public string GetFieldValue(PointField field)
{
switch (field)
{
case PointField.Id: return this.Id;
case PointField.Coord1: return this.Coord1.Text;
case PointField.Coord2: return this.Coord2.Text;
case PointField.Coord3: return this.Coord3.Text;
case PointField.Code: return this.Code;
default:
throw new ArgumentException("Unsupported field: " + field.ToString());
}
}
public void SetFieldValue(PointField field, string value)
{
switch (field)
{
case PointField.Id:
this.Id = value;
break;
case PointField.Coord1:
this.Coord1.Text = value;
break;
case PointField.Coord2:
this.Coord2.Text = value;
break;
case PointField.Coord3:
this.Coord3.Text = value;
break;
case PointField.Code:
this.Code = value;
break;
default:
throw new ArgumentException("Unsupported field: " + field.ToString());
}
}
public virtual string GetFieldName(PointField field)
{
return field.ToString();
}
public override string GetFieldName(PointField field)
{
switch (field)
{
case PointField.Coord1: return "ɸ";
case PointField.Coord2: return "λ";
case PointField.Coord3: return "H";
default: return base.GetFieldName(field);
}
}
// ================================================================================ Inspector
public override void OnInspectorGui()
{
var settings = BGPrivateField.GetSettings(Curve);
BGEditorUtility.HelpBox("Curve UI is disabled in settings. All handles are disabled too.", MessageType.Warning, !settings.ShowCurve);
BGEditorUtility.Assign(ref customUi, () => new TableUi("Custom fields", new[] { "#", "Name", "Type", "?", "Delete" }, new[] { 5, 40, 40, 5, 10 }));
BGEditorUtility.Assign(ref systemUi, () => new TableUi("System fields", new[] { "Name", "Value" }, new[] { LabelWidth, 100 - LabelWidth }));
BGEditorUtility.Assign(ref systemFields, () => new[]
{
(SystemField) new SystemFieldPosition(settings),
new SystemFieldControls(settings),
new SystemFieldControlsType(settings),
new SystemFieldTransform(settings),
});
var fields = Curve.Fields;
var hasFields = fields != null && fields.Length > 0;
if (hasFields && (customFields == null || customFields.Length != fields.Length) || !hasFields && customFields != null && customFields.Length != fields.Length)
{
customFields = new PointField[fields.Length];
for (var i = 0; i < fields.Length; i++)
{
customFields[i] = new PointField(fields[i], i, deleteIcon);
}
}
//warnings
BGEditorUtility.HelpBox("All handles for positions are disabled.", MessageType.Warning, settings.HandlesSettings.Disabled);
BGEditorUtility.HelpBox("All handles for controls are disabled.", MessageType.Warning, settings.ControlHandlesSettings.Disabled);
//====================== Custom fields
customUi.Init();
//add row
customUi.NextColumn(rect => EditorGUI.LabelField(rect, "Name"), 12);
customUi.NextColumn(rect => newFieldName = EditorGUI.TextField(rect, newFieldName), 28);
customUi.NextColumn(rect => BGEditorUtility.PopupField(rect, newFieldType, @enum => newFieldType = (BGCurvePointField.TypeEnum)@enum), 50);
customUi.NextColumn(rect =>
{
if (!GUI.Button(rect, addIcon))
{
return;
}
if (NameHasError(Curve, newFieldName))
{
return;
}
BGPrivateField.Invoke(Curve, BGCurve.MethodAddField, newFieldName, newFieldType, (Func <BGCurvePointField>)(() => Undo.AddComponent <BGCurvePointField>(Curve.gameObject)));
GUIUtility.hotControl = 0;
GUIUtility.ExitGUI();
}, 10);
customUi.NextRow();
var warning = "";
if (customFields == null || customFields.Length == 0)
{
customUi.NextRow("Name should be 16 chars max, starts with a letter and contain English chars and numbers only.");
}
else
{
//header
customUi.DrawHeaders();
//fields
var quaternionWithHandlesCount = 0;
BGEditorUtility.ChangeCheck(() =>
{
foreach (var customField in customFields)
{
if (customField.Field.Type == BGCurvePointField.TypeEnum.Quaternion && BGPrivateField.GetHandlesType(customField.Field) != 0)
{
quaternionWithHandlesCount++;
}
customField.Ui(customUi);
}
}, SceneView.RepaintAll);
if (quaternionWithHandlesCount > 1)
{
warning = "You have more than one Quaternion field with Handles enabled. Only first field will be shown in Scene View";
}
//footer
customUi.NextRow("?- Show in Points Menu/Scene View");
}
//inform layout manager
GUILayoutUtility.GetRect(customUi.Width, customUi.Height);
BGEditorUtility.HelpBox(warning, MessageType.Warning, warning.Length > 0);
//====================== System fields
systemUi.Init();
BGEditorUtility.ChangeCheck(() =>
{
foreach (var field in systemFields)
{
field.Ui(systemUi);
}
}, SceneView.RepaintAll);
//inform layout manager
GUILayoutUtility.GetRect(systemUi.Width, systemUi.Height);
GUILayout.Space(4);
}
protected override void ReceiveMessage(PointCloud2 message)
{
uint x_offset = 0;
uint y_offset = 4;
uint z_offset = 8;
uint color_offset = 16;
bool colorEnabled = false;
for (int j = 0; j < message.fields.Length; j++)
{
PointField field = message.fields[j];
if (field.name == "x")
{
x_offset = field.offset;
}
else if (field.name == "y")
{
y_offset = field.offset;
}
else if (field.name == "z")
{
z_offset = field.offset;
}
else if (field.name == "rgb")
{
color_offset = field.offset;
colorEnabled = true;
}
}
size = message.data.GetLength(0);
int i = 0;
byteArray = new byte[size];
foreach (byte temp in message.data)
{
byteArray[i] = temp; //byte型を取得
i++;
}
point_step = message.point_step;
size = size / (int)point_step;
// PointCloud2生データをUnity座標系の3次元点群に変換
Vector3[] pcl = new Vector3[size];
Color[] colors = new Color[size];
for (int n = 0; n < size; n++)
{
// yte型をfloatに変換
int x_posi = n * (int)point_step + (int)x_offset;
int y_posi = n * (int)point_step + (int)y_offset;
int z_posi = n * (int)point_step + (int)z_offset;
int color_posi = n * (int)point_step + (int)color_offset;
float x = BitConverter.ToSingle(byteArray, x_posi);
float y = BitConverter.ToSingle(byteArray, y_posi);
float z = BitConverter.ToSingle(byteArray, z_posi);
Vector3 RosPosition = new Vector3(x, y, z);
Vector3 UnityPosition = CoordinateConvert.RosToUnity(RosPosition);
pcl[n] = UnityPosition;
//
if (colorEnabled)
{
byte b = byteArray[color_posi];
byte g = byteArray[color_posi + 1];
byte r = byteArray[color_posi + 2];
colors[n] = new Color(r / 255f, g / 255f, b / 255f);
}
}
this.pointCloud = pcl;
this.rgbColors = colorEnabled ? colors : null;
NewPointCloudListeners.Invoke(pointCloud, rgbColors);
}