示例#1
0
        public override void Randomize()
        {
            int    arraylength = -1;
            Random rand        = new Random();
            int    strlength;

            byte[] strbuf, myByte;

            //header
            header = new Header();
            header.Randomize();
            //cloud
            cloud = new Messages.sensor_msgs.PointCloud2();
            cloud.Randomize();
            //polygons
            arraylength = rand.Next(10);
            if (polygons == null)
            {
                polygons = new Messages.pcl_msgs.Vertices[arraylength];
            }
            else
            {
                Array.Resize(ref polygons, arraylength);
            }
            for (int i = 0; i < polygons.Length; i++)
            {
                //polygons[i]
                polygons[i] = new Messages.pcl_msgs.Vertices();
                polygons[i].Randomize();
            }
        }
示例#2
0
        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);
            //cloud
            cloud = new Messages.sensor_msgs.PointCloud2(SERIALIZEDSTUFF, ref currentIndex);
            //polygons
            hasmetacomponents |= true;
            arraylength        = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
            currentIndex      += Marshal.SizeOf(typeof(System.Int32));
            if (polygons == null)
            {
                polygons = new Messages.pcl_msgs.Vertices[arraylength];
            }
            else
            {
                Array.Resize(ref polygons, arraylength);
            }
            for (int i = 0; i < polygons.Length; i++)
            {
                //polygons[i]
                polygons[i] = new Messages.pcl_msgs.Vertices(SERIALIZEDSTUFF, ref currentIndex);
            }
        }
示例#3
0
        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));
            //cloud
            if (cloud == null)
            {
                cloud = new Messages.sensor_msgs.PointCloud2();
            }
            pieces.Add(cloud.Serialize(true));
            //polygons
            hasmetacomponents |= true;
            if (polygons == null)
            {
                polygons = new Messages.pcl_msgs.Vertices[0];
            }
            pieces.Add(BitConverter.GetBytes(polygons.Length));
            for (int i = 0; i < polygons.Length; i++)
            {
                //polygons[i]
                if (polygons[i] == null)
                {
                    polygons[i] = new Messages.pcl_msgs.Vertices();
                }
                pieces.Add(polygons[i].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);
        }