public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//map
if (map == null)
{
map = new Messages.sensor_msgs.PointCloud2();
}
pieces.Add(map.Serialize(true));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//map
map = new Messages.sensor_msgs.PointCloud2();
map.Randomize();
}
//[System.Diagnostics.DebuggerStepThrough]
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
object __thing;
//map
map = new Messages.sensor_msgs.PointCloud2(SERIALIZEDSTUFF, ref currentIndex);
}
public void subCallback(Messages.sensor_msgs.PointCloud2 msg)
{
//msg = recentMsg;
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
//print("in callback");
if (!theCloud[current_cloud_buffer].isStarted)
{
print("theCloud is not started");
return;
}
Dictionary <string, uint> fieldOffset = new Dictionary <string, uint>();
for (int i = 0; i < msg.fields.Length; i++)
{
fieldOffset.Add(msg.fields[i].name, msg.fields[i].offset);
//print(msg.fields[i].name + " " + msg.fields[i].offset + " " + msg.fields[i].datatype);
}
uint offset_x = fieldOffset["x"];
uint offset_y = fieldOffset["y"];
uint offset_z = fieldOffset["z"];
uint offset_rgb = fieldOffset["rgb"];
int shape_vertex_count = vertexCount[pointShape];
int numPoints = (msg.data.Length / ((int)msg.point_step)) + 1;
//print(numPoints);
bool shouldIncreaseTriangles = theCloud[current_cloud_buffer].numPoints_in_triangle_buffer < numPoints;
if (shouldIncreaseTriangles || hard_recalculate_triangles)
{
theCloud[current_cloud_buffer].recalculateTriangles(numPoints, indices[pointShape], vertexCount[pointShape]);
hard_recalculate_triangles = false;
}
stopWatch.Stop();
//print("Triangle Calculation Run Time " + stopWatch.ElapsedMilliseconds);
stopWatch.Reset();
stopWatch.Start();
//print("---------------------------------------------------------------------------------------------------------------");
//print(vertexAccumulation.Length);
theCloud[current_cloud_buffer].vertexBuffers[theCloud[current_cloud_buffer].whichBuffer] = new Vector3[theCloud[current_cloud_buffer].numPoints_in_triangle_buffer * vertexCount[pointShape]];
theCloud[current_cloud_buffer].colorBuffers[theCloud[current_cloud_buffer].whichBuffer] = new Color[theCloud[current_cloud_buffer].numPoints_in_triangle_buffer * vertexCount[pointShape]];
//print("---------------------------------------------------------------------------------------------------------------");
pointNum = 0;
//print("---------------------------------------------------------------------------------------------------------------");
for (int i = 0; i < msg.data.Length; i += (int)msg.point_step)
{
float x = ToFloat(msg.data[i + offset_x + 0], msg.data[i + offset_x + 1], msg.data[i + offset_x + 2], msg.data[i + offset_x + 3]);
float y = -1 * ToFloat(msg.data[i + offset_y + 0], msg.data[i + offset_y + 1], msg.data[i + offset_y + 2], msg.data[i + offset_y + 3]);// + 1.2F;
float z = ToFloat(msg.data[i + offset_z + 0], msg.data[i + offset_z + 1], msg.data[i + offset_z + 2], msg.data[i + offset_z + 3]);
float b = ToInt(0, 0, 0, msg.data[i + offset_rgb + 0]) * 0.00392156862F;
float g = ToInt(0, 0, 0, msg.data[i + offset_rgb + 1]) * 0.00392156862F;
float r = ToInt(0, 0, 0, msg.data[i + offset_rgb + 2]) * 0.00392156862F;
Color c = new Color(r, g, b, 1);
addPoint(x, y, z, c);
}
//print("---------------------------------------------------------------------------------------------------------------");
theCloud[current_cloud_buffer].whichBuffer = (theCloud[current_cloud_buffer].whichBuffer + 1) % 2;
theCloud[current_cloud_buffer].updateVertexData = true;
if (include_color)
{
theCloud[current_cloud_buffer].updateColorData = true;
}
if (shouldIncreaseTriangles)
{
theCloud[current_cloud_buffer].updateTriangleData = true;
}
current_cloud_buffer++;
if (current_cloud_buffer >= theCloud.Length)
{
current_cloud_buffer = 0;
}
stopWatch.Stop();
//print("Vertex Calculation Run Time " + stopWatch.ElapsedMilliseconds);
//print("------------------------------------------------------------------finished callback" + pointNum);
}
