void LateUpdate()
{
if (capturing || sendDataOverPipe)
{
//var randomizer = GameObject.Find("/Randomizer").GetComponent<RandomizerScript>();
randomizer.Randomize(new System.Random().Next(), 1.0f);
float interval = (1.0f / rate);
elapsed += Time.deltaTime;
if (elapsed > interval)
{
RenderTexture.active = renderTarget;
target.Render();
texture.ReadPixels(new Rect(0, 0, width, height), 0, 0);
RenderTexture.active = null;
//double lat = 0.0;
//double lon = 0.0;
//GPSAnchorScript.GetLatLong(car.gameObject, out lat, out lon);
// Write the captured frame to a file
if (capturing)
{
byte[] bytes = texture.EncodeToPNG();// .EncodeToJPG(80);
System.IO.File.WriteAllBytes(Path.Combine(baseDir, String.Format("frame_{0}_thr_{1}_ste_{2}_mil_{3}_odo_{4}_.png", captureCount.ToString().PadLeft(5, '0'), (int)car.throttle, (int)car.wheelAngle, (int)(Time.time * 1000), (int)car.odometer)), bytes);
captureCount++;
}
// Send the metadata and image to tensorflow
if (sendDataOverPipe)
{
float[] floats = new float[] {
width,
height,
car.wheelAngle,
car.throttle,
(float)0, //lat,
(float)0, //lon,
};
Color32[] pixels = texture.GetPixels32();
int pixelCount = width * height;
// Build and send the message
byte[] message = new byte[floats.Length * 4 + pixelCount * 3];
Buffer.BlockCopy(floats, 0, message, 0, floats.Length * 4);
for (int i = 0, j = floats.Length * 4; i < pixelCount; i++, j += 3)
{
Color32 pixel = pixels[i];
message[j] = pixel.r;
message[j + 1] = pixel.g;
message[j + 2] = pixel.b;
}
pipe.Send(message);
}
elapsed = interval - elapsed;
}
randomizer.Randomize(0, 0.0f);
}
}
