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I managed to send video feed over tcp socket using code and decode of string64. My problem is that the video feed is kinda laggy, and It's probably because of this time between coding and decoding.

Is there a simple way to improve this?

C#

 private void enviar_data()
 {
 
 string data = "";
 string data2 = "";
 string string_master_frame, string_slave_frame, string_arena_frame;
 string conetado, bateria, tensao, altitude, roll, pitch, yaw, velx, vely, velz, estado, atual, desejado;
 string conetado2, bateria2, tensao2, altitude2, roll2, pitch2, yaw2, velx2, vely2, velz2, estado2, atual2, desejado2;
 conetado = master.sconetado;
 bateria = master.sbateria;
 tensao = master.stensao;
 altitude = master.saltitude;
 roll = master.sroll;
 pitch = master.spitch;
 yaw = master.syaw;
 velx = master.svelx;
 vely = master.svely;
 velz = master.svelz;
 estado = master.sestado;
 atual = master.satual;
 desejado = master.sdesejado;
 conetado2 = slave.sconetado;
 bateria2 = slave.sbateria;
 tensao2 = slave.stensao;
 altitude2 = slave.saltitude;
 roll2 = slave.sroll;
 pitch2 = slave.spitch;
 yaw2 = slave.syaw;
 velx2 = slave.svelx;
 vely2 = slave.svely;
 velz2 = slave.svelz;
 estado2 = slave.sestado;
 atual2 = slave.satual;
 desejado2 = slave.sdesejado;
 ImageConverter converter = new ImageConverter();
 byte[] sendBytes = (byte[])converter.ConvertTo( master.picturebox_master.Image, typeof(byte[])); 
 string_master_frame = Convert.ToBase64String(sendBytes);
 byte[] sendBytes2 = (byte[])converter.ConvertTo(slave.picturebox_master.Image, typeof(byte[]));
 string_slave_frame = Convert.ToBase64String(sendBytes2);
 Bitmap arena = new Bitmap(chart1.Width, chart1.Height);
 chart1.DrawToBitmap(arena, new Rectangle(0,0,chart1.Width,chart1.Height));
 byte[] sendBytes3 = (byte[])converter.ConvertTo(arena, typeof(byte[]));
 string_arena_frame = Convert.ToBase64String(sendBytes3);
 data = conetado + "\n" + bateria + "\n" + tensao + "\n" + altitude + "\n" + roll + "\n" + pitch + "\n" + yaw + "\n" + velx + "\n" + vely + "\n" + velz + "\n" + estado + "\n" + atual + "\n" + desejado + "\n" +
 conetado2 + "\n" + bateria2 + "\n" + tensao2 + "\n" + altitude2 + "\n" + roll2 + "\n" + pitch2 + "\n" + yaw2 + "\n" + velx2 + "\n" + vely2 + "\n" + velz2 + "\n" + estado2 + "\n" + atual2 + "\n" + desejado2 + "\n";
 data2 = conetado + "\n" + bateria + "\n" + tensao + "\n" + altitude + "\n" + roll + "\n" + pitch + "\n" + yaw + "\n" + velx + "\n" + vely + "\n" + velz + "\n" + estado + "\n" + atual + "\n" + desejado + "\n" +
 conetado2 + "\n" + bateria2 + "\n" + tensao2 + "\n" + altitude2 + "\n" + roll2 + "\n" + pitch2 + "\n" + yaw2 + "\n" + velx2 + "\n" + vely2 + "\n" + velz2 + "\n" + estado2 + "\n" + atual2 + "\n" + desejado2 + "\n" + string_master_frame +
 "\n" + string_slave_frame + "\n" + string_arena_frame + "\n\n";
 //data = data.Substring(0, data.Length - 2);
 tcpServer1.Send(data);
 
 }
 private void timer1_Tick(object sender, EventArgs e)
 {
 enviar_data();
 }

Timer1 is 250ms atm. It was the best i could find. If I decrese is lags even more.

Android Client

 protected Void doInBackground(Void... arg0) {
 Socket socket = null;
 try {
 socket = new Socket(dstAddress, dstPort);
 //Scanner r = new Scanner(new InputStreamReader(socket.getInputStream()));
 BufferedReader br = new BufferedReader(new InputStreamReader(socket.getInputStream()));
 BufferedWriter bw = new BufferedWriter(new OutputStreamWriter(socket.getOutputStream()));
 //PrintWriter bw = new PrintWriter(new BufferedWriter(new OutputStreamWriter(socket.getOutputStream())),true);
 //PrintWriter bw = new PrintWriter(socket.getOutputStream(),true);
 while (true) {
 
 String line;
 int i = 0;
 while((line = br.readLine()) != null) {
 if (i < valores.length) {
 valores[i] = line;
 Log.e("MSG", valores[i]);
 i++;
 } else break;
 }
 publishProgress(valores[0], valores[1], valores[2], valores[3], valores[4], valores[5], valores[6], valores[7], valores[8], valores[9], valores[10], valores[11], valores[12],
 valores[13], valores[14], valores[15], valores[16], valores[17], valores[18], valores[19], valores[20], valores[21], valores[22], valores[23], valores[24], valores[25], valores[26],
 valores[27],valores[28]);
 }
 } catch (UnknownHostException e) {
 // TODO Auto-generated catch block
 e.printStackTrace();
 } catch (IOException e) {
 // TODO Auto-generated catch block
 e.printStackTrace();
 } finally {
 if (socket != null) {
 try {
 socket.close();
 } catch (IOException e) {
 // TODO Auto-generated catch block
 e.printStackTrace();
 }
 }
 }
 return null;
}
@Override
protected void onProgressUpdate(String... values) {
 super.onProgressUpdate(values);
 conetado.setText(values[0]);
 bateria.setText(values[1]);
 tensao.setText(values[2]);
 altitude.setText(values[3]);
 roll.setText(values[4]);
 pitch.setText(values[5]);
 yaw.setText(values[6]);
 velx.setText(values[7]);
 vely.setText(values[8]);
 velz.setText(values[9]);
 estado.setText(values[10]);
 atual.setText(values[11]);
 desejado.setText(values[12]);
 conetado2.setText(values[13]);
 bateria2.setText(values[14]);
 tensao2.setText(values[15]);
 altitude2.setText(values[16]);
 roll2.setText(values[17]);
 pitch2.setText(values[18]);
 yaw2.setText(values[19]);
 velx2.setText(values[20]);
 vely2.setText(values[21]);
 velz2.setText(values[22]);
 estado2.setText(values[23]);
 atual2.setText(values[24]);
 desejado2.setText(values[25]);
 Bitmap master_bitmap,slave_bitmap,arena_bitmap;
 byte[] decodedString = Base64.decode(values[26], Base64.NO_WRAP);
 master_bitmap = BitmapFactory.decodeByteArray(decodedString, 0, decodedString.length);
 master_frame.setImageBitmap(master_bitmap);
 byte[] decodedString2 = Base64.decode(values[27], Base64.NO_WRAP);
 slave_bitmap = BitmapFactory.decodeByteArray(decodedString2, 0, decodedString2.length);
 slave_frame.setImageBitmap(slave_bitmap);
 byte[] decodedString3 = Base64.decode(values[28], Base64.NO_WRAP);
 arena_bitmap = BitmapFactory.decodeByteArray(decodedString3, 0, decodedString3.length);
 arena_frame.setImageBitmap(arena_bitmap);
}
}