/// <summary>
/// Used for initialization
/// </summary>
private void Start()
{
//ROS checks
if (roscore == null)
{
Debug.LogWarning("[TheoraSubscriber] " + name + " does not have a roscore specified! Will try to find one!");
roscore = FindObjectOfType <ROSCore>();
}
if (roscore == null)
{
Debug.LogError("[TheoraSubscriber] " + name + " can not find an instance of ROSCore! Turning off ImageSub!");
enabled = false;
return;
}
nh = roscore.getNodeHandle();
if (nh == null)
{
Debug.LogError("[TheoraSubscriber] Ros Node handle is null! Turning off ImageSub!");
enabled = false;
return;
}
imageSub = nh.subscribe <ti.Packet>(Topic, 0, ImageCb);
granpos = 0;
width = 0;
height = 0;
bytes_per_pixel = 3;
texture = new Texture2D(0, 0, TextureFormat.RGB24, false); //This texture format seems to be BGR not RGB
}
