public static void GUI(this MapMetaDataMsg message)
{
GUILayout.Label($"Load time: {message.map_load_time.ToTimestampString()}");
GUILayout.Label($"Resolution: {message.resolution}");
GUILayout.Label($"Size: {message.width}x{message.height}");
message.origin.GUI();
}
public OccupancyGridMsg(JSONNode msg)
{
_header = new HeaderMsg(msg["header"]);
_info = new MapMetaDataMsg(msg["info"]);
_data = new sbyte[msg["data"].Count];
for (int i = 0; i < _data.Length; i++)
{
_data[i] = sbyte.Parse(msg["data"][i]);
}
}
public void NewOcupanceGridMsg(OccupancyGridMsg msg)
{
MapMetaDataMsg metaData = msg.GetInfo();
sbyte[] AlturasRecibidas = msg.GetData();
float _resolutionMap = msg.GetInfo().GetResolution();
int _width = (int)(metaData.Getwidth());
int _height = (int)(metaData.Getheight());
_originPosition = msg.GetInfo().GetOrigin().GetPositionUnity();
td = new TerrainData();
if (_width > _height)
{
td.heightmapResolution = _width;
}
else
{
td.heightmapResolution = _height;
}
td.size = new Vector3(_width * _resolutionMap, _elevation, _height * _resolutionMap);
xRes = td.heightmapResolution;
yRes = td.heightmapResolution;
heights = td.GetHeights(0, 0, xRes, yRes);
for (int filas = 0; filas < yRes; filas++)
{
for (int columna = 0; columna < xRes; columna++)
{
heights[filas, columna] = AlturasRecibidas[(int)(columna * _width / xRes) + (int)(filas * _height / yRes) * _width] / 100;
}
}
td.SetHeights(0, 0, heights);
td.terrainLayers = new TerrainLayer[1] {
new TerrainLayer {
diffuseTexture = texture, tileSize = new Vector2(2, 2)
}
};
t = Terrain.CreateTerrainGameObject(td).GetComponent <Terrain>();
t.transform.position = _originPosition;
t.gameObject.layer = 18;
gameObject.SendMessage("MapLoaded", t, SendMessageOptions.DontRequireReceiver);
}
public OccupancyGridMsg(HeaderMsg header, TextAsset pgmFile, float resolution, Vector3 origin)
{
_header = header;
_data = LoadImage(pgmFile, out uint width, out uint height);
_info = new MapMetaDataMsg(new TimeMsg(0, 0), resolution, width, height, new PoseMsg(origin, Quaternion.identity, false));
}
public OccupancyGridMsg(HeaderMsg header, MapMetaDataMsg info, sbyte[] data)
{
_header = header;
_info = info;
_data = data;
}
