public new static void CallBack(ROSBridgeMsg msg)
{
ImageMsg image = (ImageMsg)msg;
byte[] color_data = image.GetImage();
int height = (int)image.GetHeight();
int width = (int)image.GetWidth();
int step = (int)image.GetRowStep();
Texture2D tex = new Texture2D(width, height, TextureFormat.RGB24, false);
Color[] colors = new Color[width * height];
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
byte B = color_data[j * step + i * 3];
byte G = color_data[j * step + i * 3 + 1];
byte R = color_data[j * step + i * 3 + 2];
Color c = new Color((float)R / 255.0f, (float)G / 255.0f, (float)B / 255.0f);
colors[j * width + i] = c;
//tex.SetPixel(i, height - j, c);
}
}
tex.SetPixels(colors);
tex.Apply();
GameObject cam_image = GameObject.Find("CameraImage");
cam_image.GetComponent <RawImage>().texture = tex;
}
public new static void CallBack(ROSBridgeMsg msg)
{
ImageMsg image = (ImageMsg)msg;
int curr = num;
num++;
if (verbose)
{
Debug.Log("Start processing " + curr);
}
uint width = image.GetWidth();
uint height = image.GetHeight();
byte[] raw_data = image.GetImage();
RawImage texObj = GameObject.Find(objectName).GetComponent <RawImage>();
Texture2D tex = GameObject.Find(objectName).GetComponent <RawImage>().texture as Texture2D;
if (tex == null)
{
tex = new Texture2D((int)width / 2, (int)height / 2, TextureFormat.RGBA32, false);
texObj.texture = tex;
}
NativeArray <Color32> image_data = tex.GetRawTextureData <Color32>();
if (image_data == null || image_data.Length * 4 != raw_data.Length)
{
tex = new Texture2D((int)width / 2, (int)height / 2, TextureFormat.RGBA32, false);
texObj.texture = tex;
image_data = tex.GetRawTextureData <Color32>();
}
for (int ind = 0, o_ind = raw_data.Length - 4; ind < image_data.Length; ind += 1, o_ind -= 4)
{
image_data[ind] = new Color32(raw_data[o_ind + 3], (byte)((raw_data[o_ind + 1] + raw_data[o_ind + 2]) / 2), raw_data[o_ind], 255);
}
//tex.LoadRawTextureData(image_data);
tex.Apply();
if (verbose)
{
Debug.Log("Finish processing " + curr);
}
//File.WriteAllBytes(Application.dataPath + "/Captures/" + curr + ".png", tex.EncodeToPNG());
}
public void SetFrame(ImageMsg data, string videoPlayer)
{
Debug.Log(videoPlayer);
if (videoPlayer == "")
{
return;
}
Texture2D tex = new Texture2D((int)data.GetWidth(), (int)data.GetHeight(), TextureFormat.RGB24, false);
GameObject.Find(videoPlayer).GetComponent <RawImage>().enabled = true;
GameObject.Find(videoPlayer).GetComponent <RectTransform>().sizeDelta = new Vector2((int)data.GetWidth(), (int)data.GetHeight());
tex.LoadRawTextureData(data.GetImage());
tex.Apply();
GameObject.Find(videoPlayer).GetComponent <RawImage>().texture = tex;
}
