public static void GUI(this MeshMsg message)
{
foreach (PointMsg p in message.vertices)
{
p.GUI();
}
foreach (MeshTriangleMsg tri in message.triangles)
{
tri.GUI();
}
}
/// <summary>
/// Parses jsonMsgs and populates meshDicts
/// </summary>
private void ParseJSON()
{
while (true)
{
// Check if any json msgs have been recieved
if (jsonMsgs.Count > 0)
{
Debug.Log("JSON Message Count: " + jsonMsgs.Count);
// Parse json msg to mesh msg
DateTime startTime = DateTime.Now;
JSONNode rawMsg = jsonMsgs.Dequeue();
MeshMsg meshMsg = new MeshMsg(rawMsg);
// meshMsgs.Enqueue(meshMsg);
Debug.Log("Message Generation: " + DateTime.Now.Subtract(startTime).TotalMilliseconds.ToString() + "ms");
startTime = DateTime.Now;
meshDicts.Enqueue(visualizer.generateMesh(meshMsg));
Debug.Log("Generate MeshArray: " + DateTime.Now.Subtract(startTime).TotalMilliseconds.ToString() + "ms");
}
}
}
/// <summary>
/// Generates a dictionary of MeshArrays specified by the message.
/// </summary>
/// <param name="meshMsg">Voxblox Mesh message to generate Meshes with.</param>
/// <returns>A dictionary of MeshArrays.</returns>
public Dictionary <long[], MeshArray> generateMesh(MeshMsg meshMsg)
{
Dictionary <Int64[], MeshArray> generated_mesh_dict = new Dictionary <long[], MeshArray>(new LongArrayEqualityComparer());
/// The length of one block. Also the scaling factor of the coordinates.
float scale_factor = meshMsg.GetBlockEdgeLength();
/// List of all the mesh blocks.
MeshBlockMsg[] mesh_blocks = meshMsg.GetMeshBlocks();
/// Iterate through each mesh block generating and updating meshes for each.
for (int i = 0; i < mesh_blocks.Length; i++)
{
/// index of the mesh block.
Int64[] index = mesh_blocks[i].GetIndex();
ushort[] x = mesh_blocks[i].GetX();
ushort[] y = mesh_blocks[i].GetY();
ushort[] z = mesh_blocks[i].GetZ();
// Create a list of vertices and their corresponding colors.
List <Vector3> newVertices = new List <Vector3>();
List <Color> newColors = new List <Color>();
// update indicies, converting from block index to global position transforms.
for (int j = 0; j < x.Length; j++)
{
float zv = ((float)z[j] / 32768.0f + index[2]) * scale_factor;
float xv = ((float)x[j] / 32768.0f + index[0]) * scale_factor;
float yv = ((float)y[j] / 32768.0f + index[1]) * scale_factor;
if (flipYZ)
{
newVertices.Add(new Vector3(xv, zv, yv));
}
else
{
newVertices.Add(new Vector3(xv, yv, zv));
}
}
// update colors
byte[] r = mesh_blocks[i].GetR();
byte[] g = mesh_blocks[i].GetG();
byte[] b = mesh_blocks[i].GetB();
for (int j = 0; j < r.Length; j++)
{
newColors.Add(new Color32(r[j], g[j], b[j], alpha));
}
// Vertices come in triples each corresponding to one face.
int[] newTriangles = new int[newVertices.Count / 3 * 3];
for (int j = 0; j < newTriangles.Length; j++)
{
newTriangles[j] = j;
}
// correct for inverted mesh. By reversing the lists, the normal vectors point the right direction.
newVertices.Reverse();
newColors.Reverse();
generated_mesh_dict[index] = new MeshArray(newVertices.ToArray(), newTriangles, newColors.ToArray());
}
return(generated_mesh_dict);
}
