13.success))
      length = len(self.M_laser)
      buff.write(_struct_I.pack(length))
      for val1 in self.M_laser:
        _v16 = val1.header
        buff.write(_struct_I.pack(_v16.seq))
        _v17 = _v16.stamp
        _x = _v17
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v16.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.laser_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.joint_points)
        buff.write(_struct_I.pack(length))
        for val2 in val1.joint_points:
          _v18 = val2.header
          buff.write(_struct_I.pack(_v18.seq))
          _v19 = _v18.stamp
          _x = _v19
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v18.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.name)
          buff.write(_struct_I.pack(length))
          for val3 in val2.name:
            length = len(val3)
            if python3 or type(val3) == unicode:
              val3 = val3.encode('utf-8')
              length = len(val3)
            buff.write(struct.pack('<I%ss'%length, length, val3))
          length = len(val2.position)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val2.position))
          length = len(val2.velocity)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val2.velocity))
          length = len(val2.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val2.effort))
        buff.write(_struct_B.pack(val1.verbose))
        _v20 = val1.snapshot
        _v21 = _v20.header
        buff.write(_struct_I.pack(_v21.seq))
        _v22 = _v21.stamp
        _x = _v22
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v21.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v20
        buff.write(_struct_6f2I.pack(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans))
        length = len(_v20.ranges)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *_v20.ranges))
        length = len(_v20.intensities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(struct.pack(pattern, *_v20.intensities))
        length = len(_v20.scan_start)
        buff.write(_struct_I.pack(length))
        for val3 in _v20.scan_start:
          _x = val3
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _v23 = val1.laser_image
        _v24 = _v23.header
        buff.write(_struct_I.pack(_v24.seq))
        _v25 = _v24.stamp
        _x = _v25
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v24.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v23
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v23.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v23
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v23.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v26 = val1.image_features
        _v27 = _v26.header
        buff.write(_struct_I.pack(_v27.seq))
        _v28 = _v27.stamp
        _x = _v28
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v27.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v26.object_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v26.object_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v26.image_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v26.image_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_B.pack(_v26.success))
        _v29 = val1.joint_features
        _v30 = _v29.header
        buff.write(_struct_I.pack(_v30.seq))
        _v31 = _v30.stamp
        _x = _v31
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v30.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v29.object_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v29.object_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v29.joint_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v29.joint_points:
          _v32 = val3.header
          buff.write(_struct_I.pack(_v32.seq))
          _v33 = _v32.stamp
          _x = _v33
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v32.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.name)
          buff.write(_struct_I.pack(length))
          for val4 in val3.name:
            length = len(val4)
            if python3 or type(val4) == unicode:
              val4 = val4.encode('utf-8')
              length = len(val4)
            buff.write(struct.pack('<I%ss'%length, length, val4))
          length = len(val3.position)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val3.position))
          length = len(val3.velocity)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val3.velocity))
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(struct.pack(pattern, *val3.effort))
      length = len(self.M_chain)
      buff.write(_struct_I.pack(length))
      for val1 in self.M_chain:
        _v34 = val1.header
        buff.write(_struct_I.pack(_v34.seq))
        _v35 = _v34.stamp
        _x = _v35
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v34.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.chain_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v36 = val1.chain_state
        _v37 = _v36.header
        buff.write(_struct_I.pack(_v37.seq))
        _v38 = _v37.stamp
        _x = _v38
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v37.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v36.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v36.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v36.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v36.position))
        length = len(_v36.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v36.velocity))
        length = len(_v36.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(struct.pack(pattern, *_v36.effort))
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize(self, str):
    """
    unpack serialized message in str into this message instance
    :param str: byte array of serialized message, ``str``
    """
    try:
      if self.M_cam is None:
        self.M_cam = None
      if self.M_laser is None:
        self.M_laser = None
      if self.M_chain is None:
