void Semantic_result_arrived(Message message)
{
arrived = true;
segmented_image = (SensorCompressedImage)message;
semantic_result(this, EventArgs.Empty);
Debug.Log("segmented_image arrived");
}
void Publish_to_ROS(byte[] image_data)
{
SensorCompressedImage publish_image = new SensorCompressedImage();
publish_image.format = "jpeg";
publish_image.data = image_data;
Debug.Log("ara:Publishing...");
// ROSに画像を送信
rosSocket.Publish(advertise_id, publish_image);
}
public void ReqImgHandler(Message message)
{
StandardString standard = (StandardString)message;
dynamic stuff = JObject.Parse(standard.data);
string ip = stuff.ip;
string name = stuff.img;
int percent = (int)stuff.percent;
Constant.mainWindowPointer.WriteLog("[" + ip + "]" + " Image loaded: " + percent + "%"); // [192.168.105.5] Image loaded: 40%
SensorCompressedImage imgdata = new SensorCompressedImage();
try
{
// BitmapImage img = new System.Windows.Media.Imaging.BitmapImage(new Uri(Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData) + @"\ATEK\Image\" + standard.data));
String pathImg = Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData) + @"\ATEK\Image\" + name;
if (!File.Exists(pathImg))
{
//string test = @"pack://*****:*****@"\ATEK\Image\" + "default.png");
//Image img = null;
imgdata.format = "NoImage";
//imgdata.data = ImageToByte(img);
if (webSocket.IsAlive)
{
this.Publish(publishdataImg, imgdata);
}
}
else
{
Image img = Image.FromFile(Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData) + @"\ATEK\Image\" + name);
Image resizeImg = new Bitmap(img, new Size(300, 400));
imgdata.format = name;
imgdata.data = ImageToByte(resizeImg);
if (webSocket.IsAlive)
{
this.Publish(publishdataImg, imgdata);
}
}
}
catch
{
//Image img = Image.FromFile(Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData) + @"\ATEK\Image\" + "default.png");
//Image img = null;
imgdata.format = "NoImage";
//imgdata.data = ImageToByte(img);
if (webSocket.IsAlive)
{
this.Publish(publishdataImg, imgdata);
}
}
}
private void InitializeMessage()
{
message = new SensorCompressedImage();
message.header.frame_id = FrameId;
message.format = "jpeg";
}
void Start()
{
segmented_image = new SensorCompressedImage();
Invoke("Init", 1.0f);
}
