void Update()
{
if (Bridge.Status != Ros.Status.Connected)
{
return;
}
Reader.Update();
if (Reader.Status == AsyncTextureReader.ReadStatus.Finished)
{
var data = Reader.GetData();
#if USE_COMPRESSED
Task.Run(() =>
{
lock (jpegArray)
{
int length = JpegEncoder.Encode(data, videoWidth, videoHeight, Reader.BytesPerPixel, 75, jpegArray);
data.Dispose();
if (length > 0)
{
SendImage(jpegArray, length);
}
}
});
#else
SendImage(data.ToArray(), data.Length);
data.Dispose();
#endif
}
if (Reader.Status != AsyncTextureReader.ReadStatus.Reading && !ImageIsBeingSent)
{
if (manual)
{
if (Input.GetKeyDown(KeyCode.S))
{
Reader.Start();
}
}
else
{
if (Time.time - lastTimePoint > 1.0f / sendingFPS)
{
lastTimePoint = Time.time;
Reader.Start();
}
}
}
}
void Update()
{
if (Bridge == null || Bridge.Status != Ros.Status.Connected)
{
return;
}
Reader.Update();
if (Reader.Status == AsyncTextureReaderStatus.Finished)
{
var data = Reader.GetData();
#if USE_COMPRESSED
var copy = new NativeArray <byte>(data, Allocator.Persistent);
Task.Run(() =>
{
lock (jpegArray)
{
int length = JpegEncoder.Encode(copy, videoWidth, videoHeight, Reader.BytesPerPixel, JpegQuality, jpegArray);
if (length > 0)
{
SendImage(jpegArray, length);
}
}
copy.Dispose();
});
#else
SendImage(data.ToArray(), data.Length);
#endif
}
if (Reader.Status != AsyncTextureReaderStatus.Reading && !ImageIsBeingSent)
{
if (manual)
{
if (Input.GetKeyDown(KeyCode.M))
{
Reader.Start();
}
}
else
{
if (Time.time - lastTimePoint > 1.0f / sendingFPS)
{
lastTimePoint = Time.time;
Reader.Start();
}
}
}
}
private void Update()
{
if (isEnabled && Reader != null)
{
Reader.Update();
if (Reader.Status != AsyncTextureReaderStatus.Reading)
{
Reader.Start();
}
}
if (isEnabled && cameraDetectedColliders != null)
{
detectedObjects = cameraDetectedColliders.Values.ToList();
cameraDetectedColliders.Clear();
objId = 0;
if (targetEnv == ROSTargetEnvironment.AUTOWARE || targetEnv == ROSTargetEnvironment.APOLLO)
{
PublishGroundTruth(detectedObjects);
}
}
}