public void PclPointsGenarate()
{
//int a_ = 10;
PointData Ori = new PointData();
Ori.Coordinate = new Vector3();
Ori.Coordinate.Z = 0;
float r_ = 50;
float sph_r = 10;
float xt = 0;
int lasterId = 0;
while (true)
{
xt += 0.2f;
// 创建一系列point点
// 创建一个移动的球体
Ori.Coordinate.X = r_ * (float)Math.Cos((double)xt);
Ori.Coordinate.Y = r_ * (float)Math.Sin((double)xt);
PointDataList l_ = new PointDataList();
for (float xita = -0.5f * (float)Math.PI; xita <= 0.5f * (float)Math.PI; xita += 0.1f)
{
for (float fai = 0; fai <= 2 * Math.PI; fai += 0.1f)
{
// 循环创建
PointData p_ = new PointData();
p_.LaserId = lasterId;
p_.Coordinate = new Vector3();
p_.Coordinate.X = Ori.Coordinate.X + sph_r * (float)(Math.Sin((double)xita) * Math.Cos((double)fai));
p_.Coordinate.Y = Ori.Coordinate.Y + sph_r * (float)(Math.Sin((double)xita) * Math.Sin((double)fai));
p_.Coordinate.Z = Ori.Coordinate.Z + sph_r * (float)Math.Cos((double)xita);
l_.Points.Add(p_);
lasterId += 1;
}
}
/*
* PointDataList l_ = new PointDataList ();
* for(int t_ = 0;t_ < 800;t_++){
* PointData p_ = new PointData ();
* p_.LaserId = t_ + a_;
* p_.Coordinate = new Vector3 ();
* p_.Coordinate.X = t_ + a_ ;
* p_.Coordinate.Y = t_ + 1 + a_ ;
* p_.Coordinate.Z = t_ + 2 + a_;
* p_.Radius = t_ * 100 + a_;
* p_.Inclination = t_ * 100 + 10 + a_;
* p_.Azimuth = t_ * 100 + 20 + a_;
* l_.Points.Add (p_);
* }
* a_ += 10;
*/
// 进行发送
// SendPointsEvent(l_);
SendPointCloud(l_);
Thread.Sleep(sleepTime);
}
}
public void SendPointCloud(PointDataList list)
{
// 讲 point 进行序列化
if (list.Points.Count < 1)
{
return;
}
try{
Stopwatch sw = new Stopwatch();
sw.Start();
// 进行及时
//using(Google.Protobuf.CodedOutputStream output = new Google.Protobuf.CodedOutputStream())
byte[] stream = new byte[list.CalculateSize()];
CodedOutputStream output = new CodedOutputStream(stream);
list.WriteTo(output);
PclPointCloudMessage msg = new PclPointCloudMessage();
msg.length = stream.Length;
msg.data = stream;
SendPointsBytesEvent(msg.MsgFormat());
sw.Stop();
Console.WriteLine("ListTest " + sw.ElapsedMilliseconds + " 毫秒,数组长度：" + stream.Length);
}
catch (Exception e) {
}
}
