Remove .meta files. Fix PointCloud messages.

sensor_msgs/PointCloud2Msg.cs

@@ -2,11 +2,13 @@
 using ROSBridgeLib.std_msgs;
 using UnityEngine;
 using PointCloud;
+using System.Text;
 
 /**
  * Define a PointCloud2 message.
  *  
- * @author Miquel Massot Campos
+ * @author Miquel Massot Campos; Yuzhou Liu
+ * 
  */
 
 namespace ROSBridgeLib {
@@ -28,29 +30,30 @@ public PointCloud2Msg(JSONNode msg) {
 				_height = uint.Parse(msg ["height"]);
 				_width = uint.Parse(msg ["width"]);
 				_is_bigendian = msg["is_bigendian"].AsBool;
-				_is_dense = msg["is_dense"].AsBool;
-				_point_step = uint.Parse(msg ["point_step"]);
-				_row_step = uint.Parse(msg ["row_step"]);
                 _fields = new PointFieldMsg[msg["fields"].Count];
                 for (int i = 0; i < _fields.Length; i++)
                 {
                     _fields[i] = new PointFieldMsg(msg["fields"][i]);
                 }
+                _point_step = uint.Parse(msg["point_step"]);
+                _row_step = uint.Parse(msg["row_step"]);
                 _data = System.Convert.FromBase64String(msg["data"]);
-                _cloud = ReadData(_data);
-			}
+                //_cloud = ReadData(_data);
+                _is_dense = msg["is_dense"].AsBool;
+            }
 
-			public PointCloud2Msg(HeaderMsg header, uint height, uint width, PointFieldMsg fields, bool is_bigendian, uint point_step, uint row_step, byte[] data, bool is_dense) {
+			public PointCloud2Msg(HeaderMsg header, uint height, uint width, PointFieldMsg[] fields, bool is_bigendian, uint point_step, uint row_step, byte[] data, bool is_dense) {
 				_header = header;
 				_height = height;
 				_width = width;
-				//_fields = fields;
-				_is_dense = is_dense;
+				_fields = fields;
 				_is_bigendian = is_bigendian;
 				_point_step = point_step;
 				_row_step = row_step;
-				_cloud = ReadData(data);
-			}
+                _data = data;
+                //_cloud = ReadData(data);
+                _is_dense = is_dense;
+            }
 
 			private PointCloud<PointXYZRGB> ReadData(byte[] byteArray) {
 				PointCloud<PointXYZRGB> cloud = new PointCloud<PointXYZRGB> ();
@@ -89,35 +92,85 @@ public uint GetRowStep() {
 				return _row_step;
 			}
 
-			public PointCloud<PointXYZRGB> GetCloud() {
-				return _cloud;
-			}
+			//public PointCloud<PointXYZRGB> GetCloud() {
+				//return _cloud;
+			//}
 
 			public static string GetMessageType() {
 				return "sensor_msgs/PointCloud2";
 			}
 
 			public override string ToString() {
 				return "PointCloud2 [header=" + _header.ToString() +
-						"height=" + _height +
-						"width=" + _width +
-						//"fields=" + _fields.ToString() +
-						"is_bigendian=" + _is_bigendian +
-						"is_dense=" + _is_dense +
-						"point_step=" + _point_step +
-						"row_step=" + _row_step + "]";
+					   ", height=" + _height +
+					   ", width=" + _width +
+                       ", fields=" + _fields.ToString() +
+                       ", is_bigendian=" + _is_bigendian +
+                       ", point_step=" + _point_step +
+                       ", row_step=" + _row_step +
+                       ", data=" + _data.ToString() +
+                       ", is_dense=" + _is_dense + "]";
 			}
 
 			public override string ToYAMLString() {
-				return "{\"header\" :" + _header.ToYAMLString() +
-						"\"height\" :" + _height +
-						"\"width\" :" + _width +
-						//"\"fields\" :" + _fields.ToYAMLString() +
-						"\"is_bigendian\" :" + _is_bigendian +
-						"\"is_dense\" :" + _is_dense +
-						"\"point_step\" :" + _point_step +
-						"\"row_step\" :" + _row_step + "}";
+
+                string fields_array = "[";
+                for (int i = 0; i < _fields.Length; i++)
+                {
+                    fields_array = fields_array + _fields[i].ToYAMLString();
+                    if (_fields.Length - i > 1)
+                        fields_array += ",";
+                }
+                fields_array += "]";
+
+                /*string data_array = "[";
+                for (int i = 0; i < _data.Length; i++)
+                {
+                    data_array = data_array + _data[i];
+                    if (_data.Length - i > 1)
+                        data_array += ",";
+                }
+                data_array += "]";*/
+                StringBuilder data_sb = new StringBuilder();
+                data_sb.Append("[");
+                for (int i = 0; i < _data.Length; i++)
+                {
+                    data_sb.Append(_data[i]);
+                    if (_data.Length - i > 1)
+                        data_sb.Append(",");
+                }
+                data_sb.Append("]");
+
+                string is_bigendian_string;
+                if (_is_bigendian == true){
+                    is_bigendian_string = "true";
+                }
+                else{
+                    is_bigendian_string = "false";
+                }
+
+                string _is_dense_string;
+                if (_is_dense == true)
+                {
+                    _is_dense_string = "true";
+                }
+                else
+                {
+                    _is_dense_string = "false";
+                }
+
+
+                return "{\"header\" : " + _header.ToYAMLString() +
+						", \"height\" : " + _height +
+						", \"width\" : " + _width +
+                        ", \"fields\" : " + fields_array +
+                        ", \"is_bigendian\" : " + is_bigendian_string +
+                        ", \"point_step\" : " + _point_step +
+						", \"row_step\" : " + _row_step +
+                        ", \"data\" : " + data_sb +
+                        ", \"is_dense\" : " + _is_dense_string + 
+                        "}";
 			}
 		}
 	}
-}
+}

sensor_msgs/PointFieldMsg.cs

@@ -61,7 +61,7 @@ public override string ToString() {
 			}
 
 			public override string ToYAMLString() {
-				return "{\"name\" : " + "\"" + _name + "\", \"offset\" : \"" + _offset + "\", \"datatype\" : " + _datatype + "\", \"count\" : " + _count + "}";
+				return "{\"name\" : " + "\"" + _name + "\", \"offset\" : " + _offset + ", \"datatype\" : " + _datatype + ", \"count\" : " + _count + "}";
 			}
 		}
 	}