Sync submodule (#550)

Co-authored-by: ad-daniel <[email protected]>

webots_ros2_driver/webots/lib/controller/python/controller/camera.py

@@ -62,8 +62,6 @@ def model(self) -> str:
 
 
 class Camera(Sensor):
-    wb.wb_camera_get_image.restype = ctypes.POINTER(ctypes.c_ubyte)
-    wb.wb_camera_recognition_get_segmentation_image.restype = ctypes.POINTER(ctypes.c_ubyte)
     wb.wb_camera_get_fov.restype = ctypes.c_double
     wb.wb_camera_get_exposure.restype = ctypes.c_double
     wb.wb_camera_get_focal_distance.restype = ctypes.c_double
@@ -78,6 +76,10 @@ def __init__(self, name: Union[str, int], sampling_period: int = None):
         self._enable = wb.wb_camera_enable
         self._get_sampling_period = wb.wb_camera_get_sampling_period
         super().__init__(name, sampling_period)
+        width = self.width
+        height = self.height
+        wb.wb_camera_get_image.restype = ctypes.POINTER(ctypes.c_ubyte * (4 * width * height))
+        wb.wb_camera_recognition_get_segmentation_image.restype = ctypes.POINTER(ctypes.c_ubyte * (4 * width * height))
 
     def getExposure(self) -> float:
         return self.exposure
@@ -95,7 +97,7 @@ def getHeight(self) -> int:
         return self.height
 
     def getImage(self) -> bytes:
-        return bytes(self.image[:self.width * self.height * 4])
+        return self.image
 
     def getImageArray(self) -> List[List[List[int]]]:
         array = []
@@ -158,12 +160,12 @@ def setFov(self, f: float):
         self.fov = f
 
     @property
-    def image(self):
-        return wb.wb_camera_get_image(self._tag)
+    def image(self) -> bytes:
+        return bytes(wb.wb_camera_get_image(self._tag).contents)
 
     @property
-    def segmentation_image(self):
-        return wb.wb_camera_recognition_get_segmentation_image(self._tag)
+    def segmentation_image(self) -> bytes:
+        return bytes(wb.wb_camera_recognition_get_segmentation_image(self._tag).contents)
 
     @property
     def exposure(self) -> float:
@@ -254,7 +256,7 @@ def isRecognitionSegmentationEnabled(self) -> bool:
         return wb.wb_camera_recognition_is_segmentation_enabled(self._tag) != 0
 
     def getRecognitionSegmentationImage(self) -> bytes:
-        return bytes(self.segmentation_image[:self.width * self.height * 4])
+        return self.segmentation_image
 
     def getRecognitionSegmentationImageArray(self) -> List[List[List[int]]]:
         array = []