public static ImageRgb toImgRgb(this Bitmap bmp)
{
ImageRgb img = new ImageRgb();
img.resize(bmp.Width, bmp.Height);
try
{
unsafe
{
BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, img.width(), img.height()),
System.Drawing.Imaging.ImageLockMode.ReadOnly,
System.Drawing.Imaging.PixelFormat.Format24bppRgb);
byte[] rawData = new byte[bmpData.Stride * bmpData.Height];
Marshal.Copy(bmpData.Scan0, rawData, 0, rawData.Length);
Marshal.Copy(rawData, 0, img.getRawImage(), rawData.Length);
bmp.UnlockBits(bmpData);
}
}
catch (Exception e)
{
Console.Out.WriteLine("Exception while accessing image: " + e);
}
return(img);
}
public static Bitmap toBmp(this ImageRgb img)
{
int w = img.width();
int h = img.height();
Bitmap bmp = new Bitmap(w, h, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
try
{
unsafe
{
BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, w, h),
System.Drawing.Imaging.ImageLockMode.WriteOnly,
System.Drawing.Imaging.PixelFormat.Format24bppRgb);
byte[] rawData = new byte[bmpData.Stride * bmpData.Height];
Marshal.Copy(img.getRawImage(), rawData, 0, rawData.Length);
Marshal.Copy(rawData, 0, bmpData.Scan0, rawData.Length);
bmp.UnlockBits(bmpData);
}
}
catch (Exception e)
{
Console.Out.WriteLine("Exception while accessing image: " + e);
}
return(bmp);
}
/// <summary>
/// Write the predicted value on the yarp port.
/// </summary>
public override void WritePredictedValue()
{
ImageRgb img = portPredicted.prepare();
Vector2Image(PredictedValue, ref img);
portPredicted.write();
}
public new ImageRgb read(bool shouldWait)
{
global::System.IntPtr cPtr = yarpPINVOKE.TypedReaderImageRgb_read__SWIG_0(swigCPtr, shouldWait);
ImageRgb ret = (cPtr == global::System.IntPtr.Zero) ? null : new ImageRgb(cPtr, false);
return(ret);
}
public override System.Drawing.Bitmap GetAsBmp(float[] rawValues)
{
ImageRgb img = new ImageRgb();
Vector2Image(rawValues, ref img);
return(img.toBmp());
}
/// <summary>
/// Self explicit
/// </summary>
/// <param name="img"></param>
/// <returns></returns>
protected float[] Image2Vector(ImageRgb img)
{
double t0 = Time.now();
ImageRgb img2 = new ImageRgb();
img2.copy(img, w, h);
float[] v = new float[size];
for (int i = 0; i < w; i++)
{
for (int j = 0; j < h; j++)
{
PixelRgb px = img2.pixel(i, j);
v[j * w + i] = px.r / 255.0f; //Scale in [0,1]
v[j * w + i + 1] = px.g / 255.0f; //Scale in [0,1]
v[j * w + i + 2] = px.b / 255.0f; //Scale in [0,1]
}
}
double t1 = Time.now();
//Console.WriteLine("Image2Vector : " + (t1 - t0).ToString());
return(v);
}
public ImageRgb asImageOfPixelRgb()
{
global::System.IntPtr cPtr = yarpPINVOKE.Things_asImageOfPixelRgb(swigCPtr);
ImageRgb ret = (cPtr == global::System.IntPtr.Zero) ? null : new ImageRgb(cPtr, false);
return(ret);
}
public new ImageRgb lastRead()
{
global::System.IntPtr cPtr = yarpPINVOKE.TypedReaderImageRgb_lastRead(swigCPtr);
ImageRgb ret = (cPtr == global::System.IntPtr.Zero) ? null : new ImageRgb(cPtr, false);
return(ret);
}
public new ImageRgb read()
{
global::System.IntPtr cPtr = yarpPINVOKE.BufferedPortImageRgb_read__SWIG_1(swigCPtr);
ImageRgb ret = (cPtr == global::System.IntPtr.Zero) ? null : new ImageRgb(cPtr, false);
return(ret);
}
public new void onRead(ImageRgb datum, TypedReaderImageRgb reader)
{
yarpPINVOKE.TypedReaderCallbackImageRgb_onRead__SWIG_1(swigCPtr, ImageRgb.getCPtr(datum), TypedReaderImageRgb.getCPtr(reader));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
}
public new void onRead(ImageRgb datum)
{
yarpPINVOKE.BufferedPortImageRgb_onRead__SWIG_1(swigCPtr, ImageRgb.getCPtr(datum));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
}
void timer_Tick(object sender, EventArgs e)
{
ImageRgb img = activity.read(false);
if (img != null)
{
m_activity.Image = ImageManipulation.toBmp(img);
}
}
/// <summary>
/// Read the real value on the yarp port.
/// Convert the image into a vector.
