private IEnumerator CaptureData()
{
while (state != StatusMode.Finished)
{
agent.isStopped = true;
yield return(new WaitForEndOfFrame());
string robotTransform = GetTransformString();
if (captureRGB)
{
logImgWriter.WriteLine(index.ToString() + "_rgb.jpg," +
robotTransform + "," +
smartCamera.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_rgb.jpg", smartCamera.CaptureImage(SmartCamera.ImageType.RGB).EncodeToJPG());
}
if (captureDepth)
{
logImgWriter.WriteLine(index.ToString() + "_depth.png," +
robotTransform + "," +
smartCamera.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_depth.png", smartCamera.CaptureImage(SmartCamera.ImageType.Depth).EncodeToPNG());
}
if (captureSemanticMask)
{
logImgWriter.WriteLine(index.ToString() + "_mask.jpg," +
robotTransform + "," +
smartCamera.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_mask.jpg", smartCamera.CaptureImage(SmartCamera.ImageType.InstanceMask).EncodeToJPG());
}
if (captureScan)
{
string data = "";
foreach (float d in laserScan.Scan())
{
data += "," + d.ToString("F15", CultureInfo.InvariantCulture);
}
logScanWriter.WriteLine(index.ToString() +
robotTransform + "," +
laserScan.GetTransformString() + "," +
currentRoom +
data);
}
if (captureLidar)
{
logLidarWriter.WriteLine(index.ToString() + "_lidar.png," +
robotTransform + "," +
lidar.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_lidar.png", lidar.Scan().EncodeToPNG());
}
agent.isStopped = false;
index++;
yield return(new WaitForSeconds(timeBetweenDataCapture));
}
}
private IEnumerator Capture()
{
transform.rotation = Quaternion.identity;
yield return(new WaitForEndOfFrame());
string robotTransform = GetTransformString();
for (int i = 1; i <= photosPerNode; i++)
{
yield return(new WaitForEndOfFrame());
if (captureRGB)
{
logImgWriter.WriteLine(index.ToString() + "_" + i.ToString() + "_rgb.jpg," +
robotTransform + "," +
smartCamera.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_" + i.ToString() + "_rgb.jpg", smartCamera.CaptureImage(SmartCamera.ImageType.RGB).EncodeToJPG());
}
if (captureDepth)
{
logImgWriter.WriteLine(index.ToString() + "_" + i.ToString() + "_depth.jpg," +
robotTransform + "," +
smartCamera.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_" + i.ToString() + "_depth.jpg", smartCamera.CaptureImage(SmartCamera.ImageType.Depth).EncodeToJPG());
}
if (captureSemanticMask)
{
logImgWriter.WriteLine(index.ToString() + "_" + i.ToString() + "_mask.jpg," +
robotTransform + "," +
smartCamera.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_" + i.ToString() + "_mask.jpg", smartCamera.CaptureImage(SmartCamera.ImageType.InstanceMask).EncodeToJPG());
}
transform.rotation = Quaternion.Euler(0, i * (360 / photosPerNode), 0);
}
if (captureScan)
{
string data = "";
foreach (float d in laserScan.Scan())
{
data += "," + d.ToString("F15", CultureInfo.InvariantCulture);
}
logScanWriter.WriteLine(index.ToString() +
robotTransform + "," +
laserScan.GetTransformString() + "," +
currentRoom +
data);
}
if (captureLidar)
{
logLidarWriter.WriteLine(index.ToString() + "_lidar.png," +
robotTransform + "," +
lidar.GetTransformString() + "," +
currentRoom);
File.WriteAllBytes(filePath + "/" + index.ToString() + "_lidar.png", lidar.Scan().EncodeToPNG());
}
Log(index.ToString() + "/" + grid.Count + " - " + (index / (float)grid.Count) * 100 + "%", LogLevel.Normal);
index++;
if (index >= grid.Count)
{
state = StatusMode.Finished;
Log("Finished", LogLevel.Normal);
GetComponent <AudioSource>().Play();
}
else
{
agent.SetDestination(grid[index]);
agent.isStopped = false;
state = StatusMode.Walking;
Log(grid[index].ToString(), LogLevel.Normal);
}
yield return(null);
}