/// <summary> Constructor for empty message. </summary>
public RecognizedObject()
{
Type = new ObjectRecognitionMsgs.ObjectType();
PointClouds = System.Array.Empty <SensorMsgs.PointCloud2>();
BoundingMesh = new ShapeMsgs.Mesh();
BoundingContours = System.Array.Empty <GeometryMsgs.Point>();
Pose = new GeometryMsgs.PoseWithCovarianceStamped();
}
/// <summary> Constructor with buffer. </summary>
internal BoundingVolume(ref Buffer b)
{
Primitives = b.DeserializeArray <ShapeMsgs.SolidPrimitive>();
for (int i = 0; i < Primitives.Length; i++)
{
Primitives[i] = new ShapeMsgs.SolidPrimitive(ref b);
}
PrimitivePoses = b.DeserializeStructArray <GeometryMsgs.Pose>();
Meshes = b.DeserializeArray <ShapeMsgs.Mesh>();
for (int i = 0; i < Meshes.Length; i++)
{
Meshes[i] = new ShapeMsgs.Mesh(ref b);
}
MeshPoses = b.DeserializeStructArray <GeometryMsgs.Pose>();
}
/// <summary> Explicit constructor. </summary>
public ObjectInformation(string Name, ShapeMsgs.Mesh GroundTruthMesh, SensorMsgs.PointCloud2 GroundTruthPointCloud)
{
this.Name = Name;
this.GroundTruthMesh = GroundTruthMesh;
this.GroundTruthPointCloud = GroundTruthPointCloud;
}
/// <summary> Constructor with buffer. </summary>
internal ObjectInformation(ref Buffer b)
{
Name = b.DeserializeString();
GroundTruthMesh = new ShapeMsgs.Mesh(ref b);
GroundTruthPointCloud = new SensorMsgs.PointCloud2(ref b);
}
/// <summary> Constructor for empty message. </summary>
public ObjectInformation()
{
Name = string.Empty;
GroundTruthMesh = new ShapeMsgs.Mesh();
GroundTruthPointCloud = new SensorMsgs.PointCloud2();
}
