/// <summary>
/// Write the perceived value on the yarp port.
/// </summary>
public override void WritePerceivedValue()
{
Bottle b = portPerceived.prepare();
b.clear();
b.addString(vectorToString(PerceivedValue));
portPerceived.write();
}
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();
}
/// <summary>
/// Write the perceived value on the yarp port.
/// </summary>
public override void WritePerceivedValue()
{
Bottle b = portPerceived.prepare();
b.clear();
for (int i = 0; i < size; i++)
{
b.addDouble((PerceivedValue[i] * (maxBounds[i] - minBounds[i])) + minBounds[i]);
}
portPerceived.write();
}
static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
p.open("/csharp");
int top = 100;
for (int i=1; i<top; i++) {
Bottle bottle = p.prepare();
bottle.clear();
bottle.addString("count");
bottle.addInt(i);
bottle.addString("of");
bottle.addInt(top);
Console.WriteLine("Sending " + bottle.toString());
p.write();
Time.delay(0.5);
}
p.close();
Network.fini();
}
static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
p.open("/csharp");
int top = 100;
for (int i = 1; i < top; i++)
{
Bottle bottle = p.prepare();
bottle.clear();
bottle.addString("count");
bottle.addInt32(i);
bottle.addString("of");
bottle.addInt32(top);
Console.WriteLine("Sending " + bottle.toString());
p.write();
Time.delay(0.5);
}
p.close();
Network.fini();
}