public override IEnumerator RunJob()
{
Debug.Log("*************************** CoroutineJobCapture ***************************");
BaseMapper mapper = host as BaseMapper;
byte[] capture = new byte[channels * width * height + 1024];
Task <(string, icvCaptureInfo)> t = Task.Run(() =>
{
icvCaptureInfo info = Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
return(Convert.ToBase64String(capture, 0, info.captureSize), info);
});
while (!t.IsCompleted)
{
yield return(null);
}
string encodedImage = t.Result.Item1;
icvCaptureInfo captureInfo = t.Result.Item2;
mapper.NotifyIfConnected(captureInfo);
SDKImageRequest imageRequest = new SDKImageRequest();
imageRequest.token = mapper.token;
imageRequest.run = this.run;
imageRequest.bank = mapper.currentBank;
imageRequest.index = this.index;
imageRequest.anchor = this.anchor;
imageRequest.px = position.x;
imageRequest.py = position.y;
imageRequest.pz = position.z;
imageRequest.r00 = rotation.m00;
imageRequest.r01 = rotation.m01;
imageRequest.r02 = rotation.m02;
imageRequest.r10 = rotation.m10;
imageRequest.r11 = rotation.m11;
imageRequest.r12 = rotation.m12;
imageRequest.r20 = rotation.m20;
imageRequest.r21 = rotation.m21;
imageRequest.r22 = rotation.m22;
imageRequest.fx = intrinsics.x;
imageRequest.fy = intrinsics.y;
imageRequest.ox = intrinsics.z;
imageRequest.oy = intrinsics.w;
imageRequest.latitude = latitude;
imageRequest.longitude = longitude;
imageRequest.altitude = altitude;
imageRequest.b64 = encodedImage;
string jsonString = JsonUtility.ToJson(imageRequest);
using (UnityWebRequest request = UnityWebRequest.Put(string.Format(Endpoint.URL_FORMAT, mapper.server, Endpoint.CAPTURE_IMAGE), jsonString))
{
request.method = UnityWebRequest.kHttpVerbPOST;
request.useHttpContinue = false;
request.SetRequestHeader("Content-Type", "application/json");
request.SetRequestHeader("Accept", "application/json");
yield return(request.SendWebRequest());
Debug.Log("Response code: " + request.responseCode);
if (request.isNetworkError || request.isHttpError)
{
Debug.LogError(request.error);
}
else if (request.responseCode == (long)HttpStatusCode.OK)
{
SDKImageResult result = JsonUtility.FromJson <SDKImageResult>(request.downloadHandler.text);
if (result.error == "none")
{
Debug.Log("Image uploaded successfully");
}
}
}
}
