334 lines
14 KiB
C#
334 lines
14 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Drawing;
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using System.IO;
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using System.Linq;
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using System.Net.Sockets;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace DogAndArmControl
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{
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public class VideoCaltulate
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{
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private MemoryStream imageBuffer = new MemoryStream(); // 图像数据缓冲区
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private byte[] videoBuffer = new byte[1400]; // 视频数据缓冲区
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private int videoWidth;
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private int videoHeight;
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// 原有的单独视频流接收方法（保留兼容性）
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public async Task ReceiveVideoFramesAsync(CancellationToken cancellationToken, NetworkStream videoStream, PictureBox VideoBox, bool flag)
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{
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try
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{
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while (!cancellationToken.IsCancellationRequested)
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{
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try
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{
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// 接收4字节的图像大小信息
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int sizeBufferSize = 4;
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byte[] sizeBuffer = new byte[sizeBufferSize];
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int totalRead = 0;
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while (totalRead < sizeBufferSize && !cancellationToken.IsCancellationRequested)
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{
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int read = await videoStream.ReadAsync(sizeBuffer, totalRead, sizeBufferSize - totalRead, cancellationToken);
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if (read == 0) break;
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totalRead += read;
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}
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if (totalRead != sizeBufferSize || cancellationToken.IsCancellationRequested)
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{
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throw new IOException("未接收到完整的图像大小信息");
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}
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int imageSize = BitConverter.ToInt32(sizeBuffer, 0);
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if (imageSize <= 0 || imageSize > 20 * 1024 * 1024)
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{
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Debug.WriteLine($"Invalid image size: {imageSize} bytes. Skipping frame.");
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continue;
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}
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// 接收图像数据
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imageBuffer.SetLength(0); // 清空缓冲区
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int bytesRead = 0;
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while (bytesRead < imageSize && !cancellationToken.IsCancellationRequested)
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{
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int chunkSize = Math.Min(videoBuffer.Length, imageSize - bytesRead);
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int read = await videoStream.ReadAsync(videoBuffer, 0, chunkSize, cancellationToken);
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if (read == 0) break;
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imageBuffer.Write(videoBuffer, 0, read);
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bytesRead += read;
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}
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if (bytesRead != imageSize || cancellationToken.IsCancellationRequested)
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{
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throw new IOException($"未接收到完整的图像数据，预期: {imageSize}, 实际: {bytesRead}");
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}
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// 在UI线程上异步更新图像
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await Task.Run(() => ProcessImageData(VideoBox, flag));
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}
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catch (Exception ex)
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{
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break;
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}
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}
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}
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catch (Exception) { }
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}
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// 新增：接收合并视频流并分割显示到两个PictureBox的方法
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public async Task ReceiveMergedVideoFramesAsync(CancellationToken cancellationToken, NetworkStream videoStream, PictureBox dogVideoBox, PictureBox armVideoBox)
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{
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try
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{
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while (!cancellationToken.IsCancellationRequested)
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{
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try
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{
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// 接收4字节的图像大小信息
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int sizeBufferSize = 4;
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byte[] sizeBuffer = new byte[sizeBufferSize];
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int totalRead = 0;
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while (totalRead < sizeBufferSize && !cancellationToken.IsCancellationRequested)
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{
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int read = await videoStream.ReadAsync(sizeBuffer, totalRead, sizeBufferSize - totalRead, cancellationToken);
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if (read == 0) break;
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totalRead += read;
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}
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int imageSize = BitConverter.ToInt32(sizeBuffer, 0);
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if (imageSize <= 0 || imageSize > 20 * 1024 * 1024)
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{
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Debug.WriteLine($"Invalid image size: {imageSize} bytes. Skipping frame.");
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continue;
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}
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// 接收图像数据
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imageBuffer.SetLength(0); // 清空缓冲区
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int bytesRead = 0;
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while (bytesRead < imageSize && !cancellationToken.IsCancellationRequested)
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{
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int chunkSize = Math.Min(videoBuffer.Length, imageSize - bytesRead);
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int read = await videoStream.ReadAsync(videoBuffer, 0, chunkSize, cancellationToken);
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if (read == 0) break;
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imageBuffer.Write(videoBuffer, 0, read);
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bytesRead += read;
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}
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if (bytesRead != imageSize || cancellationToken.IsCancellationRequested)
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{
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throw new IOException($"未接收到完整的图像数据，预期: {imageSize}, 实际: {bytesRead}");
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}
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// 处理合并后的图像数据并分割显示
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//await Task.Run(() => ProcessMergedImageData(dogVideoBox, armVideoBox));
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await Task.Run(() => ProcessImageData(armVideoBox));
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"Error receiving merged video frame: {ex.Message}");
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break;
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}
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}
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"Error in ReceiveMergedVideoFramesAsync: {ex.Message}");
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}
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}
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// 处理合并后的图像数据并分割显示到两个PictureBox
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private void ProcessMergedImageData(PictureBox dogVideoBox, PictureBox armVideoBox)
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{
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try
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{
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imageBuffer.Position = 0;
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using (var mergedImage = Image.FromStream(imageBuffer))
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{
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// 获取合并图像的尺寸
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int mergedWidth = mergedImage.Width;
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int mergedHeight = mergedImage.Height;
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// 计算分割点（假设是横向拼接，左右各占一半）
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int halfWidth = mergedWidth / 2;
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// 创建两个分割后的图像
