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- /*
- © Siemens AG, 2017-2018
- Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
- <http://www.apache.org/licenses/LICENSE-2.0>.
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
- */
- // Modified by Lydia Ebbinghaus & Jana-Sophie schönfeld.
- using UnityEngine;
- namespace RosSharp.RosBridgeClient
- {
- [RequireComponent(typeof(RosConnector))]
- public class ImageSubscriberMod : UnitySubscriber<MessageTypes.Sensor.CompressedImage>
- {
- public MeshRenderer meshRenderer;
- public bool stopProcessing;
- private Texture2D texture2D;
- // Modified.
- // Changed to public to check if imageMessage is received and to get image data.
- public byte[] imageData;
- public bool isMessageReceived;
- // Added to allow subscriber to process messages.
- public bool oneMessageReceived;
- protected override void Start()
- {
- base.Start();
- texture2D = new Texture2D(1, 1);
- if(!stopProcessing)meshRenderer.material = new Material(Shader.Find("Standard"));
- }
- private void Update()
- {
- if (!stopProcessing && isMessageReceived)
- ProcessMessage();
-
- }
- protected override void ReceiveMessage(MessageTypes.Sensor.CompressedImage compressedImage)
- {
- imageData = compressedImage.data;
- isMessageReceived = true;
- // Modified.
- oneMessageReceived=true;
- }
- private void ProcessMessage()
- {
- texture2D.LoadImage(imageData);
- texture2D.Apply();
- meshRenderer.material.SetTexture("_MainTex", texture2D);
- isMessageReceived = false;
- }
- }
- }
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