protected override void ReceiveMessage(BoundingBoxes message)
{
Debug.Log($"Recieve BoundingBoxes: {message.bboxes.Length}");
Dictionary <int, Bounds> boundsDict = new Dictionary <int, Bounds>();
for (int i = 0; i < message.bboxes.Length; i++)
{
BoundingBox bbox = message.bboxes[i];
Vector3 minPtRos = new Vector3(bbox.xmin, bbox.ymin, bbox.zmin);
Vector3 maxnPtRos = new Vector3(bbox.xmax, bbox.ymax, bbox.zmax);
Vector3 minPt = CoordinateConvert.RosToUnity(minPtRos);
Vector3 maxPt = CoordinateConvert.RosToUnity(maxnPtRos);
Bounds bounds = new Bounds();
bounds.SetMinMax(minPt, maxPt);
boundsDict.Add((int)bbox.bbox_id, bounds);
}
NewBoundingBoxesListeners.Invoke(boundsDict);
}
protected override void BeforeUnsubscribe()
{
NewBoundingBoxesListeners.Invoke(null);
}