private IEnumerator SaveReconstructionCoroutine(string environmentProfileName, bool saveChangesInProfile)
{
Validate();
if (_currentState == ReconstructionState.Scanning && _pause)
{
IEnvironmentProfile environmentProfile = GetEnvironmentByName(environmentProfileName);
int index = 0;
string path = _environmentProfileRepository.GetPath(environmentProfile.Id);
if (!Directory.Exists(path))
{
Directory.CreateDirectory(path);
}
List <string> meshesName = new List <string>();
List <Thread> threads = new List <Thread>();
_saveFinished = false;
// Delete old reconstruction meshes
DeleteReconstructionMeshFiles(environmentProfileName, false);
foreach (MeshFilter meshFilter in _reconstruction.GetComponentsInChildren <MeshFilter>())
{
Mesh mesh = meshFilter.mesh;
Vector3[] vertices = mesh.vertices;
int[] triangles = mesh.triangles;
string meshName = Path.Combine(path, (++index).ToString());
meshesName.Add(meshName + ".obj");
Thread thread = new Thread(() => _modelFileManipulator.SaveMeshToFile(meshName, vertices, triangles));
thread.Start();
threads.Add(thread);
yield return(null);
}
Thread invokeOnFinished = new Thread(() => ScanThreads(threads, out _saveFinished));
invokeOnFinished.Start();
yield return(new WaitWhile(() => !_saveFinished));
_environmentProfileRepository.SetMeshes(environmentProfile.Id, meshesName);
if (saveChangesInProfile)
{
yield return(StartCoroutine(SaveReconstructionChangesInProfile()));
_reconstructionSaved.Invoke();
}
else
{
// Invoked only after the meshes are completly saved on disk
_reconstructionSaved.Invoke();
}
}
else
{
Debug.LogWarning("Trying to save a mesh of a non initialized or ongoing reconstruction.");
}
}
protected override void Initialize()
{
IEnvironmentProfile environmentProfile = _environmentProfileRepository.SelectedEnvironment;
if (_slamLocalizer.IsFinished && environmentProfile != null)
{
string mapName = environmentProfile.MapName;
if (string.IsNullOrEmpty(mapName))
{
mapName = string.Format("{0}\\{1}", _environmentProfileRepository.GetPath(environmentProfile.Id), environmentProfile.Id);
_environmentProfileRepository.SetMapName(environmentProfile.Id, mapName);
}
_slamLocalizer.SaveSlamMap(mapName);
}
Finish();
}
private void DeleteDefaultEnvironments()
{
IEnvironmentProfile defaultEnvironment = _environmentProfileRepository.FindByName(EnvironmentConstants.DefaultEnvironmentName);
if (defaultEnvironment == null)
{
return;
}
string environmentPath = _environmentProfileRepository.GetPath(defaultEnvironment.Id);
_environmentProfileRepository.Delete(defaultEnvironment.Id);
if (Directory.Exists(environmentPath))
{
Directory.Delete(environmentPath, true);
}
_environmentProfileRepository.Save();
}
protected override void Initialize()
{
IEnvironmentProfile defaultEnvironment = _environmentProfileRepository.GetDefault();
if (defaultEnvironment == null)
{
Finish();
return;
}
string environmentPath = _environmentProfileRepository.GetPath(defaultEnvironment.Id);
_environmentProfileRepository.Delete(defaultEnvironment.Id);
if (Directory.Exists(environmentPath))
{
Directory.Delete(environmentPath, true);
}
Finish();
}
