public async Task <IServiceResult> PostImagePublisher([FromBody] ImagePublisher imagePublisher)
{
try
{
_context.ImagePublishers.Add(imagePublisher);
if (!await _unitOfWork.CompleteAsync())
{
throw new SaveFailedException(nameof(imagePublisher));
}
_logger.LogInformation($"Image {imagePublisher.Id} created.");
return(new ServiceResult(payload: imagePublisher.UrlOnline));
}
catch (Exception e)
{
_logger.LogError($"Can't create a image of game {imagePublisher.Id}. {e.Message}");
return(new ServiceResult(false, message: e.Message));
}
}
//Inorder to send the image from both cameras,images are encoded/compressed first using JPG compression
//then the compressed data is converted into a string in Base64 format.
// Update is called once per frame
void Update()
{
#if img2
//encoding part:
StringBuilder imgToSend = new StringBuilder("", 500000);
//Bottom Cam encoding:
RenderTexture.active = bottomImage;
imageToSend.ReadPixels(new Rect(0, 0, bottomImage.width, bottomImage.height), 0, 0);
imageToSend.Apply();
Byte[] bottom_cam_image_jpg = ImageConversion.EncodeToJPG(imageToSend, 100);
string bottom_cam_image_base64 = Convert.ToBase64String(bottom_cam_image_jpg);
imgToSend.Append(bottom_cam_image_base64).Append("!");
//Front cam encoding
RenderTexture.active = frontImage;
imageToSend2.ReadPixels(new Rect(0, 0, frontImage.width, frontImage.height), 0, 0);
imageToSend2.Apply();
Byte[] front_cam_image_jpg = ImageConversion.EncodeToJPG(imageToSend2, 100);
//Byte[] front_cam_image_jpg =imageToSend2.GetRawTextureData<Color32>()
string front_cam_image_base64 = Convert.ToBase64String(front_cam_image_jpg);
imgToSend.Append(front_cam_image_base64).Append("!");
//sending the image data
try
{
#if self2
imgMsg = new StringMsg(imgToSend.ToString());
obj.GetComponent <ROS_Initialize>().ros.Publish(ImagePublisher.GetMessageTopic(), imgMsg);
Debug.Log("Sending to topic: " + ImagePublisher.GetMessageTopic());
//Debug.Log(imgMsg);
#endif
}
catch (Exception e)
{
Debug.Log("Socket error" + e);
}
#endif
}
// Update is called once per frame
void Update()
{
#if img
//encoding part:
StringBuilder imgToSend = new StringBuilder("", 500000);
//bottom cam encoding
RenderTexture.active = depthImage;
imageToSend.ReadPixels(new Rect(0, 0, depthImage.width, depthImage.height), 0, 0);
imageToSend.Apply();
Byte[] depth_cam_image_jpg = ImageConversion.EncodeToJPG(imageToSend, 100);
string depth_cam_image_base64 = Convert.ToBase64String(depth_cam_image_jpg);
imgToSend.Append(depth_cam_image_base64).Append("!");
//front cam encoding
RenderTexture.active = rgbImage;
imageToSend2.ReadPixels(new Rect(0, 0, rgbImage.width, rgbImage.height), 0, 0);
imageToSend2.Apply();
Byte[] rgb_cam_image_jpg = ImageConversion.EncodeToJPG(imageToSend2, 100);
string rgb_cam_image_base64 = Convert.ToBase64String(rgb_cam_image_jpg);
imgToSend.Append(rgb_cam_image_base64).Append("!");
//sending the image data
try
{
#if self
imgMsg = new StringMsg(imgToSend.ToString());
obj.GetComponent <ROSInitializerSLAM>().rosSLAM.Publish(ImagePublisher.GetMessageTopic(), imgMsg);
//Debug.Log("Sending to topic: " + ImagePublisher.GetMessageTopic());
//Debug.Log(imgMsg);
#endif
}
catch (Exception e)
{
Debug.Log("Socket error" + e);
}
#endif
}
/* Update function sends images from the cameras attached to the AUV, to the control algorithm. In order
* to maintain sufficient communication frequency, images cannot be sent in their entirety. Therefore,
* edge detection is performed on the images, to detect meaningful data.
