sendRgbFrame method

void sendRgbFrame(
  1. Pointer<Uint8> rawRGB
)

Sends the RealSense's RGB frame and optionally detects ArUco tags.

Implementation

void sendRgbFrame(Pointer<Uint8> rawRGB) {
  if (rawRGB == nullptr) return;
  final rgbMatrix = rawRGB.toOpenCVMat(camera.rgbResolution);
  //detectAndAnnotateFrames(rgbMatrix);  // detect ArUco tags

  // Compress the RGB frame into a JPG
  final rgbJpg = rgbMatrix.encodeJpg(quality: details.quality);
  if (rgbJpg == null) {
    sendLog(LogLevel.debug, "Could not encode RGB frame");
  } else {
    final newDetails = details.deepCopy()..name = CameraName.ROVER_FRONT;
    sendFrame(rgbJpg, detailsOverride: newDetails);
  }

  rgbMatrix.dispose();
}