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Bitmap dogImage = new Bitmap(halfWidth, mergedHeight);
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Bitmap armImage = new Bitmap(halfWidth, mergedHeight);
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using (Graphics dogGraphics = Graphics.FromImage(dogImage))
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using (Graphics armGraphics = Graphics.FromImage(armImage))
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{
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// 分割左半部分给机械狗视频
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Rectangle dogSourceRect = new Rectangle(0, 0, halfWidth, mergedHeight);
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Rectangle dogDestRect = new Rectangle(0, 0, halfWidth, mergedHeight);
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dogGraphics.DrawImage(mergedImage, dogDestRect, dogSourceRect, GraphicsUnit.Pixel);
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// 分割右半部分给机械臂视频
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Rectangle armSourceRect = new Rectangle(halfWidth, 0, halfWidth, mergedHeight);
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Rectangle armDestRect = new Rectangle(0, 0, halfWidth, mergedHeight);
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armGraphics.DrawImage(mergedImage, armDestRect, armSourceRect, GraphicsUnit.Pixel);
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}
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// 在UI线程上更新两个PictureBox
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UpdatePictureBox(dogVideoBox, dogImage, false);
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UpdatePictureBox(armVideoBox, armImage, true); // 机械臂视频需要旋转180度
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}
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"Error processing merged image data: {ex.Message}");
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}
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}
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// 更新单个PictureBox的辅助方法
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private void UpdatePictureBox(PictureBox pictureBox, Bitmap image, bool rotateImage)
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{
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if (pictureBox.InvokeRequired)
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{
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pictureBox.BeginInvoke(new Action(() =>
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{
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try
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{
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if (pictureBox.Image != null)
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{
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pictureBox.Image.Dispose();
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}
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Bitmap displayImage = new Bitmap(image);
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if (rotateImage)
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{
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displayImage.RotateFlip(RotateFlipType.Rotate180FlipNone);
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}
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pictureBox.Image = displayImage;
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pictureBox.Refresh();
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"Error updating PictureBox: {ex.Message}");
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}
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}));
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}
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else
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{
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try
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{
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if (pictureBox.Image != null)
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{
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pictureBox.Image.Dispose();
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}
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Bitmap displayImage = new Bitmap(image);
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if (rotateImage)
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{
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displayImage.RotateFlip(RotateFlipType.Rotate180FlipNone);
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}
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pictureBox.Image = displayImage;
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pictureBox.Refresh();
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}
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catch (Exception ex)
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{
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Debug.WriteLine($"Error updating PictureBox: {ex.Message}");
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}
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}
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}
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// 原有的单独图像处理方法（保留兼容性）
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public void ProcessImageData(PictureBox videoPictureBox, bool flag = false)
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{
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try
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{
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imageBuffer.Position = 0;
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if (videoPictureBox.InvokeRequired)
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{
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videoPictureBox.BeginInvoke(new Action(() =>
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{
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try
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{
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if (videoPictureBox.Image != null)
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{
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videoPictureBox.Image.Dispose();
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}
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using (var tempImage = Image.FromStream(imageBuffer))
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{
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// 如果需要旋转，则旋转180度
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Bitmap displayedImage = new Bitmap(tempImage);
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if (flag)
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{
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displayedImage.RotateFlip(RotateFlipType.Rotate180FlipNone);
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}
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// 显示图像
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videoPictureBox.Image = displayedImage;
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// 更新分辨率信息
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videoWidth = displayedImage.Width;
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videoHeight = displayedImage.Height;
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}
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videoPictureBox.Refresh();
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}
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catch (Exception ex)
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{
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// Handle any exceptions (e.g., image load failure)
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Debug.WriteLine($"Error processing image: {ex.Message}");
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}
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}));
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}
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else
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{
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try
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{
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if (videoPictureBox.Image != null)
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{
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videoPictureBox.Image.Dispose();
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}
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using (var tempImage = Image.FromStream(imageBuffer))
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{
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Bitmap displayedImage = new Bitmap(tempImage);
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if (flag)
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{
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displayedImage.RotateFlip(RotateFlipType.Rotate180FlipNone);
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}
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videoPictureBox.Image = displayedImage;
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videoWidth = displayedImage.Width;
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videoHeight = displayedImage.Height;
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}
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videoPictureBox.Refresh();
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}
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catch (Exception ex)
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{
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// Handle any exceptions (e.g., image load failure)
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Debug.WriteLine($"Error processing image: {ex.Message}");
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}
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}
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}
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catch (Exception ex)
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{
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// Handle any outer exceptions
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Debug.WriteLine($"Error processing image data: {ex.Message}");
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}
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}
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}
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}
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