        self.M_chain = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.sample_id = str[start:end].decode('utf-8')
      else:
        self.sample_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.target_id = str[start:end].decode('utf-8')
      else:
        self.target_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.chain_id = str[start:end].decode('utf-8')
      else:
        self.chain_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.M_cam = []
      for i in range(0, length):
        val1 = calibration_msgs.msg.CameraMeasurement()
        _v39 = val1.header
        start = end
        end += 4
        (_v39.seq,) = _struct_I.unpack(str[start:end])
        _v40 = _v39.stamp
        _x = _v40
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v39.frame_id = str[start:end].decode('utf-8')
        else:
          _v39.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.camera_id = str[start:end].decode('utf-8')
        else:
          val1.camera_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.image_points = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.image_points.append(val2)
        _v41 = val1.cam_info
        _v42 = _v41.header
        start = end
        end += 4
        (_v42.seq,) = _struct_I.unpack(str[start:end])
        _v43 = _v42.stamp
        _x = _v43
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v42.frame_id = str[start:end].decode('utf-8')
        else:
          _v42.frame_id = str[start:end]
        _x = _v41
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v41.distortion_model = str[start:end].decode('utf-8')
        else:
          _v41.distortion_model = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v41.D = struct.unpack(pattern, str[start:end])
        start = end
        end += 72
        _v41.K = _struct_9d.unpack(str[start:end])
        start = end
        end += 72
        _v41.R = _struct_9d.unpack(str[start:end])
        start = end
        end += 96
        _v41.P = _struct_12d.unpack(str[start:end])
        _x = _v41
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v44 = _v41.roi
        _x = _v44
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v44.do_rectify = bool(_v44.do_rectify)
        start = end
        end += 1
        (val1.verbose,) = _struct_B.unpack(str[start:end])
        val1.verbose = bool(val1.verbose)
        _v45 = val1.image
        _v46 = _v45.header
        start = end
        end += 4
        (_v46.seq,) = _struct_I.unpack(str[start:end])
        _v47 = _v46.stamp
        _x = _v47
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v46.frame_id = str[start:end].decode('utf-8')
        else:
          _v46.frame_id = str[start:end]
        _x = _v45
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v45.encoding = str[start:end].decode('utf-8')
        else:
          _v45.encoding = str[start:end]
        _x = _v45
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v45.data = str[start:end].decode('utf-8')
        else:
          _v45.data = str[start:end]
        _v48 = val1.image_rect
        _v49 = _v48.header
        start = end
        end += 4
        (_v49.seq,) = _struct_I.unpack(str[start:end])
        _v50 = _v49.stamp
        _x = _v50
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v49.frame_id = str[start:end].decode('utf-8')
        else:
          _v49.frame_id = str[start:end]
        _x = _v48
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v48.encoding = str[start:end].decode('utf-8')
        else:
          _v48.encoding = str[start:end]
        _x = _v48
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v48.data = str[start:end].decode('utf-8')
        else:
          _v48.data = str[start:end]
        _v51 = val1.features
        _v52 = _v51.header
        start = end
        end += 4
        (_v52.seq,) = _struct_I.unpack(str[start:end])
        _v53 = _v52.stamp
        _x = _v53
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v52.frame_id = str[start:end].decode('utf-8')
        else:
          _v52.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v51.object_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v51.object_points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v51.image_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v51.image_points.append(val3)
        start = end
        end += 1
        (_v51.success,) = _struct_B.unpack(str[start:end])
        self.M_cam.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.M_laser = []
      for i in range(0, length):
        val1 = calibration_msgs.msg.LaserMeasurement()
        _v54 = val1.header
        start = end
        end += 4
        (_v54.seq,) = _struct_I.unpack(str[start:end])
        _v55 = _v54.stamp
        _x = _v55
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v54.frame_id = str[start:end].decode('utf-8')
        else:
          _v54.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.laser_id = str[start:end].decode('utf-8')
        else:
          val1.laser_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.joint_points = []
        for i in range(0, length):
          val2 = sensor_msgs.msg.JointState()
          _v56 = val2.header
          start = end
          end += 4
          (_v56.seq,) = _struct_I.unpack(str[start:end])
          _v57 = _v56.stamp
          _x = _v57
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v56.frame_id = str[start:end].decode('utf-8')
          else:
            _v56.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.name = []
          for i in range(0, length):
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val3 = str[start:end].decode('utf-8')
            else:
              val3 = str[start:end]
            val2.name.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.position = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.velocity = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.effort = struct.unpack(pattern, str[start:end])
