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);
//distortion_model
if (distortion_model == null)
{
distortion_model = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)distortion_model);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//D
hasmetacomponents |= false;
if (D == null)
{
D = new double[0];
}
pieces.Add(BitConverter.GetBytes(D.Length));
for (int i = 0; i < D.Length; i++)
{
//D[i]
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(D[i], h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
}
//K
hasmetacomponents |= false;
if (K == null)
{
K = new double[0];
}
for (int i = 0; i < K.Length; i++)
{
//K[i]
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(K[i], h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
}
//R
hasmetacomponents |= false;
if (R == null)
{
R = new double[0];
}
for (int i = 0; i < R.Length; i++)
{
//R[i]
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(R[i], h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
}
//P
hasmetacomponents |= false;
if (P == null)
{
P = new double[0];
}
for (int i = 0; i < P.Length; i++)
{
//P[i]
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(P[i], h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
}
//binning_x
scratch1 = new byte[Marshal.SizeOf(typeof(uint))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(binning_x, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//binning_y
scratch1 = new byte[Marshal.SizeOf(typeof(uint))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(binning_y, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//roi
if (roi == null)
{
roi = new Messages.sensor_msgs.RegionOfInterest();
}
pieces.Add(roi.Serialize(true));
//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);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//height
height = (uint)rand.Next();
//width
width = (uint)rand.Next();
//distortion_model
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
distortion_model = Encoding.ASCII.GetString(strbuf);
//D
arraylength = rand.Next(10);
if (D == null)
{
D = new double[arraylength];
}
else
{
Array.Resize(ref D, arraylength);
}
for (int i = 0; i < D.Length; i++)
{
//D[i]
D[i] = (rand.Next() + rand.NextDouble());
}
//K
if (K == null)
{
K = new double[9];
}
else
{
Array.Resize(ref K, 9);
}
for (int i = 0; i < K.Length; i++)
{
//K[i]
K[i] = (rand.Next() + rand.NextDouble());
}
//R
if (R == null)
{
R = new double[9];
}
else
{
Array.Resize(ref R, 9);
}
for (int i = 0; i < R.Length; i++)
{
//R[i]
R[i] = (rand.Next() + rand.NextDouble());
}
//P
if (P == null)
{
P = new double[12];
}
else
{
Array.Resize(ref P, 12);
}
for (int i = 0; i < P.Length; i++)
{
//P[i]
P[i] = (rand.Next() + rand.NextDouble());
}
//binning_x
binning_x = (uint)rand.Next();
//binning_y
binning_y = (uint)rand.Next();
//roi
roi = new Messages.sensor_msgs.RegionOfInterest();
roi.Randomize();
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//height
piecesize = Marshal.SizeOf(typeof(uint));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
height = (uint)Marshal.PtrToStructure(h, typeof(uint));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//width
piecesize = Marshal.SizeOf(typeof(uint));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
width = (uint)Marshal.PtrToStructure(h, typeof(uint));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//distortion_model
distortion_model = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
distortion_model = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//D
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (D == null)
{
D = new double[arraylength];
}
else
{
Array.Resize(ref D, arraylength);
}
for (int i = 0; i < D.Length; i++)
{
//D[i]
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
D[i] = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
//K
hasmetacomponents |= false;
if (K == null)
{
K = new double[9];
}
else
{
Array.Resize(ref K, 9);
}
for (int i = 0; i < K.Length; i++)
{
//K[i]
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
K[i] = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
//R
hasmetacomponents |= false;
if (R == null)
{
R = new double[9];
}
else
{
Array.Resize(ref R, 9);
}
for (int i = 0; i < R.Length; i++)
{
//R[i]
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
R[i] = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
//P
hasmetacomponents |= false;
if (P == null)
{
P = new double[12];
}
else
{
Array.Resize(ref P, 12);
}
for (int i = 0; i < P.Length; i++)
{
//P[i]
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
P[i] = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
//binning_x
piecesize = Marshal.SizeOf(typeof(uint));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
binning_x = (uint)Marshal.PtrToStructure(h, typeof(uint));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//binning_y
piecesize = Marshal.SizeOf(typeof(uint));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
binning_y = (uint)Marshal.PtrToStructure(h, typeof(uint));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//roi
roi = new Messages.sensor_msgs.RegionOfInterest(SERIALIZEDSTUFF, ref currentIndex);
}