//Ensure to call this method as the last statement, from derived class `LateUpdate()` method.
protected void LateUpdate()
{
if (isServerStarted)
{
if (isSegmentationUpdated)
{
UpdateSegmentationView();
isSegmentationUpdated = false;
}
if (isCapturingImages)
{
var captureCamera = captureCameras.Find(element => element.GetCameraName() == imageRequest.camera_name);
imageResponse = captureCamera.GetImageBasedOnRequest(imageRequest);
captureResetEvent.Set(); //Release the GetSimulationImages thread with the image response.
isCapturingImages = false;
}
if (calculateRayCast)
{
hitResult = Physics.Linecast(startVec, endVec, out hitInfo);
calculateRayCast = false;
}
airsimInterface.InvokeTickInAirSim(Time.deltaTime);
}
}
//Ensure to call this method as the last statement, from derived class `LateUpdate()` method.
protected void LateUpdate()
{
if (isServerStarted)
{
if (timeScale_changed)
{
Time.timeScale = time_scale;
timeScale_changed = false;
}
if (isSegmentationUpdated)
{
UpdateSegmentationView();
isSegmentationUpdated = false;
}
if (isCapturingImages)
{
var captureCamera = captureCameras.Find(element => element.GetCameraName() == imageRequest.camera_name);
imageResponse = captureCamera.GetImageBasedOnRequest(imageRequest);
captureResetEvent.Set(); //Release the GetSimulationImages thread with the image response.
isCapturingImages = false;
}
if (calculateRayCast)
{
hitResult = Physics.Linecast(startVec, endVec, out hitInfo);
calculateRayCast = false;
}
if (Input.GetKeyDown(KeyCode.T))
{
print_log_messages_ = !print_log_messages_;
}
if (count > 10)
{
count = 0;
foreach (var p in captureCameras)
{
string camera = p.GetCameraName();
var imageRequest = new ImageRequest(camera, ImageType.Scene, false, false);
imageResponse = p.GetImageBasedOnRequest(imageRequest);
PInvokeWrapper.StoreVehicleImage(vehicle_name, camera, imageResponse);
}
}
count++;
// Update images
airsimInterface.InvokeTickInAirSim(Time.deltaTime); //TODOME check this
}
}
private void LateUpdate()
{
if (count > 5)
{
count = 0;
foreach (var p in captureCameras)
{
string camera = p.GetCameraName();
var imageRequest = new ImageRequest(camera, ImageType.Scene, false, false);
imageResponse = p.GetImageBasedOnRequest(imageRequest);
PInvokeWrapper.StorePedestrianImage(pedestrian_name, camera, imageResponse);
}
}
count++;
}
//Ensure to call this method as the last statement, from derived class `LateUpdate()` method.
protected void LateUpdate()
{
if (isServerStarted)
{
if (timeScale_changed)
{
Time.timeScale = time_scale;
timeScale_changed = false;
}
if (isSegmentationUpdated)
{
UpdateSegmentationView();
isSegmentationUpdated = false;
}
if (isCapturingImages)
{
var captureCamera = captureCameras.Find(element => element.GetCameraName() == imageRequest.camera_name);
imageResponse = captureCamera.GetImageBasedOnRequest(imageRequest);
captureResetEvent.Set(); //Release the GetSimulationImages thread with the image response.
isCapturingImages = false;
}
if (calculateRayCast)
{
hitResult = Physics.Linecast(startVec, endVec, out hitInfo);
calculateRayCast = false;
}
/*
* if (Input.GetKeyDown(KeyCode.T))
* {
* print_log_messages_ = !print_log_messages_;
* }*/
}
}
public static extern void StorePedestrianImage(string pedetrian_name, string camera_name, ImageResponse image);
public static extern void StoreVehicleImage(string vehicle_name, string camera_name, ImageResponse image);
