public void ReportCapture_ReportsProperJson()
{
var filename = "my/file.png";
var egoPosition = new float3(.02f, .03f, .04f);
var egoRotation = new quaternion(.1f, .2f, .3f, .4f);
var egoVelocity = new Vector3(.1f, .2f, .3f);
var position = new float3(.2f, 1.1f, .3f);
var rotation = new quaternion(.3f, .2f, .1f, .5f);
var intrinsics = new float3x3(.1f, .2f, .3f, 1f, 2f, 3f, 10f, 20f, 30f);
var capturesJsonExpected =
$@"{{
""version"": ""{DatasetCapture.SchemaVersion}"",
""captures"": [
{{
""id"": <guid>,
""sequence_id"": <guid>,
""step"": 0,
""timestamp"": 0.0,
""sensor"": {{
""sensor_id"": <guid>,
""ego_id"": <guid>,
""modality"": ""camera"",
""translation"": [
{Format(position.x)},
{Format(position.y)},
{Format(position.z)}
],
""rotation"": [
{Format(rotation.value.x)},
{Format(rotation.value.y)},
{Format(rotation.value.z)},
{Format(rotation.value.w)}
],
""camera_intrinsic"": [
[
{Format(intrinsics.c0.x)},
{Format(intrinsics.c0.y)},
{Format(intrinsics.c0.z)}
],
[
{Format(intrinsics.c1.x)},
{Format(intrinsics.c1.y)},
{Format(intrinsics.c1.z)}
],
[
{Format(intrinsics.c2.x)},
{Format(intrinsics.c2.y)},
{Format(intrinsics.c2.z)}
]
]
}},
""ego"": {{
""ego_id"": <guid>,
""translation"": [
{Format(egoPosition.x)},
{Format(egoPosition.y)},
{Format(egoPosition.z)}
],
""rotation"": [
{Format(egoRotation.value.x)},
{Format(egoRotation.value.y)},
{Format(egoRotation.value.z)},
{Format(egoRotation.value.w)}
],
""velocity"": [
{Format(egoVelocity.x)},
{Format(egoVelocity.y)},
{Format(egoVelocity.z)}
],
""acceleration"": null
}},
""filename"": ""{filename}"",
""format"": ""PNG""
}}
]
}}";
var ego = DatasetCapture.RegisterEgo("");
var sensorHandle = DatasetCapture.RegisterSensor(ego, "camera", "", 1, 0);
var sensorSpatialData = new SensorSpatialData(new Pose(egoPosition, egoRotation), new Pose(position, rotation), egoVelocity, null);
sensorHandle.ReportCapture(filename, sensorSpatialData, ("camera_intrinsic", intrinsics));
DatasetCapture.ResetSimulation();
Assert.IsFalse(sensorHandle.IsValid);
var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
FileAssert.Exists(capturesPath);
AssertJsonFileEquals(capturesJsonExpected, capturesPath);
}
void CaptureRgbData(Camera cam)
{
Profiler.BeginSample("CaptureDataFromLastFrame");
if (!captureRgbImages)
{
return;
}
var captureFilename = Path.Combine(Manager.Instance.GetDirectoryFor(RgbDirectory), $"{s_RgbFilePrefix}{Time.frameCount}.png");
var dxRootPath = Path.Combine(RgbDirectory, $"{s_RgbFilePrefix}{Time.frameCount}.png");
SensorHandle.ReportCapture(dxRootPath, SensorSpatialData.FromGameObjects(m_EgoMarker == null ? null : m_EgoMarker.gameObject, gameObject), m_PersistentSensorData.Select(kvp => (kvp.Key, kvp.Value)).ToArray());
Func <AsyncRequest <CaptureCamera.CaptureState>, AsyncRequest.Result> colorFunctor;
var width = cam.pixelWidth;
var height = cam.pixelHeight;
var flipY = ShouldFlipY(cam);
colorFunctor = r =>
{
using (s_WriteFrame.Auto())
{
var dataColorBuffer = (byte[])r.data.colorBuffer;
if (flipY)
{
FlipImageY(dataColorBuffer, height);
}
byte[] encodedData;
using (s_EncodeAndSave.Auto())
{
encodedData = ImageConversion.EncodeArrayToPNG(dataColorBuffer, GraphicsFormat.R8G8B8A8_UNorm, (uint)width, (uint)height);
}
return(!FileProducer.Write(captureFilename, encodedData) ? AsyncRequest.Result.Error : AsyncRequest.Result.Completed);
}
};
CaptureCamera.Capture(cam, colorFunctor);
Profiler.EndSample();
}
