Unnamed

void Omnicam::PutCameraData(){  int i, j;  int len;  const unsigned char *src;  unsigned char *dst;  int width, height;  GzPose pose;  gz_camera_data_t *data;  gz_camera_lock(this->cameraIface, 1);  data = this->cameraIface->data;  // Get image dimensions  this->camera->GetImageSize(&width, &height);    data->time = this->world->GetSimTime();  data->width = width * 4;  data->height = height;  data->image_size = width * height * 3 * 4;  // Make sure there is room to store the image  assert(data->image_size <= sizeof(data->image));   len = width * 3;  // Copy the pixel data to the interface, but flip the y axis  for(j = 0; j < 4; j++) {    // 4 passes at 90 degrees each to give cube map texture of panorama    dst = data->image + len * j;    this->camera->Update();    src = this->camera->GetImageData() + (height - 1) * len;    for (i = 0; i < height; i++, src -= len, dst += len) {      memcpy(dst, src, len);      dst += len * 3;    }    pose = this->camera->GetPose();    pose.rot.z += M_PI / 2;    this->camera->SetPose(pose);  }  gz_camera_unlock(this->cameraIface);  gz_camera_post(this->cameraIface);  return;}