// Use this for initialization
void Start()
{
Debug.Log ("Initialising Network ... ");
Network.init();
Debug.Log ("Initialising Port");
imagePort = new BufferedPortImageRgb();
Debug.Log ("Open Port");
imagePort.open (sourcePortName);
Debug.Log ("Connect Port");
Network.connect(sourcePortName, destPortName);
//RenderTexture.active = view;
resWidth = view.width;
resHeight = view.height;
temp2D = new Texture2D(resWidth,resHeight, TextureFormat.ARGB32, false);
texImage = imagePort.prepare();
//set resolution and parameters of image
texImage.resize(resWidth, resHeight);
texImage.setTopIsLowIndex(false);
texImage.setQuantum(1);
texImage.zero();
System.IntPtr imagePtr = texImage.getRawImage();
int imageSize = texImage.getRawImageSize();
byteArray = new byte[imageSize];
newPtr = Marshal.AllocHGlobal(byteArray.Length);
}
public static void Main(string[] args)
{
var serviceProvider = BuildDIContainer();
// Initialize Yarp
Network.init();
using (var videoSource = serviceProvider.GetRequiredService <IVideoSource>())
using (var audioSource = serviceProvider.GetRequiredService <IAudioSource>())
using (var videoPort = new BufferedPortImageRgb())
using (var audioPort = new BufferedPortBottle())
using (var videoFrameRgbBuffer = new Image <Rgb, byte>(640, 480))
{
// Stream the video frames to a yarp port
videoPort.open("/camera");
videoSource.FrameReady += (_, frame) =>
{
using (var msg = videoPort.prepare())
{
// Convert the incoming image which is BGR to RGB
var bits = frame.Image.LockBits(new Rectangle(0, 0, frame.Image.Width, frame.Image.Height), ImageLockMode.ReadOnly, PixelFormat.Format24bppRgb);
using (var videoFrameBgr = new Image <Bgr, byte>(frame.Image.Width, frame.Image.Height, bits.Stride, bits.Scan0))
CvInvoke.CvtColor(videoFrameBgr, videoFrameRgbBuffer, ColorConversion.Bgr2Rgb);
frame.Image.UnlockBits(bits);
// Send the RGB image over yarp
var handle = GCHandle.Alloc(videoFrameRgbBuffer.Bytes, GCHandleType.Pinned);
msg.setExternal(new SWIGTYPE_p_void(handle.AddrOfPinnedObject(), true), (uint)frame.Image.Width, (uint)frame.Image.Height);
videoPort.write();
videoPort.waitForWrite();
handle.Free();
}
};
// Stream the audio samples to a yarp port
audioPort.open("/microphone");
audioSource.SampleReady += (_, sample) =>
{
using (var bottle = audioPort.prepare())
{
var handle = GCHandle.Alloc(sample.Data, GCHandleType.Pinned);
bottle.clear();
bottle.add(Value.makeBlob(new SWIGTYPE_p_void(handle.AddrOfPinnedObject(), true), sample.Data.Length));
audioPort.write();
audioPort.waitForWrite();
handle.Free();
}
};
// Run the sample application
RunDemoApplication(videoSource, audioSource);
}
// Explicitely shutdown NLog and Yarp
Network.fini();
NLog.LogManager.Shutdown();
}
public bool Initialise(string remoteMMCMName)
{
if (rpcOut == null)
{
rpcOut = new Port();
guiInstance = 0;
string localName = "/" + remoteMMCMName + "/remote_gui_" + guiInstance + ":rpc";
while (Network.exists(localName))
{
guiInstance++;
localName = "/" + remoteMMCMName + "/remote_gui_" + guiInstance + ":rpc";
}
rpcOut.open(localName);
}
if (rpcOut.getOutputCount() <= 0)
{
Network.connect(rpcOut.getName().c_str(), "/" + remoteMMCMName + "/rpc");
}
if (rpcOut.getOutputCount() <= 0)
{
return(false);
}
//Display info about the map (change to some panel related organization)
GetParameters(null, null);
//Visualizations
if (activity == null)
{
activity = new BufferedPortImageRgb();
activity.open("/" + remoteMMCMName + "/remote_gui_" + guiInstance + "/activity:i");
while (!Network.connect("/" + remoteMMCMName + "/activity:o", activity.getName().c_str()))
{
Time.delay(0.5);
}
}
//Handle graphical display of maps
panel1.Controls.Clear();
m_activity = new PictureBox();
m_activity.Height = 200;
m_activity.Width = 200;
m_activity.SizeMode = PictureBoxSizeMode.StretchImage;
//Hook to the double click event (for stimulation purposes)
//p.DoubleClick += new EventHandler(p_DoubleClick);
//p.Click += new EventHandler(p_Click);
panel1.Controls.Add(m_activity);
return(true);
}
public override void Initialise()
{
portReal = new BufferedPortImageRgb();
portPredicted = new BufferedPortImageRgb();
portPerceived = new BufferedPortImageRgb();
portReal.open("/" + mapName + "/" + name + "/real:i");