          val1.joint_points.append(val2)
        start = end
        end += 1
        (val1.verbose,) = _struct_B.unpack(str[start:end])
        val1.verbose = bool(val1.verbose)
        _v58 = val1.snapshot
        _v59 = _v58.header
        start = end
        end += 4
        (_v59.seq,) = _struct_I.unpack(str[start:end])
        _v60 = _v59.stamp
        _x = _v60
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v59.frame_id = str[start:end].decode('utf-8')
        else:
          _v59.frame_id = str[start:end]
        _x = _v58
        start = end
        end += 32
        (_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans,) = _struct_6f2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v58.ranges = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v58.intensities = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v58.scan_start = []
        for i in range(0, length):
          val3 = genpy.Time()
          _x = val3
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          _v58.scan_start.append(val3)
        _v61 = val1.laser_image
        _v62 = _v61.header
        start = end
        end += 4
        (_v62.seq,) = _struct_I.unpack(str[start:end])
        _v63 = _v62.stamp
        _x = _v63
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v62.frame_id = str[start:end].decode('utf-8')
        else:
          _v62.frame_id = str[start:end]
        _x = _v61
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v61.encoding = str[start:end].decode('utf-8')
        else:
          _v61.encoding = str[start:end]
        _x = _v61
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v61.data = str[start:end].decode('utf-8')
        else:
          _v61.data = str[start:end]
        _v64 = val1.image_features
        _v65 = _v64.header
        start = end
        end += 4
        (_v65.seq,) = _struct_I.unpack(str[start:end])
        _v66 = _v65.stamp
        _x = _v66
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v65.frame_id = str[start:end].decode('utf-8')
        else:
          _v65.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v64.object_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v64.object_points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v64.image_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v64.image_points.append(val3)
        start = end
        end += 1
        (_v64.success,) = _struct_B.unpack(str[start:end])
        _v67 = val1.joint_features
        _v68 = _v67.header
        start = end
        end += 4
        (_v68.seq,) = _struct_I.unpack(str[start:end])
        _v69 = _v68.stamp
        _x = _v69
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v68.frame_id = str[start:end].decode('utf-8')
        else:
          _v68.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v67.object_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v67.object_points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v67.joint_points = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.JointState()
          _v70 = val3.header
          start = end
          end += 4
          (_v70.seq,) = _struct_I.unpack(str[start:end])
          _v71 = _v70.stamp
          _x = _v71
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v70.frame_id = str[start:end].decode('utf-8')
          else:
            _v70.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.name = []
          for i in range(0, length):
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val4 = str[start:end].decode('utf-8')
            else:
              val4 = str[start:end]
            val3.name.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.position = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.velocity = struct.unpack(pattern, str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.effort = struct.unpack(pattern, str[start:end])
          _v67.joint_points.append(val3)
        self.M_laser.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.M_chain = []
      for i in range(0, length):
        val1 = calibration_msgs.msg.ChainMeasurement()
        _v72 = val1.header
        start = end
        end += 4
        (_v72.seq,) = _struct_I.unpack(str[start:end])
        _v73 = _v72.stamp
        _x = _v73
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v72.frame_id = str[start:end].decode('utf-8')
        else:
          _v72.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.chain_id = str[start:end].decode('utf-8')
        else:
          val1.chain_id = str[start:end]
        _v74 = val1.chain_state
        _v75 = _v74.header
        start = end
        end += 4
        (_v75.seq,) = _struct_I.unpack(str[start:end])
        _v76 = _v75.stamp
        _x = _v76
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v75.frame_id = str[start:end].decode('utf-8')
        else:
          _v75.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v74.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v74.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v74.position = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v74.velocity = struct.unpack(pattern, str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v74.effort = struct.unpack(pattern, str[start:end])
        self.M_chain.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill


  def serialize_numpy(self, buff, numpy):
    """
    serialize message with numpy array types into buffer
    :param buff: buffer, ``StringIO``
    :param numpy: numpy python module
    """
    try:
      _x = self.sample_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.target_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      _x = self.chain_id
      length = len(_x)
      if python3 or type(_x) == unicode:
        _x = _x.encode('utf-8')
        length = len(_x)
      buff.write(struct.pack('<I%ss'%length, length, _x))
      length = len(self.M_cam)
      buff.write(_struct_I.pack(length))
