void Update()
{
laser2.defineParameters(maxLeftAngle, maxRightAngle, maxTopAngle, maxBottomAngle, verticalIncrement, horizontalIncrement, maxDistance, 1 << 8, repetitions);
if (run)
{
//this function is resposible for push the correct points to the pcl cloud
if (laser2.runCasterSequentialRep(ref pcl, this, drawRay))
{
//convert from pcl cloud to pcl cloud2
pcl.convertToCloud2();
//create a new mensage to be send
SensorPointCloud2 pc = new SensorPointCloud2();
//from the Pcl cloud2 converted to Ros cloud2 using marshal for better performance
pcl.convertToRosCloud(ref pc, frame_id);
//publish the ros cloud mensage
rosSocket.Publish(publication_id, pc);
//restart pcl cloud
pc = new SensorPointCloud2();
pcl.createPclCloud(0, 0, true);
}
}
}
// Use this for initialization
void Start()
{
pcl.createPclCloud(0, 0, true);
pcl.pushPointToCloud(new Vector3(1, 2, 3));
pcl.convertToCloud2();
SensorPointCloud2 pc = new SensorPointCloud2();
pcl.convertToRosCloud(ref pc, "ok");
Debug.Log("data: " + pc.data[0] + " " + pc.data[1] + " " + pc.data[2] + " " + pc.data[3] + " " + pc.data[4]);
//byte[] data= new byte[0];
//pcl.testByteArray222(ref data);
//Debug.Log("data: "+data[0]+" "+data[1] + " " + data[2] + " " + data[3] + " " + data[4]);
}
