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);
});
}
public IEnumerator CaptureTest_CaptureColorAndDepthParametric(int depthBpp, GraphicsFormat renderTextureFormat, Action <AsyncRequest <CaptureCamera.CaptureState> > validator)
{
Debug.Assert(GraphicsUtilities.SupportsRenderTextureFormat(renderTextureFormat), "GraphicsFormat not supported");
var camera = SetupCameraTestWithMaterial(depthBpp, renderTextureFormat, new Vector3(0, 0, 1.0f));
var request = CaptureCamera.Capture
(
camera,
colorFunctor: AsyncRequest <CaptureCamera.CaptureState> .DontCare,
depthFunctor: AsyncRequest <CaptureCamera.CaptureState> .DontCare,
depthFormat: GraphicsUtilities.DepthFormatForDepth(depthBpp),
forceFlip: ForceFlip.None
);
camera.Render();
while (!request.completed)
{
yield return(null);
}
Debug.Assert(request.error == false, "Capture request had an error");
validator.Invoke(request);
}
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));
}
AsyncRequest <CaptureCamera.CaptureState> CaptureDataForChannel(Camera camera, Channel channel, GraphicsFormat colorFormat, GraphicsFormat depthFormat, GraphicsFormat motionFormat)
{
Func <AsyncRequest <CaptureCamera.CaptureState>, AsyncRequest <CaptureCamera.CaptureState> .Result> functor = r =>
{
return(AsyncRequest.Result.Completed);
};
return(CaptureCamera.Capture
(
camera,
channel == Channel.Color ? functor : null,
colorFormat,
channel == Channel.Depth ? functor : null,
depthFormat,
channel == Channel.Motion ? functor : null,
motionFormat,
forceFlip: ForceFlip.None
));
}
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();
}