      for val1 in self.M_cam:
        _v77 = val1.header
        buff.write(_struct_I.pack(_v77.seq))
        _v78 = _v77.stamp
        _x = _v78
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v77.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.camera_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.image_points)
        buff.write(_struct_I.pack(length))
        for val2 in val1.image_points:
          _x = val2
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        _v79 = val1.cam_info
        _v80 = _v79.header
        buff.write(_struct_I.pack(_v80.seq))
        _v81 = _v80.stamp
        _x = _v81
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v80.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v79
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v79.distortion_model
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v79.D)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v79.D.tostring())
        buff.write(_v79.K.tostring())
        buff.write(_v79.R.tostring())
        buff.write(_v79.P.tostring())
        _x = _v79
        buff.write(_struct_2I.pack(_x.binning_x, _x.binning_y))
        _v82 = _v79.roi
        _x = _v82
        buff.write(_struct_4IB.pack(_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify))
        buff.write(_struct_B.pack(val1.verbose))
        _v83 = val1.image
        _v84 = _v83.header
        buff.write(_struct_I.pack(_v84.seq))
        _v85 = _v84.stamp
        _x = _v85
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v84.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v83
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v83.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v83
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v83.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v86 = val1.image_rect
        _v87 = _v86.header
        buff.write(_struct_I.pack(_v87.seq))
        _v88 = _v87.stamp
        _x = _v88
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v87.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v86
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v86.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v86
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v86.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v89 = val1.features
        _v90 = _v89.header
        buff.write(_struct_I.pack(_v90.seq))
        _v91 = _v90.stamp
        _x = _v91
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v90.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v89.object_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v89.object_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v89.image_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v89.image_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_B.pack(_v89.success))
      length = len(self.M_laser)
      buff.write(_struct_I.pack(length))
      for val1 in self.M_laser:
        _v92 = val1.header
        buff.write(_struct_I.pack(_v92.seq))
        _v93 = _v92.stamp
        _x = _v93
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v92.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.laser_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(val1.joint_points)
        buff.write(_struct_I.pack(length))
        for val2 in val1.joint_points:
          _v94 = val2.header
          buff.write(_struct_I.pack(_v94.seq))
          _v95 = _v94.stamp
          _x = _v95
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v94.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val2.name)
          buff.write(_struct_I.pack(length))
          for val3 in val2.name:
            length = len(val3)
            if python3 or type(val3) == unicode:
              val3 = val3.encode('utf-8')
              length = len(val3)
            buff.write(struct.pack('<I%ss'%length, length, val3))
          length = len(val2.position)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val2.position.tostring())
          length = len(val2.velocity)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val2.velocity.tostring())
          length = len(val2.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val2.effort.tostring())
        buff.write(_struct_B.pack(val1.verbose))
        _v96 = val1.snapshot
        _v97 = _v96.header
        buff.write(_struct_I.pack(_v97.seq))
        _v98 = _v97.stamp
        _x = _v98
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v97.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v96
        buff.write(_struct_6f2I.pack(_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans))
        length = len(_v96.ranges)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(_v96.ranges.tostring())
        length = len(_v96.intensities)
        buff.write(_struct_I.pack(length))
        pattern = '<%sf'%length
        buff.write(_v96.intensities.tostring())
        length = len(_v96.scan_start)
        buff.write(_struct_I.pack(length))
        for val3 in _v96.scan_start:
          _x = val3
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _v99 = val1.laser_image
        _v100 = _v99.header
        buff.write(_struct_I.pack(_v100.seq))
        _v101 = _v100.stamp
        _x = _v101
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v100.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v99
        buff.write(_struct_2I.pack(_x.height, _x.width))
        _x = _v99.encoding
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = _v99
        buff.write(_struct_BI.pack(_x.is_bigendian, _x.step))
        _x = _v99.data
        length = len(_x)
        # - if encoded as a list instead, serialize as bytes instead of string
        if type(_x) in [list, tuple]:
          buff.write(struct.pack('<I%sB'%length, length, *_x))
        else:
          buff.write(struct.pack('<I%ss'%length, length, _x))
        _v102 = val1.image_features
        _v103 = _v102.header
        buff.write(_struct_I.pack(_v103.seq))
