/* ==================================
* FlightGoggles Low Level Functions
* ==================================
*/
// Old version with managed memory
// Cut image block for an individual camera from larger provided image.
//public byte[] get_raw_image(Camera_t cam, byte[] raw, int numCams)
//{
// int num_bytes_to_copy = cam.channels * state.camWidth * state.camHeight;
// //Debug.Log(cam.channels);
// //int num_bytes_to_copy = 3 * state.camWidth * state.camHeight;
// byte[] output = new byte[num_bytes_to_copy];
// // Reverse camera indexing since the camera output is globally flipped on the Y axis.
// int outputIndex = numCams - 1 - cam.outputIndex;
// // Figure out where camera data starts and ends
// int y_start = outputIndex * state.camHeight;
// int y_end = (outputIndex+1) * state.camHeight;
// // Calculate start and end byte
// int byte_start = (y_start * state.screenWidth) * 3;
// int byte_end = (y_end * state.screenWidth) * 3;
// // Create a copy of the array
// int px_stride = 4 - cam.channels;
// for (int i = 0; i < num_bytes_to_copy; i++)
// {
// output[i] = raw[byte_start + i*px_stride];
// }
// return output;
//}
//public struct ConvertRGBAToRGB : IJobParallelFor
//{
// [ReadOnly]
// public NativeSlice<byte> input;
// [WriteOnly]
// public NativeArray<byte> output;
// // Params
// [ReadOnly]
// public int px_stride;
// // i is the iteration loop index
// // In this case, it is the index of the output byte.
// public void Execute( int i)
// {
// output[i] = input[i * px_stride];
// }
//}
// Cut image block for an individual camera from larger provided image.
//public byte[] get_raw_image(Camera_t cam, NativeArray<byte> raw, int numCams)
//{
// // int num_bytes_to_copy = cam.channels * state.camWidth * state.camHeight;
// //Debug.Log(cam.channels);
// //int num_bytes_to_copy = 3 * state.camWidth * state.camHeight;
// byte[] output = new byte[num_bytes_to_copy];
// // Reverse camera indexing since the camera output is globally flipped on the Y axis.
// int outputIndex = numCams - 1 - cam.outputIndex;
// // Figure out where camera data starts and ends
// int y_start = outputIndex * state.camHeight;
// int y_end = (outputIndex + 1) * state.camHeight;
// // Calculate start and end byte
// int byte_start = (y_start * state.screenWidth) * 3;
// int byte_end = (y_end * state.screenWidth) * 3;
// // Create a copy of the array
// int px_stride = 4 - cam.channels;
// for (int i = 0; i < num_bytes_to_copy; i++)
// {
// output[i] = raw[byte_start + i * px_stride];
// }
// return output;
//}
// Reads a scene frame from the GPU backbuffer and sends it via ZMQ.
void sendFrameOnWire()
{
// Read pixels from screen backbuffer (expensive).
rendered_frame.ReadPixels(new Rect(0, 0, state.screenWidth, state.screenHeight), 0, 0);
rendered_frame.Apply(); // Might not actually be needed since only applies setpixel changes.
byte[] raw = rendered_frame.GetRawTextureData();
// Get metadata
RenderMetadata_t metadata = new RenderMetadata_t(state);
// Create packet metadata
var msg = new NetMQMessage();
msg.Append(JsonConvert.SerializeObject(metadata));
// Process each camera's image, compress the image, and serialize the result.
// Compression is disabled for now...
// Stride is also disabled for now. Outputs RGB blocks with stride 3.
state.cameras.ForEach(cam => {
// Length of RGB slice
int rgbImageLength = 3 * state.camWidth * state.camHeight;
// Reverse camera indexing since the camera output is globally flipped on the Y axis.
int outputIndex = state.numCameras - 1 - cam.outputIndex;
// Figure out where camera data starts and ends
int yStart = outputIndex * state.camHeight;
int yEnd = (outputIndex + 1) * state.camHeight;
// Calculate start and end byte
int byteStart = (yStart * state.screenWidth) * 3;
//int byte_end = (y_end * state.screenWidth) * 3;
// Get view of RGB camera image
//NativeSlice<byte> rgbImage = raw.Slice<byte>(byteStart, rgbImageLength);
//Check if need to convert RGB image to grayscale @TODO
//if (cam.channels == 1)
//{
// // Get single channels
// NativeSlice<byte> redArray = rgbImage.SliceWithStride<byte>(0);
// NativeSlice<byte> greenArray = rgbImage.SliceWithStride<byte>(1);
// NativeSlice<byte> blueArray = rgbImage.SliceWithStride<byte>(2);
// // Get output array
// NativeArray<byte> grayscaleArray = new NativeArray<byte>(rgbImageLength / 3, Allocator.TempJob);
// // Spawn conversion job
// // @ TODO
// convertToGrayscale(m_NativeRed, m_NativeGreen, m_NativeBlue, ref grayscaleConversionBurstJobHandle);
//}
// Append image to message
//byte[] imageData = rgbImage.ToArray();
//rgbImage.CopyTo(imageData);
byte[] imageData = new byte[rgbImageLength];
Array.Copy(raw, byteStart, imageData, 0, rgbImageLength);
//fixed (byte* pSource = &raw[0])
//{
// var frame = new NetMQFrame(*(byte*)pSource, rgbImageLength);
//}
msg.Append(imageData);
});
if (push_socket.HasOut)
{
push_socket.SendMultipartMessage(msg);
}
}
