private void PublishFrame(object sender, HololensRobotController.WindowsSensors.FrameEventArgs e)
{
int[] structuredTime = HololensRobotController.Utilities.Timer.GetSecondsNanosecondsStructure(e.TimeSpan);
RosSharp.RosBridgeClient.Messages.Sensor.Image image = new RosSharp.RosBridgeClient.Messages.Sensor.Image();
image.header.frame_id = Config.Mono;
image.header.stamp.secs = structuredTime[0];
image.header.stamp.nsecs = structuredTime[1];
image.header.seq = frameNo++;
image.data = e.Buffer;
image.encoding = e.Encoding;
image.is_bigendian = 0;
image.height = (int)e.Height;
image.width = (int)e.Width;
image.step = (int)e.Step;
publisher.Publish(image);
System.Diagnostics.Debug.WriteLine("Mono camera sent frame-" + image.header.seq + " at time " + ((double)structuredTime[0] + ((double)structuredTime[1]) / 1e9).ToString());
}
public virtual void OnFrameReadyToPublish(HololensRobotController.WindowsSensors.FrameEventArgs e)
{
FrameReadyToPublish?.Invoke(this, e);
}