public IEnumerator Sample()
{
// Start the Coroutine to Capture Data Every Second.
// Persist that Information to a CSV and Perist the Camera Frame
yield return(new WaitForSeconds(0.0666666666666667f));
if (m_saveLocation != "")
{
CarSample sample = new CarSample();
sample.timeStamp = System.DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff");
sample.steeringAngle = m_SteerAngle / m_MaximumSteerAngle;
sample.throttle = AccelInput;
sample.brake = BrakeInput;
sample.speed = CurrentSpeed;
sample.position = transform.position;
sample.rotation = transform.rotation;
carSamples.Enqueue(sample);
sample = null;
//may or may not be needed
}
// Only reschedule if the button hasn't toggled
if (IsRecording)
{
StartCoroutine(Sample());
}
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
yield return(new WaitForSeconds(0.000f)); //retrieve as fast as we can but still allow communication of main thread to screen and UISystem
if (carSamples.Count > 0)
{
//pull off a sample from the que
CarSample sample = carSamples.Dequeue();
//pysically moving the car to get the right camera position
transform.position = sample.position;
transform.rotation = sample.rotation;
string sampleTimestamp = sample.timeStamp;
// Capture and Persist Image
string centerPath = WriteImage(CenterCamera, "center", sampleTimestamp);
string leftPath = "";
string rightPath = "";
//TODO: getting to like java-like arrays and lists
leftPath += WriteImage(LeftCamera0, ("left_0"), sampleTimestamp) + "|";
leftPath += WriteImage(LeftCamera1, ("left_1"), sampleTimestamp) + "|";
leftPath += WriteImage(LeftCamera2, ("left_2"), sampleTimestamp) + "|";
leftPath += WriteImage(LeftCamera3, ("left_3"), sampleTimestamp);
rightPath += WriteImage(RightCamera0, ("right_0"), sampleTimestamp) + "|";
rightPath += WriteImage(RightCamera2, ("right_2"), sampleTimestamp) + "|";
rightPath += WriteImage(RightCamera1, ("right_1"), sampleTimestamp) + "|";
rightPath += WriteImage(RightCamera3, ("right_3"), sampleTimestamp);
string row = string.Format("{0},{1},{2},{3},{4},{5},{6}\n", centerPath, leftPath, rightPath, sample.steeringAngle, sample.throttle, sample.brake, sample.speed);
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
}
if (carSamples.Count > 0)
{
//request if there are more samples to pull
StartCoroutine(WriteSamplesToDisk());
}
else
{
//all samples have been pulled
StopCoroutine(WriteSamplesToDisk());
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
m_Rigidbody.velocity = new Vector3(0f, -10f, 0f);
Move(0f, 0f, 0f, 0f);
}
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
yield return(new WaitForSeconds(0.000f)); //retrieve as fast as we can but still allow communication of main thread to screen and UISystem
if (carSamples.Count > 0)
{
//pull off a sample from the que
CarSample sample = carSamples.Dequeue(); // 提取一个采样值
// pysically moving the car to get the right camera position
// 进行移动
transform.position = sample.position;
transform.rotation = sample.rotation;
// Capture and Persist Image
// 提取后保存参数
string centerPath = WriteImage(CenterCamera, "center", sample.timeStamp);
// string leftPath = WriteImage (LeftCamera, "left", sample.timeStamp);
// string rightPath = WriteImage (RightCamera, "right", sample.timeStamp);
// 添加点云采样
string lidarPath = WriteLidarData(sample.timeStamp);
string row = string.Format("{0},{1},{2},{3},{4},{5}\n", centerPath, lidarPath, sample.steeringAngle, sample.throttle, sample.brake, sample.speed);
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
}
if (carSamples.Count > 0)
{
//request if there are more samples to pull
// 如果有更多的采样值的情况下，继续提取
StartCoroutine(WriteSamplesToDisk());
}
else
{
//all samples have been pulled
StopCoroutine(WriteSamplesToDisk());
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
m_Rigidbody.velocity = new Vector3(0f, -10f, 0f);
Move(0f, 0f, 0f, 0f);
}
}
public IEnumerator Sample()
{
// Start the Coroutine to Capture Data Every Second.
// Persist that Information to a CSV and Perist the Camera Frame
yield return(new WaitForSeconds(0.0666666666666667f));
if (m_saveLocation != "")
{
CarSample sample = new CarSample();
sample.timeStamp = System.DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff");
sample.steeringAngle = m_SteerAngle / m_MaximumSteerAngle;
sample.throttle = AccelInput;
sample.brake = BrakeInput;
sample.speed = CurrentSpeed;
sample.position = transform.position;
sample.rotation = transform.rotation;
sample.frontcenterPath = WriteImage(FrontCenterCamera, "Frontcenter", sample.timeStamp);
sample.frontleftPath = WriteImage(FrontLeftCamera, "Frontleft", sample.timeStamp);
sample.frontrightPath = WriteImage(FrontRightCamera, "Frontright", sample.timeStamp);
String[] statestring = this.GetComponent <CarRecord>().state;
for (int i = 0; i < sample.sensor.Length; i++)
{
sample.sensor[i] = float.Parse(statestring[i], CultureInfo.InvariantCulture.NumberFormat);
}
sample.rpm = float.Parse(statestring[34], CultureInfo.InvariantCulture.NumberFormat);
carSamples.Enqueue(sample);
sample = null;
//may or may not be needed
}
// Only reschedule if the button hasn't toggled
if (IsRecording)
{
StartCoroutine(Sample());
}
}
//Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script
//instead of showing frozen screen until all data is recorded
public IEnumerator WriteSamplesToDisk()
{
yield return(new WaitForSeconds(0.000f)); //retrieve as fast as we can but still allow communication of main thread to screen and UISystem
if (carSamples.Count > 0)
{
//pull off a sample from the que
CarSample sample = carSamples.Dequeue();
//pysically moving the car to get the right camera position
transform.position = sample.position;
transform.rotation = sample.rotation;
string row = string.Format("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14},{15},{16},{17},{18},{19},{20},{21},{22}" +
",{23},{24},{25},{26},{27},{28},{29},{30},{31},{32},{33},{34},{35},{36},{37}\n",
sample.frontcenterPath, sample.frontleftPath,
sample.frontrightPath, sample.steeringAngle, sample.throttle, sample.brake, sample.speed, sample.rpm, sample.sensor[0], sample.sensor[1], sample.sensor[2], sample.sensor[3],
sample.sensor[4], sample.sensor[5], sample.sensor[6], sample.sensor[7], sample.sensor[8], sample.sensor[9], sample.sensor[10], sample.sensor[11], sample.sensor[12],
sample.sensor[13], sample.sensor[14], sample.sensor[15], sample.sensor[16], sample.sensor[17], sample.sensor[18], sample.sensor[19], sample.sensor[20], sample.sensor[21],
sample.sensor[22], sample.sensor[23], sample.sensor[24], sample.sensor[25], sample.sensor[26], sample.sensor[27], sample.sensor[28], sample.sensor[29]);
File.AppendAllText(Path.Combine(m_saveLocation, CSVFileName), row);
}
if (carSamples.Count > 0)
{
//request if there are more samples to pull
StartCoroutine(WriteSamplesToDisk());
}
else
{
//all samples have been pulled
StopCoroutine(WriteSamplesToDisk());
isSaving = false;
//need to reset the car back to its position before ending recording, otherwise sometimes the car ended up in strange areas
transform.position = saved_position;
transform.rotation = saved_rotation;
m_Rigidbody.velocity = new Vector3(0f, -10f, 0f);
Move(0f, 0f, 0f, 0f);
}
}