private void ReadServerMessage(ServerMsg srvMsg)
{
if (srvMsg.msgType == MsgType.MSG_TYPE_IMAGE)
{
Debug.Log("Updating texture...");
String message = srvMsg.msg;
Mat image = str2mat(message);
if (image.width() > 0 && image.height() > 0)
{
Core.flip(image, image, 0);
Core.flip(image, image, 1);
if (image.type() == CvType.CV_8UC3)
{
Imgproc.cvtColor(image, image, Imgproc.COLOR_BGR2RGB);
Utils.matToTexture2D(image, ImageTexture_);
}
else if (image.type() == CvType.CV_32FC1)
{
Mat disp_colormap = DisparityController.Disparity2Colormap(image, 255, false);
Imgproc.cvtColor(disp_colormap, disp_colormap, Imgproc.COLOR_BGR2RGB);
Utils.matToTexture2D(disp_colormap, ImageTexture_);
}
else
{
Debug.Log("Unsupported CV image type: " + image.type().ToString());
}
}
}
else if (srvMsg.msgType == MsgType.MSG_TYPE_STRING)
{
Debug.Log(srvMsg.msg);
}
}
private void UpdateTexture(Mat image)
{
if (image.width() > 0 && image.height() > 0)
{
Core.flip(image, image, 0);
Core.flip(image, image, 1);
if (image.type() == CvType.CV_8UC3)
{
Imgproc.cvtColor(image, image, Imgproc.COLOR_BGR2RGB);
Utils.matToTexture2D(image, ImageTexture);
}
else if (image.type() == CvType.CV_32FC1)
{
Mat disp_colormap = DisparityController.Disparity2Colormap(image, 255, false);
Imgproc.cvtColor(disp_colormap, disp_colormap, Imgproc.COLOR_BGR2RGB);
Utils.matToTexture2D(disp_colormap, ImageTexture);
}
else
{
Debug.Log("Unsupported CV image type: " + image.type().ToString());
}
}
}
