public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
IntPtr ptr;
int x__size;
//serials
hasmetacomponents |= false;
if (serials == null)
{
serials = new string[0];
}
pieces.Add(BitConverter.GetBytes(serials.Length));
for (int i = 0; i < serials.Length; i++)
{
//serials[i]
if (serials[i] == null)
{
serials[i] = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)serials[i]);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
}
//images
hasmetacomponents |= false;
if (images == null)
{
images = new Messages.sensor_msgs.Image[0];
}
pieces.Add(BitConverter.GetBytes(images.Length));
for (int i = 0; i < images.Length; i++)
{
//images[i]
if (images[i] == null)
{
images[i] = new Messages.sensor_msgs.Image();
}
pieces.Add(images[i].Serialize(true));
}
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
IntPtr ptr;
int x__size;
//serial
if (serial == null)
{
serial = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)serial);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//totalFrameCount
scratch1 = new byte[Marshal.SizeOf(typeof(int))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(totalFrameCount, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//images
hasmetacomponents |= false;
if (images == null)
{
images = new Messages.sensor_msgs.Image[0];
}
pieces.Add(BitConverter.GetBytes(images.Length));
for (int i = 0; i < images.Length; i++)
{
//images[i]
if (images[i] == null)
{
images[i] = new Messages.sensor_msgs.Image();
}
pieces.Add(images[i].Serialize(true));
}
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//serials
arraylength = rand.Next(10);
if (serials == null)
{
serials = new string[arraylength];
}
else
{
Array.Resize(ref serials, arraylength);
}
for (int i = 0; i < serials.Length; i++)
{
//serials[i]
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
serials[i] = Encoding.ASCII.GetString(strbuf);
}
//images
arraylength = rand.Next(10);
if (images == null)
{
images = new Messages.sensor_msgs.Image[arraylength];
}
else
{
Array.Resize(ref images, arraylength);
}
for (int i = 0; i < images.Length; i++)
{
//images[i]
images[i] = new Messages.sensor_msgs.Image();
images[i].Randomize();
}
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
object __thing;
//serials
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (serials == null)
{
serials = new string[arraylength];
}
else
{
Array.Resize(ref serials, arraylength);
}
for (int i = 0; i < serials.Length; i++)
{
//serials[i]
serials[i] = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
serials[i] = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
}
//images
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (images == null)
{
images = new Messages.sensor_msgs.Image[arraylength];
}
else
{
Array.Resize(ref images, arraylength);
}
for (int i = 0; i < images.Length; i++)
{
//images[i]
images[i] = new Messages.sensor_msgs.Image(serializedMessage, ref currentIndex);
}
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
object __thing;
//serial
serial = "";
piecesize = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += 4;
serial = Encoding.ASCII.GetString(serializedMessage, currentIndex, piecesize);
currentIndex += piecesize;
//totalFrameCount
piecesize = Marshal.SizeOf(typeof(int));
h = IntPtr.Zero;
if (serializedMessage.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(serializedMessage, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Memory allocation failed");
}
totalFrameCount = (int)Marshal.PtrToStructure(h, typeof(int));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//images
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (images == null)
{
images = new Messages.sensor_msgs.Image[arraylength];
}
else
{
Array.Resize(ref images, arraylength);
}
for (int i = 0; i < images.Length; i++)
{
//images[i]
images[i] = new Messages.sensor_msgs.Image(serializedMessage, ref currentIndex);
}
}
int ConvertBitmapToMat(System.Drawing.Bitmap bmpImg, out Messages.sensor_msgs.Image Img)
{
int retVal = 0;
Img = new Messages.sensor_msgs.Image();
if (bmpImg.PixelFormat == System.Drawing.Imaging.PixelFormat.Format8bppIndexed) // 灰度图像
{
//锁定Bitmap数据
System.Drawing.Imaging.BitmapData bmpData = bmpImg.LockBits(
new System.Drawing.Rectangle(0, 0, bmpImg.Width, bmpImg.Height),
System.Drawing.Imaging.ImageLockMode.ReadWrite, bmpImg.PixelFormat);
Byte[] data = new Byte[bmpData.Stride * bmpData.Height];
Marshal.Copy(bmpData.Scan0, data, 0, bmpData.Stride * bmpData.Height);
for (int i = 0; i < data.Length; i++)
{
data[i] = (byte)(data[i]);
}
Img.height = Convert.ToUInt32(bmpData.Height);
Img.width = Convert.ToUInt32(bmpData.Width);
Img.step = Convert.ToUInt32(bmpData.Stride);
Img.encoding = "mono8";
Img.data = data;
bmpImg.UnlockBits(bmpData);
}
else
{
Bitmap b1 = KiResizeImage(bmpImg, bmpImg.Width / 3, bmpImg.Height / 3, 0);
Bitmap b = RGB2Gray(b1);
System.Drawing.Imaging.BitmapData bmpData = b.LockBits(
new System.Drawing.Rectangle(0, 0, b.Width, b.Height),
System.Drawing.Imaging.ImageLockMode.ReadWrite, b.PixelFormat);
Byte[] data = new Byte[bmpData.Stride * bmpData.Height];
Marshal.Copy(bmpData.Scan0, data, 0, bmpData.Stride * bmpData.Height);
Img.height = Convert.ToUInt32(b.Height);
Img.width = Convert.ToUInt32(b.Width);
Img.step = Convert.ToUInt32(bmpData.Stride);
Img.encoding = "mono8";
Img.data = data;
b.UnlockBits(bmpData);
}
//解锁Bitmap数据
return(retVal);
}
public void PubMapImgR(Bitmap src)
{
Messages.sensor_msgs.Image dst = new Messages.sensor_msgs.Image();
ConvertBitmapToMat(src, out dst);
imager.publish(dst);
}
