void MapChange(RosMap mapMsg)
{
_mapData = mapMsg.data;
_mapInfo = mapMsg.info;
float sizez = _mapInfo.width * _mapInfo.resolution;
float sizex = _mapInfo.height * _mapInfo.resolution;
Vector3 OriginUnity = new Vector3(-(float)_mapInfo.origin.position.y, (float)_mapInfo.origin.position.z, (float)_mapInfo.origin.position.x);
//_mapOrigin.position = _conversion.ros2unityCoord(_mapInfo.origin.position);
//_mapOrigin.rotation = _conversion.ros2unityOrientation(_mapInfo.origin.orientation);
meshVerticies[0] = new Vector3(0f, 0f, 0f);
meshVerticies[1] = new Vector3(-sizex, 0f, 0f);
meshVerticies[2] = new Vector3(0f, 0f, sizez);
meshVerticies[3] = new Vector3(-sizex, 0f, sizez);
mesh.vertices = meshVerticies;
_recievedMap.Resize(((int)_mapInfo.width), ((int)_mapInfo.height));
_recievedMap.LoadRawTextureData((byte[])(System.Array)_mapData);
_recievedMap.Apply();
meshRenderer.material.SetTexture("_MainTex", _recievedMap);
mesh.RecalculateBounds();
uvs = new Vector2[4];
uvs[0] = new Vector2(0, 0);
uvs[1] = new Vector2(0, 1);
uvs[2] = new Vector2(1, 0);
uvs[3] = new Vector2(1, 1);
mesh.uv = uvs;
Vector3[] normals = mesh.normals;
for (int i = 0; i < normals.Length; i++)
{
normals[i] = Vector3.up;
}
mesh.normals = normals;
MapMesh.transform.localPosition = OriginUnity;
MapMesh.transform.localScale = new Vector3(1f, 1f, 1f);
}
public OccupancyGridMsg(Std.HeaderMsg header, MapMetaDataMsg info, sbyte[] data)
{
this.header = header;
this.info = info;
this.data = data;
}
private OccupancyGridMsg(MessageDeserializer deserializer)
{
this.header = Std.HeaderMsg.Deserialize(deserializer);
this.info = MapMetaDataMsg.Deserialize(deserializer);
deserializer.Read(out this.data, sizeof(sbyte), deserializer.ReadLength());
}
public OccupancyGridMsg()
{
this.header = new Std.HeaderMsg();
this.info = new MapMetaDataMsg();
this.data = new sbyte[0];
}