/// </summary>
public override void ReadRealValue()
{
ImageRgb img = portReal.read(isBlockingRead);
if (img != null)
{
RealValue = Image2Vector(img);
}
}
public new static bool read(ImageRgb dest, string src, image_fileformat format)
{
bool ret = yarpPINVOKE.read__SWIG_0(ImageRgb.getCPtr(dest), src, (int)format);
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual bool putAudioVisual(ImageRgb image, Sound sound)
{
bool ret = yarpPINVOKE.IFrameWriterAudioVisual_putAudioVisual(swigCPtr, ImageRgb.getCPtr(image), Sound.getCPtr(sound));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public new bool write(ImageRgb data)
{
bool ret = yarpPINVOKE.Port_write__SWIG_6(swigCPtr, ImageRgb.getCPtr(data));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public new static bool read(ImageRgb dest, string src)
{
bool ret = yarpPINVOKE.read__SWIG_1(ImageRgb.getCPtr(dest), src);
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual bool putImage(ImageRgb image)
{
bool ret = yarpPINVOKE.IFrameWriterImage_putImage(swigCPtr, ImageRgb.getCPtr(image));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public new static bool write(ImageRgb src, string dest)
{
bool ret = yarpPINVOKE.write__SWIG_1(ImageRgb.getCPtr(src), dest);
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
protected override void ThreadFunction()
{
inputImage = imagePort.read();
if(inputImage != null)
{
convertToTexture2D();
imageReceived = true;
}
}
void timer_Tick(object sender, EventArgs e)
{
for (int i = 0; i < r_l; i++)
{
ImageRgb img = layersActivity[i].read(false);
if (img != null)
{
m_layers[i].Image = ImageManipulation.toBmp(img);
}
}
}
public override bool updateModule()
{
bool error = base.updateModule();
//Broadcast the activity
CVZ_TPC ctpc = cvz as CVZ_TPC;
if (broadcastDisplay)
{
ImageRgb img = activity.prepare();
img = ctpc.GetFrequencyVisualization().toImgRgb();
activity.write();
}
return(error);
}
public override bool updateModule()
{
bool error = base.updateModule();
//Broadcast the activity
CVZ_MMCM mmcm = cvz as CVZ_MMCM;
for (int i = 0; i < mmcm.Layers; i++)
{
ImageRgb img = layersActivity[i].prepare();
img = mmcm.GetVisualization(i).toImgRgb();
layersActivity[i].write();
}
return(error);
}
/// <summary>
/// Self explicit
/// </summary>
/// <param name="v"></param>
/// <param name="img"></param>
protected void Vector2Image(float[] v, ref ImageRgb img)
{
double t0 = Time.now();
img.resize(w, h);
for (int i = 0; i < w; i++)
{
for (int j = 0; j < h; j++)
{
img.pixel(i, j).r = (byte)(v[j * w + i] * 255);
img.pixel(i, j).g = (byte)(v[j * w + i + 1] * 255);
img.pixel(i, j).b = (byte)(v[j * w + i + 2] * 255);
}
}
double t1 = Time.now();
//Console.WriteLine("Vector2img : " + (t1 - t0).ToString());
}
public new void onRead(ImageRgb datum, TypedReaderImageRgb reader)
{
yarpPINVOKE.TypedReaderCallbackImageRgb_onRead__SWIG_1(swigCPtr, ImageRgb.getCPtr(datum), TypedReaderImageRgb.getCPtr(reader));
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
// 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 virtual bool getAudioVisual(ImageRgb image, Sound sound)
{
bool ret = yarpPINVOKE.IAudioVisualGrabber_getAudioVisual(swigCPtr, ImageRgb.getCPtr(image), Sound.getCPtr(sound));
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public virtual bool getImageCrop(cropType_id_t cropType, SWIGTYPE_p_yarp__sig__VectorOfT_std__pairT_int_int_t_t vertices, ImageRgb image)
{
bool ret = yarpPINVOKE.IFrameGrabberImage_getImageCrop(swigCPtr, (int)cropType, SWIGTYPE_p_yarp__sig__VectorOfT_std__pairT_int_int_t_t.getCPtr(vertices), ImageRgb.getCPtr(image));
if (yarpPINVOKE.SWIGPendingException.Pending)
{
throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual bool putImage(ImageRgb image)
{
bool ret = yarpPINVOKE.IFrameWriterImage_putImage(swigCPtr, ImageRgb.getCPtr(image));
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public ImageRgb prepare()
{
ImageRgb ret = new ImageRgb(yarpPINVOKE.BufferedPortImageRgb_prepare(swigCPtr), false);
return(ret);
}
public new bool write(ImageRgb data)
{
bool ret = yarpPINVOKE.Port_write__SWIG_6(swigCPtr, ImageRgb.getCPtr(data));
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public new void onRead(ImageRgb datum)
{
yarpPINVOKE.BufferedPortImageRgb_onRead__SWIG_1(swigCPtr, ImageRgb.getCPtr(datum));
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
}
public ImageRgb prepare()
{
ImageRgb ret = new ImageRgb(yarpPINVOKE.BufferedPortImageRgb_prepare(swigCPtr), false);
return ret;
}
internal static HandleRef getCPtr(ImageRgb obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(ImageRgb obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
void Update()
{
//prepare port
texImage = imagePort.prepare();
//set resolution and parameters of image
//texImage.resize(resWidth, resHeight);
//texImage.setTopIsLowIndex(false);
//texImage.setQuantum(1);
//texImage.zero(); //test
}
public static new bool read(ImageRgb dest, string src)
{
bool ret = yarpPINVOKE.read__SWIG_0(ImageRgb.getCPtr(dest), src);
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public static new bool write(ImageRgb src, string dest)
{
bool ret = yarpPINVOKE.write__SWIG_0(ImageRgb.getCPtr(src), dest);
if (yarpPINVOKE.SWIGPendingException.Pending) throw yarpPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