        _v104 = _v103.stamp
        _x = _v104
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v103.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v102.object_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v102.object_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v102.image_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v102.image_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        buff.write(_struct_B.pack(_v102.success))
        _v105 = val1.joint_features
        _v106 = _v105.header
        buff.write(_struct_I.pack(_v106.seq))
        _v107 = _v106.stamp
        _x = _v107
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v106.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v105.object_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v105.object_points:
          _x = val3
          buff.write(_struct_3d.pack(_x.x, _x.y, _x.z))
        length = len(_v105.joint_points)
        buff.write(_struct_I.pack(length))
        for val3 in _v105.joint_points:
          _v108 = val3.header
          buff.write(_struct_I.pack(_v108.seq))
          _v109 = _v108.stamp
          _x = _v109
          buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
          _x = _v108.frame_id
          length = len(_x)
          if python3 or type(_x) == unicode:
            _x = _x.encode('utf-8')
            length = len(_x)
          buff.write(struct.pack('<I%ss'%length, length, _x))
          length = len(val3.name)
          buff.write(_struct_I.pack(length))
          for val4 in val3.name:
            length = len(val4)
            if python3 or type(val4) == unicode:
              val4 = val4.encode('utf-8')
              length = len(val4)
            buff.write(struct.pack('<I%ss'%length, length, val4))
          length = len(val3.position)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.position.tostring())
          length = len(val3.velocity)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.velocity.tostring())
          length = len(val3.effort)
          buff.write(_struct_I.pack(length))
          pattern = '<%sd'%length
          buff.write(val3.effort.tostring())
      length = len(self.M_chain)
      buff.write(_struct_I.pack(length))
      for val1 in self.M_chain:
        _v110 = val1.header
        buff.write(_struct_I.pack(_v110.seq))
        _v111 = _v110.stamp
        _x = _v111
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v110.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _x = val1.chain_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        _v112 = val1.chain_state
        _v113 = _v112.header
        buff.write(_struct_I.pack(_v113.seq))
        _v114 = _v113.stamp
        _x = _v114
        buff.write(_struct_2I.pack(_x.secs, _x.nsecs))
        _x = _v113.frame_id
        length = len(_x)
        if python3 or type(_x) == unicode:
          _x = _x.encode('utf-8')
          length = len(_x)
        buff.write(struct.pack('<I%ss'%length, length, _x))
        length = len(_v112.name)
        buff.write(_struct_I.pack(length))
        for val3 in _v112.name:
          length = len(val3)
          if python3 or type(val3) == unicode:
            val3 = val3.encode('utf-8')
            length = len(val3)
          buff.write(struct.pack('<I%ss'%length, length, val3))
        length = len(_v112.position)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v112.position.tostring())
        length = len(_v112.velocity)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v112.velocity.tostring())
        length = len(_v112.effort)
        buff.write(_struct_I.pack(length))
        pattern = '<%sd'%length
        buff.write(_v112.effort.tostring())
    except struct.error as se: self._check_types(se)
    except TypeError as te: self._check_types(te)

  def deserialize_numpy(self, str, numpy):
    """
    unpack serialized message in str into this message instance using numpy for array types
    :param str: byte array of serialized message, ``str``
    :param numpy: numpy python module
    """
    try:
      if self.M_cam is None:
        self.M_cam = None
      if self.M_laser is None:
        self.M_laser = None
      if self.M_chain is None:
        self.M_chain = None
      end = 0
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.sample_id = str[start:end].decode('utf-8')
      else:
        self.sample_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.target_id = str[start:end].decode('utf-8')
      else:
        self.target_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      start = end
      end += length
      if python3:
        self.chain_id = str[start:end].decode('utf-8')
      else:
        self.chain_id = str[start:end]
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.M_cam = []
      for i in range(0, length):
        val1 = calibration_msgs.msg.CameraMeasurement()
        _v115 = val1.header
        start = end
        end += 4
        (_v115.seq,) = _struct_I.unpack(str[start:end])
        _v116 = _v115.stamp
        _x = _v116
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v115.frame_id = str[start:end].decode('utf-8')
        else:
          _v115.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.camera_id = str[start:end].decode('utf-8')
        else:
          val1.camera_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.image_points = []
        for i in range(0, length):
          val2 = geometry_msgs.msg.Point()
          _x = val2
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          val1.image_points.append(val2)
        _v117 = val1.cam_info
        _v118 = _v117.header
        start = end
        end += 4
        (_v118.seq,) = _struct_I.unpack(str[start:end])
        _v119 = _v118.stamp
        _x = _v119
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v118.frame_id = str[start:end].decode('utf-8')
        else:
          _v118.frame_id = str[start:end]
