IEnumerator SendImages()
{
while (true)
{
Texture2D rgb = RTImageColor(_cameras[0]);
Texture2D depth = RTImageDepth(_cameras[1]);
//Color c;
//for (int i = 0; i < rgb.width; i++) {
// for (int j = 0; j < rgb.height; j++) {
// c = rgb.GetPixel(i, j);
// c.a = depth.GetPixel(i, j).a;
// rgb.SetPixel(i, j, c);
// }
//}
Color[] pxs = rgb.GetPixels();
Color[] pxsDepth = depth.GetPixels();
for (int i = 0; i < pxs.Length; i++)
{
pxs[i].a = pxsDepth[i].a;
}
rgb.SetPixels(pxs);
HeaderMsg _head = new HeaderMsg(0, new TimeMsg(_ros.GetepochStart().Second, 0), "map");
//RGB
CompressedImageMsg compressedImg = new CompressedImageMsg(_head, "png", rgb.EncodeToPNG());
_ros.Publish(RobotCamera_pub.GetMessageTopic(), compressedImg);
//Depth
//compressedImg = new CompressedImageMsg(_head, "png", RTImageDepth(_cameras[1]).EncodeToPNG());
//_ros.Publish(CameraDepth_pub.GetMessageTopic(), compressedImg);
yield return(new WaitForSeconds(_frecuency));
}
}
/*private void Update()
* {
* StartCoroutine(SendImage());
* }*/
private void FixedUpdate()
{
HeaderMsg header = new HeaderMsg(0, new TimeMsg(_robot.GetepochStart().Second, 0), "base_link");
_cam.Render();
RenderTexture.active = _cam.targetTexture;
//msg = new ImageMsg(header, _cam.targetTexture);
//string msg_string = msg.ToString();
/*if(k == 0)
* {
* int i = 190000;
* byte[] _data = new byte[i];
*
* for (int j = 0; j < i; j++)
* {
* _data[j] = (byte)0;
* }
* System.IO.File.WriteAllBytes(Application.dataPath + "/msg", _data);
* Debug.Log("Imagen capturada");
* k = 1;
* }*/
//_robot.Publish(RobotCamera_pub.GetMessageTopic(), msg);
}