portPredicted.open("/" + mapName + "/" + name + "/predicted:o");
portPerceived.open("/" + mapName + "/" + name + "/perceived:o");
if (autoconnect_source != null)
{
Network.connect(autoconnect_source, YarpModalityVector.getRealPortName(mapName, name));
}
base.Initialise();
}
public override bool configure(ResourceFinder rf)
{
if (base.configure(rf))
{
broadcastDisplay = !rf.check("noDisplay");
//Open ports for visualizing the activity
CVZ_TPC ctpc = cvz as CVZ_TPC;
activity = new BufferedPortImageRgb();
activity.open("/" + ctpc.name + "/activity:o");
return(true);
}
else
{
return(false);
}
}
public override bool configure(ResourceFinder rf)
{
if (base.configure(rf))
{
//Open ports for visualizing the activity
CVZ_MMCM mmcm = cvz as CVZ_MMCM;
for (int i = 0; i < mmcm.Layers; i++)
{
BufferedPortImageRgb p = new BufferedPortImageRgb();
p.open("/" + mmcm.name + "/activity/layer_" + i + ":o");
layersActivity.Add(p);
}
return(true);
}
else
{
return(false);
}
}
// Use this for initialization
void Start()
{
Network.init();
if(sourcePortName != null)
{
inputImagePort = new BufferedPortImageRgb();
inputImagePort.open (inputPortName);
Network.connect(sourcePortName, inputPortName);
checkImageThread = new YarpImageCheck();
checkImageThread.imagePort = inputImagePort;
checkImageThread.Start();
bool checkInit = checkImageThread.InitVariables();
if(checkInit)
{
Debug.Log("Initialised Correctly");
image2DTex = new Texture2D(checkImageThread.resWidth,checkImageThread.resHeight,TextureFormat.ARGB32, false);
image2DTex.wrapMode = TextureWrapMode.Clamp;
planeRender = plane.GetComponent<Renderer>();
bodyRenderer = model.GetComponent<Renderer>();
bodyTexOriginal = bodyRenderer.material.mainTexture as Texture2D;
bodyColorArrayOrig = bodyTexOriginal.GetPixels32();
xwidth = bodyTexOriginal.width;
ywidth = bodyTexOriginal.height;
body2DTex = new Texture2D(bodyTexOriginal.width,bodyTexOriginal.height,TextureFormat.ARGB32, false);
body2DTex.wrapMode = TextureWrapMode.Clamp;
planeBodyRender = planeFace.GetComponent<Renderer>();
}
else
{
Debug.Log("Could not initialise resolution. No images received");
}
}
else
{
Debug.Log("Please specify a source port");
}
}
// Use this for initialization
void Start()
{
Network.init();
if(sourcePortName != null)
{
Debug.Log ("Initialising Network ... ");
Network.init();
Debug.Log ("Initialising Port");
imagePort = new BufferedPortImageRgb();
Debug.Log ("Open Port");
imagePort.open (sourcePortName);
Debug.Log ("Connect Port");
//TODO initialise but wait for port connection within main code body
Network.connect(sourcePortName, destPortName);
writeImageThread = new YarpImageCheckWrite();
writeImageThread.imagePort = imagePort;
resWidth = view.width;
resHeight = view.height;
writeImageThread.resWidth = resWidth;
writeImageThread.resHeight = resHeight;
bool checkInit = writeImageThread.InitVariables();
if(checkInit)
{
Debug.Log("Initialised Correctly");
temp2D = new Texture2D(resWidth,resHeight, TextureFormat.ARGB32, false);
}
else
{
Debug.Log("Could not initialise resolution. No images received");
}
}
else
{
Debug.Log("Please specify a source port");
}
}
internal static HandleRef getCPtr(BufferedPortImageRgb obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
// Use this for initialization
void Start()
{
Network.init();
if(sourcePortName != null)
{
inputImagePort = new BufferedPortImageRgb();
bool open = inputImagePort.open (inputPortName);
Debug.Log ("Port opened: " + open);
Network.connect(sourcePortName, inputPortName);
checkImageThread = new YarpImageCheck();
checkImageThread.imagePort = inputImagePort;
checkImageThread.Start();
checkInit = checkImageThread.InitVariables();
Debug.Log(checkImageThread.iters);
if(checkInit)
{
Debug.Log("Initialised Correctly");
image2DTex = new Texture2D(checkImageThread.resWidth,checkImageThread.resHeight,TextureFormat.ARGB32, false);
image2DTex.wrapMode = TextureWrapMode.Clamp;
planeRender = plane.GetComponent<Renderer>();
}
else
{
Debug.Log("Could not initialise resolution. No images received");
}
}
else
{
Debug.Log("Please specify a source port");
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(BufferedPortImageRgb obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
