private static Tuple <int, StreamEntry> StreamFromBatch(string name, RenderBatch.CameraBatch batch_stream)
{
StreamEntry stream = new StreamEntry();
stream.Name = name;
int count = 0;
foreach (KeyValuePair <RenderBatch.CameraBatch.RenderType, List <Texture2D> > pair in batch_stream.images_)
{
int i = 0;
foreach (Texture2D image in pair.Value)
{
BatchResponseEntry entry;
if (i + 1 > stream.Entries.Count)
{
entry = new BatchResponseEntry();
stream.Entries.Add(entry);
}
else
{
entry = stream.Entries[i];
}
++i;
ByteString data = null;
switch (pair.Key)
{
case RenderBatch.CameraBatch.RenderType.RGB:
data = ByteString.CopyFrom(image.GetRawTextureData());
entry.ImageData = data;
break;
case RenderBatch.CameraBatch.RenderType.DEPTH:
entry.DepthData = ReadDepth(image);
break;
case RenderBatch.CameraBatch.RenderType.NORMALS:
entry.NormalsData = ReadNormals(image);
break;
case RenderBatch.CameraBatch.RenderType.SEGMENTATION:
entry.SegmentationData = ReadSegmentation(image);
break;
default:
Logger.Error("Unsupported Batch.Stream.Type {0}", pair.Key);
break;
}
}
count = i;
}
Tuple <int, StreamEntry> stream_info = new Tuple <int, StreamEntry>(count, stream);
return(stream_info);
}
private void ProcessBatch()
{
RenderBatch batch = new RenderBatch();
foreach (List <CameraSetup> camera_setups in camera_setups_.Values)
{
foreach (CameraSetup camera_setup in camera_setups)
{
RenderBatch.CameraBatch camera_batch;
if (batch.camera_batches_.ContainsKey(camera_setup.camera_name_))
{
camera_batch = batch.camera_batches_[camera_setup.camera_name_];
}
else
{
camera_batch = new RenderBatch.CameraBatch();
batch.camera_batches_.Add(camera_setup.camera_name_, camera_batch);
}
switch (camera_setup.camera_type_)
{
case CameraSetup.CameraType.RGB:
camera_batch.images_.Add(RenderBatch.CameraBatch.RenderType.RGB, camera_setup.ApplyAndGetImages());
break;
case CameraSetup.CameraType.SEGMENTATION:
camera_batch.images_.Add(RenderBatch.CameraBatch.RenderType.SEGMENTATION, camera_setup.ApplyAndGetImages());
break;
case CameraSetup.CameraType.DEPTH_NORMALS:
List <Texture2D> images = camera_setup.ApplyAndGetImages();
if (capture_depth_)
{
camera_batch.images_.Add(RenderBatch.CameraBatch.RenderType.DEPTH, images);
}
if (capture_normals_)
{
camera_batch.images_.Add(RenderBatch.CameraBatch.RenderType.NORMALS, images);
}
break;
}
}
}
batch_consumer_.ConsumeImageBatch(batch);
capture_count_ = 0;
batch_count_++;
}
