public override object ConvertTo(ITypeDescriptorContext context, System.Globalization.CultureInfo culture, object value, Type destinationType)
{
if (destinationType == typeof(string))
{
PointXYZRGB point = (PointXYZRGB)value;
return(point.X + " " + point.Y + " " + point.Z + " " + point.R + " " + point.G + " " + point.B);
}
return(base.ConvertTo(context, culture, value, destinationType));
}
// This function should fire on each ros message
public new static void CallBack(ROSBridgeMsg msg)
{
cloud = (PointCloud2Msg)msg;
List <PointXYZRGB> points = (List <PointXYZRGB>)DepthSubscriber.cloud.GetCloud().Points;
PointXYZRGB point = points[0];
Debug.Log(point.R + " | " + point.G + " | " + point.B + " ----- " + point.X + " | " + point.Y + " | " + point.Z);
//Debug.Log("image received");
//Debug.Log("Here is the message received " + msg);
// Update ball position, or whatever
//ball.x = msg.x; // Check msg definition in rosbridgelib
//ball.y = msg.y;
//ball.z = msg.z;
}
private PointCloud <PointXYZRGB> ReadData(byte[] byteArray)
{
PointCloud <PointXYZRGB> cloud = new PointCloud <PointXYZRGB> ();
for (int i = 0; i < _width * _height; i++)
{
float x = System.BitConverter.ToSingle(_data, i * (int)_point_step + 0);
float y = System.BitConverter.ToSingle(_data, i * (int)_point_step + 4);
float z = System.BitConverter.ToSingle(_data, i * (int)_point_step + 8);
float rgb = System.BitConverter.ToSingle(_data, i * (int)_point_step + 16);
if (!float.IsNaN(x + y + z))
{
PointXYZRGB p = new PointXYZRGB(x, y, z, rgb);
cloud.Add(p);
}
}
return(cloud);
}
