Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/PointCloud2.cs

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+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// PointCloud2 message (sensor_msgs/PointCloud2)
+/// This message holds a collection of N-dimensional points, which may
+/// contain additional information such as normals, intensity, etc. The
+/// point data is stored as a binary blob, its layout described by the
+/// contents of the "fields" array.
+/// </summary>
+public struct PointCloud2
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Height of the cloud
+    /// </summary>
+    public uint Height { get; set; }
+
+    /// <summary>
+    /// Width of the cloud
+    /// </summary>
+    public uint Width { get; set; }
+
+    /// <summary>
+    /// Describes the channels and their layout in the binary data blob
+    /// </summary>
+    public PointField[] Fields { get; set; }
+
+    /// <summary>
+    /// Is this data bigendian?
+    /// </summary>
+    public bool IsBigendian { get; set; }
+
+    /// <summary>
+    /// Length of a point in bytes
+    /// </summary>
+    public uint PointStep { get; set; }
+
+    /// <summary>
+    /// Length of a row in bytes
+    /// </summary>
+    public uint RowStep { get; set; }
+
+    /// <summary>
+    /// Actual point data, size is (row_step*height)
+    /// </summary>
+    public byte[] Data { get; set; }
+
+    /// <summary>
+    /// True if there are no invalid points
+    /// </summary>
+    public bool IsDense { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public PointCloud2()
+    {
+        Header = new Header();
+        Height = 0;
+        Width = 0;
+        Fields = Array.Empty<PointField>();
+        IsBigendian = false;
+        PointStep = 0;
+        RowStep = 0;
+        Data = Array.Empty<byte>();
+        IsDense = false;
+    }
+}
+
+/// <summary>
+/// PointField message (sensor_msgs/PointField)
+/// This message holds the description of one point entry in the PointCloud2 message format
+/// </summary>
+public struct PointField
+{
+    /// <summary>
+    /// Point field name constants
+    /// </summary>
+    public const string NameX = "x";
+    public const string NameY = "y";
+    public const string NameZ = "z";
+    public const string NameRgb = "rgb";
+    public const string NameIntensity = "intensity";
+
+    /// <summary>
+    /// Name of field
+    /// </summary>
+    public string Name { get; set; }
+
+    /// <summary>
+    /// Offset from start of point struct
+    /// </summary>
+    public uint Offset { get; set; }
+
+    /// <summary>
+    /// Datatype enumeration constants
+    /// </summary>
+    public const byte Int8 = 1;
+    public const byte Uint8 = 2;
+    public const byte Int16 = 3;
+    public const byte Uint16 = 4;
+    public const byte Int32 = 5;
+    public const byte Uint32 = 6;
+    public const byte Float32 = 7;
+    public const byte Float64 = 8;
+
+    /// <summary>
+    /// Datatype enumeration (Datatype constants)
+    /// </summary>
+    public byte Datatype { get; set; }
+
+    /// <summary>
+    /// How many elements in field
+    /// </summary>
+    public uint Count { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public PointField()
+    {
+        Name = string.Empty;
+        Offset = 0;
+        Datatype = 0;
+        Count = 0;
+    }
+}
+