private void Capture(int num)
{
string imageName = _camera.name + "_" + num;
Dictionary <string, int> labelInstances = new Dictionary <string, int>();
// Call Screen Capture
var screen = CaptureCamera.Capture(_camera, request =>
{
string path = screenCapturePath + "/" + imageName + ".jpg";
// Convert the screen capture to a byte array
Array image = CaptureImageEncoder.Encode(request.data.colorBuffer as Array, 640, 480, GraphicsFormat.R8G8B8A8_UNorm,
CaptureImageEncoder.ImageFormat.Jpg, true);
// Write the screen capture to a file
var result = FileProducer.Write(path, image);
// Wait for Async screen capture request to return and then log data point
if (result)
{
labelInstances.Add("Cube", 100);
labelInstances.Add("Sphere", 111);
labelInstances.Add("Cylinder", 131);
string temp = JsonConvert.SerializeObject(labelInstances);
InstanceCount instanceCount = new InstanceCount(imageName, temp);
// Log data point to file
dataLogger.Log(instanceCount);
return(AsyncRequest.Result.Completed);
}
return(AsyncRequest.Result.Error);
});
}
private void Capture(int num)
{
string imageName = _camera.name + "_" + num;
// Define Data point object outside async call
DataPoint dataPoint = new DataPoint(_cube.name, _cube.transform.rotation, simElapsed, imageName);
// Call Screen Capture
var screen = CaptureCamera.Capture(_camera, request =>
{
string path = screenCapturePath + "/" + imageName + ".jpg";
// Convert the screen capture to a byte array
Array image = CaptureImageEncoder.Encode(request.data.colorBuffer as Array, 640, 480, GraphicsFormat.R8G8B8A8_UNorm,
CaptureImageEncoder.ImageFormat.Jpg, true);
// Write the screen capture to a file
var result = DXFile.Write(path, image);
// Wait for Async screen capture request to return and then log data point
if (result)
{
// Log data point to file
dataLogger.Log(dataPoint);
return(AsyncRequest.Result.Completed);
}
return(AsyncRequest.Result.Error);
});
}
private AsyncRequestWrapper CaptureFrameWithLog(
Camera camera,
Unity.Simulation.Logger logger,
string screenCapturePath,
string frameFileNameRoot,
int frameIndex
)
{
// Construct the output file name for the image.
string frameFileBaseName = $"{frameFileNameRoot}_{frameIndex}";
string frameFilePath = $"{screenCapturePath}{Path.DirectorySeparatorChar}{frameFileBaseName}.jpg";
void LogData()
{
logger.Log(new CaptureFrameWithLogDataPoint(frameFileBaseName));
}
// Write the frame entry to the log. Write the log line outside the request callback when the
// execution context is threaded since threaded requests will be executed asynchronously.
if (IsExecutionContextThreaded())
{
LogData();
}
var req = CaptureCamera.Capture(
camera,
request =>
{
// Write the frame entry to the log. We can write the log line within the request callback when
// the execution context is *not* threaded since they will be executed sequentially.
if (!IsExecutionContextThreaded())
{
LogData();
}
// Get the color buffer data and convert it to an image file.
byte[] imgColorData = (byte[])request.data.colorBuffer;
byte[] imgFileData = (byte[])CaptureImageEncoder.EncodeArray(
imgColorData,
32,
32,
GraphicsFormat.R8G8B8A8_UNorm,
CaptureImageEncoder.ImageFormat.Jpg
);
// Attempt to write the image file to disk.
bool fileWritten = FileProducer.Write(frameFilePath, imgFileData);
return((fileWritten) ? AsyncRequest.Result.Completed : AsyncRequest.Result.Error);
},
flipY: false
);
return(new AsyncRequestWrapper(req, frameIndex));
}
void Test_Color_Orientation(Camera camera, GraphicsFormat format, byte[] data, string label, string path)
{
var colors = ArrayUtilities.Cast <Color32>(data);
var length = ArrayUtilities.Count <Color32>(colors);
var top = (Color)colors[length - 1];
var bot = (Color)colors[0];
// HDRP has all sorts of effects that alter color significantly, so we compare differently.
if (SRPSupport.GetCurrentPipelineRenderingType() == RenderingPipelineType.URP ||
SRPSupport.GetCurrentPipelineRenderingType() == RenderingPipelineType.HDRP)
{
var failed = !ColorCloser(top, Color.red, Color.black) || !ColorCloser(bot, Color.black, Color.red);
if (failed)
{
Log.I($"{label} : Failed: Colors top {top.ToString()} bottom {bot.ToString()}");
}
var texture = ConvertToRGBATexture(format, data, camera.pixelWidth, camera.pixelHeight);
File.WriteAllBytes(CaptureImageEncoder.EnforceFileExtension(failed ? path + "_FAILED" : path, CaptureImageEncoder.ImageFormat.Jpg), texture.EncodeToJPG());
Assert.True(ColorCloser(top, Color.red, Color.black));
Assert.True(ColorCloser(bot, Color.black, Color.red));
}
else
{
var tolerance = 0.01f;
var failed = !CompareColors(top, Color.red, tolerance) || !CompareColors(bot, Color.black, tolerance);
if (failed)
{
Log.I($"{label} : Failed: Colors top {top.ToString()} bottom {bot.ToString()}");
}
var texture = ConvertToRGBATexture(format, data, camera.pixelWidth, camera.pixelHeight);
File.WriteAllBytes(CaptureImageEncoder.EnforceFileExtension(failed ? path + "_FAILED" : path, CaptureImageEncoder.ImageFormat.Jpg), texture.EncodeToJPG());
Assert.True(CompareColors(top, Color.red, tolerance));
Assert.True(CompareColors(bot, Color.black, tolerance));
}
}
void Test_Depth_Orientation_ushort(Camera camera, GraphicsFormat format, byte[] data, string label, string path)
{
var depth = ArrayUtilities.Cast <ushort>(data);
var length = ArrayUtilities.Count <ushort>(depth);
// Depth is laid out left to right, bottom to top.
var top = CalculateAverageDepthForLine(depth, camera.pixelWidth, camera.pixelHeight - 1);
var bot = CalculateAverageDepthForLine(depth, camera.pixelWidth, 0);
// Top should be closer, and both planes should have depth info.
var condition = top < bot && top > 0 && top < ushort.MaxValue && bot > 0 && bot < ushort.MaxValue;
var texture = ConvertToRGBATexture(format, data, camera.pixelWidth, camera.pixelHeight);
File.WriteAllBytes(CaptureImageEncoder.EnforceFileExtension(condition ? path : path + "_FAILED", CaptureImageEncoder.ImageFormat.Jpg), texture.EncodeToJPG());
Log.I($"{label} : Average depth top({top}) bottom({bot})");
Assert.True(condition);
}