*
*/
void Update()
{
// Examine whether Lock is required
Vector3 CurRot = transform.parent.transform.rotation.eulerAngles;
// if(CurRot.x > 180.0f)
// CurRot.x -= 360.0f;
// if(CurRot.y > 180.0f)
// CurRot.y -= 360.0f;
// if(CurRot.z > 180.0f)
// CurRot.z -= 360.0f;
//
// CurRot *= 3.14f/180.0f;
// Debug.Log (CurRot);
#if UsePics
// if(Input.GetKey(KeyCode.Space))
// firstSend = true;
// Debug.Log (Time.deltaTime);
if (!Lock)
{
Lock = true;
firstSend = false;
RenderTexture.active = bottomImage;
imageToSend.ReadPixels(new Rect(0, 0, bottomImage.width, bottomImage.height), 0, 0);
imageToSend.Apply();
StringBuilder pixelsToSend1 = new StringBuilder("", 500000);
StringBuilder pixelsToSend2 = new StringBuilder("", 500000);
StringBuilder pixelsToSend3 = new StringBuilder("", 500000);
StringBuilder pixelsToSend4 = new StringBuilder("", 500000);
StringBuilder pixelsToSend5 = new StringBuilder("", 500000);
StringBuilder pixelsToSend6 = new StringBuilder("", 500000);
int cnt = 0;
Color32[] allPixels = imageToSend.GetPixels32();
//Bottom Image R Component
for (int i = 0; i < bottomImage.height; i++)
{
bool prev = false;
bool noChanges = true;
for (int j = 0; j < bottomImage.width; j++)
{
Color32 currentVal = allPixels [(ImageHeight - 1 - i) * bottomImage.width + j];
if ((currentVal.r > colThreshHigh && currentVal.g < colThreshLow && currentVal.b < colThreshLow) != prev)
{
noChanges = false;
prev = !prev;
pixelsToSend1.Append(j).Append(":");
}
}
if (noChanges)
{
pixelsToSend1.Append("-1");
}
pixelsToSend1.Append(">");
}
//Bottom Image G Component
for (int i = 0; i < bottomImage.height; i++)
{
bool prev = false;
bool noChanges = true;
for (int j = 0; j < bottomImage.width; j++)
{
Color32 currentVal = allPixels [(ImageHeight - 1 - i) * bottomImage.width + j];
if ((currentVal.g > colThreshHigh && currentVal.r < colThreshLow && currentVal.b < colThreshLow) != prev)
{
noChanges = false;
prev = !prev;
pixelsToSend2.Append(j).Append(":");
}
}
if (noChanges)
{
pixelsToSend2.Append("-1");
}
pixelsToSend2.Append(">");
}
//Bottom Image B Component
for (int i = 0; i < bottomImage.height; i++)
{
bool prev = false;
bool noChanges = true;
for (int j = 0; j < bottomImage.width; j++)
{
Color32 currentVal = allPixels [(ImageHeight - 1 - i) * bottomImage.width + j];
if ((currentVal.b > colThreshHigh && currentVal.r < colThreshLow && currentVal.g < colThreshLow) != prev)
{
noChanges = false;
prev = !prev;
pixelsToSend3.Append(j).Append(":");
}
}
if (noChanges)
{
pixelsToSend3.Append("-1");
}
pixelsToSend3.Append(">");
}
// for(int i=0; i<bottomImage.width*bottomImage.height; i++) {
// Color32 pixel = allPixels [i];
// if (pixel.r > colThresh) {
// pixelsToSend1.Append(cnt.ToString ("00000")).Append(":");
// }
// cnt++;
// }
cnt = 0;
RenderTexture.active = frontImage;
imageToSend2.ReadPixels(new Rect(0, 0, frontImage.width, frontImage.height), 0, 0);
imageToSend2.Apply();
allPixels = imageToSend2.GetPixels32();
//Front Image R Component
for (int i = 0; i < frontImage.height; i++)
{
bool prev = false;
bool noChanges = true;
for (int j = 0; j < frontImage.width; j++)
{
Color32 currentVal = allPixels [(ImageHeight - 1 - i) * frontImage.width + j];
if ((currentVal.r > colThreshHigh && currentVal.g < colThreshLow && currentVal.b < colThreshLow) != prev)
{
noChanges = false;
prev = !prev;
pixelsToSend4.Append(j).Append(":");
}
}
if (noChanges)
{
pixelsToSend4.Append("-1");
}
pixelsToSend4.Append(">");
}
