private dynamic CompressedImageToPsiImage(RosMessage message)
{
// get format
var format = (string)message.GetField("format");
var imageMemoryStream = new MemoryStream(message.GetField("data"));
using (var image = System.Drawing.Image.FromStream(imageMemoryStream))
{
var bitmap = new System.Drawing.Bitmap(image);
using (var sharedImage = ImagePool.GetOrCreate(image.Width, image.Height, PixelFormat.BGR_24bpp))
{
sharedImage.Resource.CopyFrom(bitmap);
return(sharedImage.AddRef());
}
}
}
private dynamic RosMessageToPsiImage(RosMessage message)
{
int width = (int)message.GetField("width");
int height = (int)message.GetField("height");
// convert formats
string encoding = (string)message.GetField("encoding");
var format = EncodingToPixelFormat(encoding);
if (format == PixelFormat.Undefined)
{
Console.WriteLine($"Image Encoding Type {encoding} is not supported. Defaulting to writeout");
return(false);
// throw new NotSupportedException($"Image Encoding Type {encoding} is not supported");
}
using (var sharedImage = ImagePool.GetOrCreate(width, height, PixelFormat.BGRA_32bpp))
{
sharedImage.Resource.CopyFrom(message.GetRawField("data"));
return(sharedImage);
}
}
private dynamic ImageToPsiImage(RosMessage message)
{
int width = (int)message.GetField("width");
int height = (int)message.GetField("height");
// convert formats
string encoding = (string)message.GetField("encoding");
var format = this.EncodingToPixelFormat(encoding);
if (format == PixelFormat.Undefined)
{
Console.WriteLine($"Image Encoding Type {encoding} is not supported. Defaulting to writeout");
throw new NotSupportedException($"Image Encoding Type {encoding} is not supported");
}
using (var sharedImage = ImagePool.GetOrCreate(width, height, format))
{
// skip the first 4 bytes because in ROS Message its a varied length array where the first 4 bytes tell us the length.
sharedImage.Resource.CopyFrom(message.GetField("data"));
return(sharedImage.AddRef());
// return sharedImage;
}
}