        _x = _v117
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v117.distortion_model = str[start:end].decode('utf-8')
        else:
          _v117.distortion_model = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v117.D = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 72
        _v117.K = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 72
        _v117.R = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
        start = end
        end += 96
        _v117.P = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=12)
        _x = _v117
        start = end
        end += 8
        (_x.binning_x, _x.binning_y,) = _struct_2I.unpack(str[start:end])
        _v120 = _v117.roi
        _x = _v120
        start = end
        end += 17
        (_x.x_offset, _x.y_offset, _x.height, _x.width, _x.do_rectify,) = _struct_4IB.unpack(str[start:end])
        _v120.do_rectify = bool(_v120.do_rectify)
        start = end
        end += 1
        (val1.verbose,) = _struct_B.unpack(str[start:end])
        val1.verbose = bool(val1.verbose)
        _v121 = val1.image
        _v122 = _v121.header
        start = end
        end += 4
        (_v122.seq,) = _struct_I.unpack(str[start:end])
        _v123 = _v122.stamp
        _x = _v123
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v122.frame_id = str[start:end].decode('utf-8')
        else:
          _v122.frame_id = str[start:end]
        _x = _v121
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v121.encoding = str[start:end].decode('utf-8')
        else:
          _v121.encoding = str[start:end]
        _x = _v121
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v121.data = str[start:end].decode('utf-8')
        else:
          _v121.data = str[start:end]
        _v124 = val1.image_rect
        _v125 = _v124.header
        start = end
        end += 4
        (_v125.seq,) = _struct_I.unpack(str[start:end])
        _v126 = _v125.stamp
        _x = _v126
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v125.frame_id = str[start:end].decode('utf-8')
        else:
          _v125.frame_id = str[start:end]
        _x = _v124
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v124.encoding = str[start:end].decode('utf-8')
        else:
          _v124.encoding = str[start:end]
        _x = _v124
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v124.data = str[start:end].decode('utf-8')
        else:
          _v124.data = str[start:end]
        _v127 = val1.features
        _v128 = _v127.header
        start = end
        end += 4
        (_v128.seq,) = _struct_I.unpack(str[start:end])
        _v129 = _v128.stamp
        _x = _v129
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v128.frame_id = str[start:end].decode('utf-8')
        else:
          _v128.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v127.object_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v127.object_points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v127.image_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v127.image_points.append(val3)
        start = end
        end += 1
        (_v127.success,) = _struct_B.unpack(str[start:end])
        self.M_cam.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.M_laser = []
      for i in range(0, length):
        val1 = calibration_msgs.msg.LaserMeasurement()
        _v130 = val1.header
        start = end
        end += 4
        (_v130.seq,) = _struct_I.unpack(str[start:end])
        _v131 = _v130.stamp
        _x = _v131
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v130.frame_id = str[start:end].decode('utf-8')
        else:
          _v130.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.laser_id = str[start:end].decode('utf-8')
        else:
          val1.laser_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        val1.joint_points = []
        for i in range(0, length):
          val2 = sensor_msgs.msg.JointState()
          _v132 = val2.header
          start = end
          end += 4
          (_v132.seq,) = _struct_I.unpack(str[start:end])
          _v133 = _v132.stamp
          _x = _v133
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v132.frame_id = str[start:end].decode('utf-8')
          else:
            _v132.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val2.name = []
          for i in range(0, length):
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val3 = str[start:end].decode('utf-8')
            else:
              val3 = str[start:end]
            val2.name.append(val3)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val2.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          val1.joint_points.append(val2)
        start = end
        end += 1
        (val1.verbose,) = _struct_B.unpack(str[start:end])
        val1.verbose = bool(val1.verbose)
        _v134 = val1.snapshot
        _v135 = _v134.header
        start = end
        end += 4
        (_v135.seq,) = _struct_I.unpack(str[start:end])
        _v136 = _v135.stamp
        _x = _v136
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v135.frame_id = str[start:end].decode('utf-8')
        else:
          _v135.frame_id = str[start:end]
        _x = _v134
        start = end
        end += 32
        (_x.angle_min, _x.angle_max, _x.angle_increment, _x.time_increment, _x.range_min, _x.range_max, _x.readings_per_scan, _x.num_scans,) = _struct_6f2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v134.ranges = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sf'%length
        start = end
        end += struct.calcsize(pattern)
        _v134.intensities = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v134.scan_start = []
        for i in range(0, length):
          val3 = genpy.Time()
          _x = val3
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          _v134.scan_start.append(val3)
        _v137 = val1.laser_image
        _v138 = _v137.header
        start = end
