void Start()
{
// Give all the required components to the gameObject.
GameObject rosbridge = GameObject.Find("RosBridge");
if (null == rosbridge)
{
Debug.Log("PointCloudRenderer.cs: RosBridge object not found.");
}
subscriber = rosbridge.GetComponent <PointCloudSubscriber>();
if (subscriber == null)
{
Debug.Log("PointCloudRenderer.cs: Pointcloud subscriber component not found.");
}
meshRenderer = gameObject.AddComponent <MeshRenderer>();
mf = gameObject.AddComponent <MeshFilter>();
meshRenderer.material = new Material(Shader.Find("Custom/PointCloudShader"));
mesh = new Mesh
{
indexFormat = UnityEngine.Rendering.IndexFormat.UInt32
};
transform.position = offset.position;
transform.rotation = offset.rotation;
}
private void LateUpdate()
{
#if ENABLE_WINMD_SUPPORT
// update depth map texture
Debug.Log("last update");
if (startRealtimePreview && researchMode.DepthMapTextureUpdated())
{
if (!mediaTexture)
{
mediaTexture = new Texture2D(512, 512, TextureFormat.Alpha8, false);
mediaMaterial.mainTexture = mediaTexture;
}
// byte[] frameTexture = researchMode.GetDepthMapTextureBuffer();
// ushort[] depth = researchMode.GetDepthMapBuffer();
float[] pointCloud = researchMode.GetPointCloudBuffer();
//if (frameTexture.Length > 0)
//{
// if (frameData == null)
// {
// frameData = frameTexture;
// }
// else
// {
// System.Buffer.BlockCopy(frameTexture, 0, frameData, 0, frameData.Length);
// }
// if (frameData != null)
// {
// Debug.Log("data updated");
// //File.WriteAllBytes(Application.persistentDataPath + "/depthData.dat", frameData);
// mediaTexture.LoadRawTextureData(frameData);
// mediaTexture.Apply();
// }
//}
//if (depth.Length > 0)
//{
// var byteArray = new byte[depth.Length * 2];
// Buffer.BlockCopy(depth, 0, byteArray, 0, byteArray.Length);
// File.WriteAllBytes(String.Format(Application.persistentDataPath+"/"+"depth_{0}.dat", frame), byteArray);
// Debug.Log("depthData written");
//}
if (pointCloud.Length > 0)
{
PointCloudSubscriber.ReceiveMessage(pointCloud);
//var byteArray2 = new byte[pointCloud.Length * 4];
//Buffer.BlockCopy(pointCloud, 0, byteArray2, 0, byteArray2.Length);
//File.WriteAllBytes(String.Format(Application.persistentDataPath+"/"+"pointCloud_{0}.dat", frame), byteArray2);
//Debug.Log(pointCloud[0]);
//Debug.Log(pointCloud[1]);
//Debug.Log(pointCloud[2]);
Debug.Log("research mode: point cloud data written");
}
}
#endif
}
/// <summary>
/// Called before first frame.
/// Sets up variables in order to communicate with PointCloudSubscriber
/// </summary>
void Start()
{
// Find ROS Connection in order to access point data
GameObject g = GameObject.FindGameObjectWithTag("ROSManager");
p = g.GetComponent <PointCloudSubscriber>();
InvokeRepeating("FixedUpdateEx", 0.5f, 0.5f);
}
//private HandJoints joints;
void Start()
{
rm = new ResearchMode();
PointCloudSubscriber.startTimer();
ResearchMode.StartPreviewEvent();
//PointCloudRenderer.toggleView();
//joints = gameObject.AddComponent<HandJoints>();
//joints.toggleRecording();
}
void UpdateMesh()
{
runningFrame++;
positions = PointCloudSubscriber.GetPCL(runningFrame);
Debug.Log("Renderer: points received");
if (positions == null || positions.Length == 0)
{
Debug.Log("Empty array");
return;
}
int size = positions.Length;
colours = new Color[size];
Debug.Log(size);
for (int n = 0; n < size; n++)
{
//pcl[n] = new Vector3(points[n * 3], points[n * 3 + 1], points[n * 3 + 2]);
colours[n] = new Color(1, 1, 1, 1);
}
mf.mesh.Clear();
Mesh mesh2 = new Mesh
{
// Use 32 bit integer values for the mesh, allows for stupid amount of vertices (2,147,483,647 I think?)
indexFormat = UnityEngine.Rendering.IndexFormat.UInt32
};
mesh2.vertices = positions;
mesh2.colors = colours;
int[] indices = new int[positions.Length];
for (int i = 0; i < positions.Length; i++)
{
indices[i] = i;
}
mesh2.SetIndices(indices, MeshTopology.Points, 0);
mesh2.RecalculateNormals();
mf.mesh = mesh2;
Debug.Log("Renderer: points updated");
}
