public static ISpaceRenderer GetSpaceRenderer(SpaceRendererClass src, LidarVisualizer owner)
{
ISpaceRenderer renderer = null;
switch (src)
{
case SpaceRendererClass.BALL:
renderer = new BallRenderer(); // TODO return new implementing class of proper type
break;
case SpaceRendererClass.BALL_LINE:
renderer = new BallLineRenderer();
break;
case SpaceRendererClass.RING_MESH:
renderer = owner.gameObject.AddComponent <RingMeshRenderer>();
break;
}
if (renderer == null)
{
Debug.LogError("Unsupported space renderer was asked for");
}
renderer.Config(owner);
return(renderer);
}
public void Config(LidarVisualizer viz)
{
_owner = viz;
_reserved = new List <float>(_owner.lidarResolution);
for (int i = 0; i < _owner.lidarResolution; i++)
{
_reserved.Add(_owner.randomRange.y * ((float)i / (float)_owner.lidarResolution) - _owner.randomRange.x);
}
}
public void Config(LidarVisualizer viz)
{
_owner = viz;
_r2l = ROS2Listener.instance;
_sub = _r2l.node.CreateSubscription <LaserScan>(
_owner.topic, msg => {
_curScan = msg;
}, ROS2.Utils.QosProfile.Profile.SensorData);
}
public new static void CallBack(ROSBridgeMsg msg)
{
PointCloud2Msg pointCloudMsg = (PointCloud2Msg)msg;
if (verbose)
{
StringBuilder sb = new StringBuilder();
sb.Append(pointCloudMsg.GetHeader().GetSeq());
sb.Append(":\n");
sb.AppendFormat("Size: {0} X {1} = {2}\n", pointCloudMsg.GetWidth(), pointCloudMsg.GetHeight(), pointCloudMsg.GetWidth() * pointCloudMsg.GetHeight());
sb.Append(pointCloudMsg.GetFieldString());
Debug.Log(sb.ToString());
}
LidarVisualizer visualizer = GameObject.Find(rendererObjectName).GetComponent <LidarVisualizer>();
visualizer.SetPointCloud(pointCloudMsg.GetCloud());
}
public void Config(LidarVisualizer viz)
{
_owner = viz;
_reserved = new float[_owner.lidarResolution];
}
public virtual void Config(LidarVisualizer viz)
{
_owner = viz;
_ballPrefab = _owner.ballPrefab;
}
public void Config(LidarVisualizer viz)
{
_owner = viz;
}
public static ILidarDataProvider GetLidarDataProvider(LidarDataProviderClass ldpc, LidarVisualizer owner)
{
ILidarDataProvider provider = null;
switch (ldpc)
{
case LidarDataProviderClass.SIMPLE_RANDOM:
provider = new SimpleRandomDataProvider();
break;
case LidarDataProviderClass.ROS2:
provider = new ROS2LidarSubscription();
break;
}
if (provider == null)
{
Debug.LogError("Unsupported lidar data provider was asked for");
return(null);
}
provider.Config(owner);
return(provider);
}
public static ILidarDataProvider GetLidarDataProvider(LidarDataProviderClass ldpc, LidarVisualizer owner)
{
ILidarDataProvider provider = null;
switch (ldpc)
{
case LidarDataProviderClass.SIMPLE_RANDOM:
provider = new SimpleRandomDataProvider();
break;
case LidarDataProviderClass.ROS1:
#if ROS1_MODULE_LIDAR
ROS1LidarSubscription sub = owner.gameObject.AddComponent <ROS1LidarSubscription>();
sub.Config(owner);
sub.Init();
provider = sub;
#else
Debug.LogError("ROS1 data provider classes not imported!");
#endif
break;
case LidarDataProviderClass.ROS2:
#if ROS2_MODULE_LIDAR
provider = new ROS2LidarSubscription();
#else
Debug.LogError("ROS2 data provider classes not imported!");
#endif
break;
}
if (provider == null)
{
Debug.LogError("Unsupported lidar data provider was asked for");
return(null);
}
provider.Config(owner);
return(provider);
}
public override void Config(LidarVisualizer viz)
{
base.Config(viz);
_material = _owner.ballLineMaterial;
}