//Front Image G Component
for (int i = 0; i < frontImage.height; i++)
{
bool prev = false;
bool noChanges = true;
for (int j = 0; j < frontImage.width; j++)
{
Color32 currentVal = allPixels [(ImageHeight - 1 - i) * frontImage.width + j];
if ((currentVal.g > colThreshHigh && currentVal.r < colThreshLow && currentVal.b < colThreshLow) != prev)
{
noChanges = false;
prev = !prev;
pixelsToSend5.Append(j).Append(":");
}
}
if (noChanges)
{
pixelsToSend5.Append("-1");
}
pixelsToSend5.Append(">");
}
//Front Image B Component
for (int i = 0; i < frontImage.height; i++)
{
bool prev = false;
bool noChanges = true;
for (int j = 0; j < frontImage.width; j++)
{
Color32 currentVal = allPixels [(ImageHeight - 1 - i) * frontImage.width + j];
if ((currentVal.b > colThreshHigh && currentVal.r < colThreshLow && currentVal.g < colThreshLow) != prev)
{
noChanges = false;
prev = !prev;
pixelsToSend6.Append(j).Append(":");
}
}
if (noChanges)
{
pixelsToSend6.Append("-1");
}
pixelsToSend6.Append(">");
}
// for(int i=0; i<frontImage.width*frontImage.height; i++) {
// Color32 pixel = allPixels [i];
// if (pixel.r > colThresh) {
// pixelsToSend2.Append(cnt.ToString ("00000")).Append(":");
// }
// cnt++;
// }
// Debug.Log(pixelsToSend1.Length + " " + pixelsToSend1);
// Debug.Log("Bottom Cam" + pixelsToSend1.Length + " " + pixelsToSend1.ToString());
pixelsToSend1.Append("!").Append(pixelsToSend2).Append("!").Append(pixelsToSend3).Append("!")
.Append(pixelsToSend4).Append("!").Append(pixelsToSend5).Append("!").Append(pixelsToSend6);
// pixelsToSend1.Append ("!").Append (pixelsToSend3);
try {
#if notSelf
// theWriter.WriteLine(pixelsToSend1.Length.ToString("000000"));
// theWriter.Flush();
// pixelsToSend1.Insert(0, pixelsToSend1.Length.ToString("00000000") + " ");
imgMsg = new StringMsg(pixelsToSend1.ToString());
obj.GetComponent <ROS_Initialize> ().ros.Publish(ImagePublisher.GetMessageTopic(), imgMsg);
// theWriter.WriteLine(pixelsToSend1);//.ToString().Substring(0, 2000));//.ToString().Substring(0, 1022));
// theWriter.Flush();
// theWriter.WriteLine(pixelsToSend1.ToString().Substring(0, 2048));
// theWriter.WriteLine(pixelsToSend1);
// Debug.Log(Encoding.ASCII.GetBytes(pixelsToSend1.ToString()).Length);
// theStream.Write(Encoding.ASCII.GetBytes(pixelsToSend1.ToString()), 0, Encoding.ASCII.GetBytes(pixelsToSend1.ToString()).Length);
// theWriter.Flush();
#endif
// Debug.Log(pixelsToSend1.Length + " " + pixelsToSend1);
// Debug.Log(pixelsToSend2.Length + " " + pixelsToSend2);
// Debug.Log("Front Cam" + pixelsToSend2.Length + " " + pixelsToSend2.ToString());
// Debug.Log(pixelsToSend3.Length + " " + pixelsToSend3);
// Debug.Log(pixelsToSend3.Length + " " + pixelsToSend3.ToString());
} catch (Exception e) {
Debug.Log("Socket error" + e);
}
// pixelsToSend2 = "";
cnt = 0;
// foreach (Color32 pixel in imageToSend.GetPixels32()) {
// if (pixel.r > colThresh) {
//// pixelsToSend2 = pixelsToSend2 + " " + (cnt / bottomImage.width).ToString ("000") + " " +
//// (cnt % bottomImage.height).ToString ("000") + ":";
// Debug.Log (cnt);
// }
// cnt++;
// }
// try {
// #if notSelf
// theWriter.WriteLine(imageToSend.GetPixels32()[0]);
// theWriter.Flush();
// theWriter.WriteLine(":");
// theWriter.Flush();
// Debug.Log("afaeeagaggaegggggggggggggggggg " + imageToSend.GetPixels32()[0]);
//
// #endif
//
//// Debug.Log(pixelsToSend1.Length + pixelsToSend1);
// } catch (Exception e) {
// Debug.Log ("Socket error" + e);
// }
}
#endif
}
