public new static void CallBack(ROSBridgeMsg msg)
{
PointCloud2Msg pointCloudMsg = (PointCloud2Msg)msg;
if (verbose)
{
StringBuilder sb = new StringBuilder();
sb.Append(pointCloudMsg.GetHeader().GetSeq());
sb.Append(":\n");
sb.AppendFormat("Size: {0} X {1} = {2}\n", pointCloudMsg.GetWidth(), pointCloudMsg.GetHeight(), pointCloudMsg.GetWidth() * pointCloudMsg.GetHeight());
sb.Append(pointCloudMsg.GetFieldString());
Debug.Log(sb.ToString());
}
LidarVisualizer visualizer = GameObject.Find(rendererObjectName).GetComponent <LidarVisualizer>();
visualizer.SetPointCloud(pointCloudMsg.GetCloud());
}
private IEnumerator DrawCloud(PointCloud2Msg cloud_msg)
{
PointCloud2Prefab converter = new PointCloud2Prefab(cloud_msg.GetPoints(), cloud_msg.GetColors(), cloud_msg.GetHeader().GetSeq(), matVertex);
GameObject cloud_go = converter.GetPrefab();
cloud_go.transform.position = new Vector3(0.0f, 0.0f, 0.0f);
cloud_go.transform.rotation = new Quaternion(0.0f, 0.0f, 0.0f, 1);
cloud_go.transform.parent = pointCloudContainer.transform;
cloud_go.SetActive(true); // activate Point Cloud in Unity
yield return(null);
}