        end += 4
        (_v138.seq,) = _struct_I.unpack(str[start:end])
        _v139 = _v138.stamp
        _x = _v139
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v138.frame_id = str[start:end].decode('utf-8')
        else:
          _v138.frame_id = str[start:end]
        _x = _v137
        start = end
        end += 8
        (_x.height, _x.width,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v137.encoding = str[start:end].decode('utf-8')
        else:
          _v137.encoding = str[start:end]
        _x = _v137
        start = end
        end += 5
        (_x.is_bigendian, _x.step,) = _struct_BI.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v137.data = str[start:end].decode('utf-8')
        else:
          _v137.data = str[start:end]
        _v140 = val1.image_features
        _v141 = _v140.header
        start = end
        end += 4
        (_v141.seq,) = _struct_I.unpack(str[start:end])
        _v142 = _v141.stamp
        _x = _v142
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v141.frame_id = str[start:end].decode('utf-8')
        else:
          _v141.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v140.object_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v140.object_points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v140.image_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v140.image_points.append(val3)
        start = end
        end += 1
        (_v140.success,) = _struct_B.unpack(str[start:end])
        _v143 = val1.joint_features
        _v144 = _v143.header
        start = end
        end += 4
        (_v144.seq,) = _struct_I.unpack(str[start:end])
        _v145 = _v144.stamp
        _x = _v145
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v144.frame_id = str[start:end].decode('utf-8')
        else:
          _v144.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v143.object_points = []
        for i in range(0, length):
          val3 = geometry_msgs.msg.Point()
          _x = val3
          start = end
          end += 24
          (_x.x, _x.y, _x.z,) = _struct_3d.unpack(str[start:end])
          _v143.object_points.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v143.joint_points = []
        for i in range(0, length):
          val3 = sensor_msgs.msg.JointState()
          _v146 = val3.header
          start = end
          end += 4
          (_v146.seq,) = _struct_I.unpack(str[start:end])
          _v147 = _v146.stamp
          _x = _v147
          start = end
          end += 8
          (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            _v146.frame_id = str[start:end].decode('utf-8')
          else:
            _v146.frame_id = str[start:end]
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          val3.name = []
          for i in range(0, length):
            start = end
            end += 4
            (length,) = _struct_I.unpack(str[start:end])
            start = end
            end += length
            if python3:
              val4 = str[start:end].decode('utf-8')
            else:
              val4 = str[start:end]
            val3.name.append(val4)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          pattern = '<%sd'%length
          start = end
          end += struct.calcsize(pattern)
          val3.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
          _v143.joint_points.append(val3)
        self.M_laser.append(val1)
      start = end
      end += 4
      (length,) = _struct_I.unpack(str[start:end])
      self.M_chain = []
      for i in range(0, length):
        val1 = calibration_msgs.msg.ChainMeasurement()
        _v148 = val1.header
        start = end
        end += 4
        (_v148.seq,) = _struct_I.unpack(str[start:end])
        _v149 = _v148.stamp
        _x = _v149
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v148.frame_id = str[start:end].decode('utf-8')
        else:
          _v148.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          val1.chain_id = str[start:end].decode('utf-8')
        else:
          val1.chain_id = str[start:end]
        _v150 = val1.chain_state
        _v151 = _v150.header
        start = end
        end += 4
        (_v151.seq,) = _struct_I.unpack(str[start:end])
        _v152 = _v151.stamp
        _x = _v152
        start = end
        end += 8
        (_x.secs, _x.nsecs,) = _struct_2I.unpack(str[start:end])
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        start = end
        end += length
        if python3:
          _v151.frame_id = str[start:end].decode('utf-8')
        else:
          _v151.frame_id = str[start:end]
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        _v150.name = []
        for i in range(0, length):
          start = end
          end += 4
          (length,) = _struct_I.unpack(str[start:end])
          start = end
          end += length
          if python3:
            val3 = str[start:end].decode('utf-8')
          else:
            val3 = str[start:end]
          _v150.name.append(val3)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v150.position = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v150.velocity = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        start = end
        end += 4
        (length,) = _struct_I.unpack(str[start:end])
        pattern = '<%sd'%length
        start = end
        end += struct.calcsize(pattern)
        _v150.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
        self.M_chain.append(val1)
      return self
    except struct.error as e:
      raise genpy.DeserializationError(e) #most likely buffer underfill

_struct_I = genpy.struct_I
_struct_B = struct.Struct("<B")
_struct_12d = struct.Struct("<12d")
_struct_9d = struct.Struct("<9d")
_struct_BI = struct.Struct("<BI")
_struct_6f2I = struct.Struct("<6f2I")
_struct_2I = struct.Struct("<2I")
_struct_4IB = struct.Struct("<4IB")
_struct_3d = struct.Struct("<3d")