public GraspableObjectList()
{
graspable_objects = new List <GraspableObject>();
image = new RosSharp.RosBridgeClient.Messages.Sensor.Image();
camera_info = new RosSharp.RosBridgeClient.Messages.Sensor.CameraInfo();
meshes = new List <RosSharp.RosBridgeClient.Messages.Shape.Mesh>();
reference_to_camera = new RosSharp.RosBridgeClient.Messages.Geometry.Pose();
}
public SceneRegion()
{
cloud = new RosSharp.RosBridgeClient.Messages.Sensor.PointCloud2();
mask = new List <int>();
image = new RosSharp.RosBridgeClient.Messages.Sensor.Image();
disparity_image = new RosSharp.RosBridgeClient.Messages.Sensor.Image();
cam_info = new RosSharp.RosBridgeClient.Messages.Sensor.CameraInfo();
roi_box_pose = new RosSharp.RosBridgeClient.Messages.Geometry.PoseStamped();
roi_box_dims = new RosSharp.RosBridgeClient.Messages.Geometry.Vector3();
}
private void PublishFrame(object sender, FrameEventArgs e)
{
int[] structuredTime = Utilities.Timer.GetSecondsNanosecondsStructure(e.TimeSpan);
RosSharp.RosBridgeClient.Messages.Sensor.Image image = new RosSharp.RosBridgeClient.Messages.Sensor.Image();
image.header.frame_id = SourceName;
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; // TODO: try true
image.height = (int)e.Height;
image.width = (int)e.Width;
image.step = (int)e.Step;
publisher.Publish(image);
Debug.WriteLine(SourceName + "sent frame-" + image.header.seq + " at time " + ((double)structuredTime[0] + ((double)structuredTime[1]) / 1e9).ToString());
}
public DisparityImage()
{
header = new Header();
image = new RosSharp.RosBridgeClient.Messages.Sensor.Image();
valid_window = new RosSharp.RosBridgeClient.Messages.Sensor.RegionOfInterest();
}
