public override byte[] Serialize(bool partofsomethingelse) { int currentIndex = 0, length = 0; bool hasmetacomponents = false; byte[] thischunk, scratch1, scratch2; List <byte[]> pieces = new List <byte[]>(); GCHandle h; //header if (header == null) { header = new Header(); } pieces.Add(header.Serialize(true)); //height scratch1 = new byte[Marshal.SizeOf(typeof(uint))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(height, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //width scratch1 = new byte[Marshal.SizeOf(typeof(uint))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(width, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //fields hasmetacomponents |= true; if (fields == null) { fields = new Messages.sensor_msgs.PointField[0]; } pieces.Add(BitConverter.GetBytes(fields.Length)); for (int i = 0; i < fields.Length; i++) { //fields[i] if (fields[i] == null) { fields[i] = new Messages.sensor_msgs.PointField(); } pieces.Add(fields[i].Serialize(true)); } //is_bigendian thischunk = new byte[1]; thischunk[0] = (byte)((bool)is_bigendian ? 1 : 0); pieces.Add(thischunk); //point_step scratch1 = new byte[Marshal.SizeOf(typeof(uint))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(point_step, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //row_step scratch1 = new byte[Marshal.SizeOf(typeof(uint))]; h = GCHandle.Alloc(scratch1, GCHandleType.Pinned); Marshal.StructureToPtr(row_step, h.AddrOfPinnedObject(), false); h.Free(); pieces.Add(scratch1); //data hasmetacomponents |= false; if (data == null) { data = new byte[0]; } pieces.Add(BitConverter.GetBytes(data.Length)); pieces.Add((byte[])data); //is_dense thischunk = new byte[1]; thischunk[0] = (byte)((bool)is_dense ? 1 : 0); pieces.Add(thischunk); //combine every array in pieces into one array and return it int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length); int __a_b__e = 0; byte[] __a_b__d = new byte[__a_b__f]; foreach (var __p__ in pieces) { Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length); __a_b__e += __p__.Length; } return(__a_b__d); }