private void Start()
{
this.pointCloud = new Vector3[0];
subscriber = this.GetComponent <SubscribePointCloud2>();
subscriber.AddListenerToNewPointCloud(NewPointCloud);
materialPropertyBlock = new MaterialPropertyBlock();
CreateCubeMesh();
}
static public GameObject PointCloud2(string name, string defaultTopic, bool canTransform)
{
GameObject pc2GameObject = new GameObject(name);
SubscribePointCloud2 subscribe = pc2GameObject.AddComponent <SubscribePointCloud2>();
VisualizePointCloud2 visualize = pc2GameObject.AddComponent <VisualizePointCloud2>();
subscribe.Topic = defaultTopic;
MyExposeToEditor myExposeToEditor = pc2GameObject.AddComponent <MyExposeToEditor>();
myExposeToEditor.CanTransform = canTransform;
myExposeToEditor.ShowTransform = canTransform;
pc2GameObject.tag = "RosData";
return(pc2GameObject);
}
static public GameObject PointCloud2(string name, string defaultTopic, bool canTransform, bool startSubscribe, Color color)
{
GameObject pc2GameObject = new GameObject(name);//Create gameObj that name is 'name'
SubscribePointCloud2 subscribe = pc2GameObject.AddComponent <SubscribePointCloud2>();
VisualizePointCloud2 visualize = pc2GameObject.AddComponent <VisualizePointCloud2>();
subscribe.Topic = defaultTopic;
subscribe.Enabled = startSubscribe;
visualize.PointColor = color;
MyExposeToEditor myExposeToEditor = pc2GameObject.AddComponent <MyExposeToEditor>();
myExposeToEditor.CanTransform = canTransform;
myExposeToEditor.ShowTransform = canTransform;
pc2GameObject.tag = "RosData";
return(pc2GameObject);
}
