@Override
public Bitmap call(sensor_msgs.Image message) {
Preconditions.checkArgument(message.getEncoding().equals("rgb8"));
Bitmap bitmap =
Bitmap.createBitmap(
(int) message.getWidth(), (int) message.getHeight(), Bitmap.Config.ARGB_8888);
for (int x = 0; x < message.getWidth(); x++) {
for (int y = 0; y < message.getHeight(); y++) {
ChannelBuffer data = message.getData();
byte red = data.getByte((int) (y * message.getStep() + 3 * x));
byte green = data.getByte((int) (y * message.getStep() + 3 * x + 1));
byte blue = data.getByte((int) (y * message.getStep() + 3 * x + 2));
bitmap.setPixel(x, y, Color.argb(255, red & 0xFF, green & 0xFF, blue & 0xFF));
}
}
return bitmap;
}
public static BufferedImage bufferedImageFromRosMessageRaw(
ColorModel colorModel, sensor_msgs.Image imageMessage) {
int width = imageMessage.getWidth();
int height = imageMessage.getHeight();
byte[] payload = imageMessage.getData().array();
BufferedImage ret = new BufferedImage(width, height, BufferedImage.TYPE_3BYTE_BGR);
DataBuffer dataBuffer =
new DataBufferByte(payload, payload.length, imageMessage.getData().arrayOffset());
SampleModel sampleModel = colorModel.createCompatibleSampleModel(width, height);
WritableRaster raster = Raster.createWritableRaster(sampleModel, dataBuffer, null);
ret.setData(raster);
return ret;
}