private void InitializeMessage()
{
message = new SensorPointCloud2();
message.header = new StandardHeader();
message.data = new byte[messageLength];
DepthArray = new byte[messageLength];
}
public PointCloud(SensorPointCloud2 sensorPointCloud2)
{
int I = sensorPointCloud2.data.Length / sensorPointCloud2.point_step;
Points = new Point[I];
byte[] byteSlice = new byte[sensorPointCloud2.point_step];
for (int i = 0; i < I; i++)
{
Array.Copy(sensorPointCloud2.data, i * sensorPointCloud2.point_step, byteSlice, 0, sensorPointCloud2.point_step);
Points[i] = new Point(byteSlice);
}
}
private void ReceiveMessage(object sender, MessageEventArgs e)
{
pointCloudData = ((SensorPointCloud2)e.Message);
isMessageReceived = true;
}