public static void CallBack(ROSBridgeMsg msg) //after receiving the ros message
{
PointCloud2Msg cloudm = (PointCloud2Msg)msg; //point cloud message
PointCloud <PointXYZRGB> points = cloudm.GetCloud(); // get data, the data has point location and point color information
PointXYZRGB point; //variable to access information of single point in the list of points
//voxel mesh with triangles
numPoints = points.Size; //number of points received
mpoints = new Vector3[numPoints];
colors = new Color[numPoints];
//store points and colors of the point cloud separately in arrays
for (int i = 0; i < numPoints; i++)
{
point = points.At(i); //point at index i in the list
mpoints[i] = new Vector3(point.X, point.Z, point.Y);
colors[i] = new Color(point.R / 255.0f, point.G / 255.0f, point.B / 255.0f);
}
// generate child meshes
total_meshes = Mathf.CeilToInt(numPoints * 1.0f / Points_limit * 1.0f); //calculate the number of child meshes required
main_mesh = GameObject.Find(Mesh_name); //find the mesh in unity environment
if (main_mesh == null)
{
main_mesh = new GameObject(Mesh_name); //if no mesh found, create one
}
else
{
//do nothing
}
//initialize the mesh
for (int i = 0; i < total_meshes - 1; i++)
{
Mesh_initialization(i, Points_limit);
}
Mesh_initialization(total_meshes - 1, numPoints - (total_meshes - 1) * Points_limit);
}