public static Frame ToUnityFrame(this ROSFrame src)
{
Frame dest = new Frame();
dest.accX = src.accX;
dest.accY = src.accY;
dest.accZ = src.accZ;
dest.angle_increment = src.angle_increment;
dest.angle_min = src.angle_min;
dest.angle_max = src.angle_max;
dest.frameid = src.frameid;
dest.gyrX = src.gyrX;
dest.gyrY = src.gyrY;
dest.gyrZ = src.gyrZ;
dest.img = src.img;
dest.imgfmt = src.imgfmt;
dest.intensities = src.intensities;
dest.posX = src.posX;
dest.posY = src.posY;
dest.posZ = src.posZ;
dest.rotX = src.rotX;
dest.rotY = src.rotY;
dest.rotZ = src.rotZ;
dest.seq = src.seq;
dest.ranges = src.ranges;
dest.range_min = src.range_min;
dest.range_max = src.range_max;
dest.timestamp = (float)src.timestamp.secs + (src.timestamp.nsecs / 1000f);
return(dest);
}
public static Frame LoadFrame(RosSharp.RosBridgeClient.MessageTypes.WorldMapper.Frame message)
{
Frame frame = new Frame();
frame.seq = message.seq;
frame.timestamp = (float)message.timestamp.secs + (((float)message.timestamp.nsecs) / 1000f);
frame.frameid = message.frameid;
frame.accX = message.accX;
frame.accY = message.accY;
frame.accZ = message.accZ;
frame.posX = message.posX;
frame.posY = message.posY;
frame.posZ = message.posZ;
frame.rotX = message.rotX;
frame.rotY = message.rotY;
frame.rotZ = message.rotZ;
frame.gyrX = message.gyrX;
frame.gyrY = message.gyrY;
frame.gyrZ = message.gyrZ;
frame.angle_min = message.angle_min;
frame.angle_max = message.angle_max;
frame.angle_increment = message.angle_increment;
frame.range_min = message.range_min;
frame.range_max = message.range_max;
frame.ranges = message.ranges;
frame.intensities = message.intensities;
frame.img = message.img;
frame.imgfmt = message.imgfmt;
return(frame);
}
public static ROSFrame ToROSFrame(this Frame src)
{
ROSFrame dest = new ROSFrame();
dest.accX = src.accX;
dest.accY = src.accY;
dest.accZ = src.accZ;
dest.angle_increment = src.angle_increment;
dest.angle_min = src.angle_min;
dest.angle_max = src.angle_max;
dest.frameid = src.frameid;
dest.gyrX = src.gyrX;
dest.gyrY = src.gyrY;
dest.gyrZ = src.gyrZ;
dest.img = src.img;
dest.imgfmt = src.imgfmt;
dest.intensities = src.intensities;
dest.posX = src.posX;
dest.posY = src.posY;
dest.posZ = src.posZ;
dest.rotX = src.rotX;
dest.rotY = src.rotY;
dest.rotZ = src.rotZ;
dest.seq = src.seq;
dest.ranges = src.ranges;
dest.range_min = src.range_min;
dest.range_max = src.range_max;
dest.timestamp = new ROSTime((uint)Mathf.FloorToInt(src.timestamp), (uint)Mathf.RoundToInt((src.timestamp - Mathf.Floor(src.timestamp)) * 1000));
return(dest);
}
public Frame(RosSharp.RosBridgeClient.MessageTypes.WorldMapper.Frame frame)
{
seq = frame.seq;
timestamp = (float)frame.timestamp.secs + ((float)frame.timestamp.nsecs / 1000f);
frameid = frame.frameid;
posX = frame.posX;
posY = frame.posY;
posZ = frame.posZ;
rotX = frame.rotX;
rotY = frame.rotY;
rotZ = frame.rotZ;
accX = frame.accX;
accY = frame.accY;
accZ = frame.accZ;
gyrX = frame.gyrX;
gyrY = frame.gyrY;
gyrZ = frame.gyrZ;
angle_min = frame.angle_min;
angle_max = frame.angle_max;
angle_increment = frame.angle_increment;
range_min = frame.range_min;
range_max = frame.range_max;
ranges = frame.ranges;
intensities = frame.intensities;
img = frame.img;
imgfmt = frame.imgfmt;
}