void Start()
{
//_camera = transform.parent.parent.GetComponent<RosConnector>().RosSocket;_camera = transform.parent.parent.GetComponent<RosConnector>().RosSocket;
//find the rosconnector used in the drone. it should only exist one connection (i think)
toPublish = new CameraImagePublisher2(GameObject.Find("drone").GetComponent <RosConnector>().RosSocket, publishTopic, qualityLevel);
//toPublishDepth = new CameraImagePublisher2(GameObject.Find("drone").GetComponent<RosConnector>().RosSocket,depthPublishTopic,qualityLevel);
_camera = this.GetComponent <Camera>();
resolutionHeight = _camera.targetTexture.height;
resolutionWidth = _camera.targetTexture.width;
texture2D = new Texture2D(resolutionWidth, resolutionHeight, TextureFormat.RGB24, false);
//depthTexture2D = new Texture2D(resolutionWidth, resolutionHeight, TextureFormat.RGB24, false);
rect = new Rect(0, 0, resolutionWidth, resolutionHeight);
//for depth image
_camera.depthTextureMode = DepthTextureMode.Depth;
}
