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87 lines
2.6 KiB
87 lines
2.6 KiB
extends MeshInstance3D
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## Displays JPEG webcam frames received from the robot on a quad mesh.
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## The quad is positioned in front of the user's view (child of XRCamera3D).
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##
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## Receives JPEG bytes via the webcam_frame_received signal from TeleopClient.
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## Display settings
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@export var default_color := Color(0.1, 0.1, 0.1, 0.8)
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## State
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var _texture: ImageTexture
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var _material: StandardMaterial3D
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var _frame_count: int = 0
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var _last_frame_time: int = 0
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var _fps: float = 0.0
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var _fps_update_timer: float = 0.0
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var _has_received_frame: bool = false
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func _ready() -> void:
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# Get or create the material
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_material = material_override as StandardMaterial3D
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if _material == null:
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_material = StandardMaterial3D.new()
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material_override = _material
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# Configure material for unlit display (no scene lighting affects the webcam feed)
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_material.shading_mode = BaseMaterial3D.SHADING_MODE_UNSHADED
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_material.albedo_color = default_color
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_material.transparency = BaseMaterial3D.TRANSPARENCY_ALPHA
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# Create initial texture (will be replaced on first frame)
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_texture = ImageTexture.new()
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print("[WebcamDisplay] Ready, waiting for frames...")
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func _process(delta: float) -> void:
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# Update FPS counter
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_fps_update_timer += delta
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if _fps_update_timer >= 1.0:
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_fps = _frame_count / _fps_update_timer
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_frame_count = 0
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_fps_update_timer = 0.0
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## Called when a JPEG webcam frame is received from the server.
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## Connected via signal from TeleopClient in Main.gd.
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func _on_webcam_frame(jpeg_bytes: PackedByteArray) -> void:
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if jpeg_bytes.size() < 2:
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return
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var image := Image.new()
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var err := image.load_jpg_from_buffer(jpeg_bytes)
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if err != OK:
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if _frame_count == 0:
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printerr("[WebcamDisplay] Failed to decode JPEG frame (size=%d, err=%d)" % [jpeg_bytes.size(), err])
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return
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# Update texture from decoded image
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if _texture.get_image() == null or _texture.get_width() != image.get_width() or _texture.get_height() != image.get_height():
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_texture = ImageTexture.create_from_image(image)
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_material.albedo_texture = _texture
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_material.albedo_color = Color.WHITE # Full brightness once we have a real image
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print("[WebcamDisplay] Texture created: %dx%d" % [image.get_width(), image.get_height()])
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else:
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_texture.update(image)
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_frame_count += 1
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_last_frame_time = Time.get_ticks_msec()
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if not _has_received_frame:
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_has_received_frame = true
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print("[WebcamDisplay] First frame received!")
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## Get display FPS
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func get_fps() -> float:
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return _fps
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## Check if frames are being received
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func is_receiving() -> bool:
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if not _has_received_frame:
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return false
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# Consider stale if no frame for 2 seconds
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return (Time.get_ticks_msec() - _last_frame_time) < 2000
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