/// <summary>
/// Moves the acquisition camera into the desired poses, and acquires the corresponding color and depth data.
/// </summary>
/// <returns></returns>
private IEnumerator CaptureSceneCoroutine()
{
// Inform the user that the process has started.
GeneralToolkit.ResetCancelableProgressBar(true, true);
Debug.Log(GeneralToolkit.FormatScriptMessage(typeof(Acquisition), "Started acquiring scene data."));
// Find the camera models if needed.
if (cameraSetup.cameraModels == null)
{
cameraSetup.FindCameraModels();
}
if (cameraSetup.cameraModels == null)
{
yield break;
}
// Store the initial preview index.
int initialPreviewIndex = cameraSetup.previewIndex;
// Store the pose data and camera parameters into a file.
SaveAcquisitionInformation(dataHandler, cameraSetup);
// If desired, save the scene's meshes as a global asset.
if (_copyGlobalMesh)
{
SaveGlobalMesh();
}
// Acquire data for each source pose.
for (int i = 0; i < cameraSetup.cameraModels.Length; i++)
{
// Display and update the progress bar.
DisplayAndUpdateCancelableProgressBar();
if (GeneralToolkit.progressBarCanceled)
{
break;
}
// Change the preview index to the current camera.
cameraSetup.previewIndex = i;
string imageName = cameraSetup.cameraModels[i].imageName;
// Update the camera model for the preview camera, thereby rendering to the target color and depth textures.
UpdatePreviewCameraModel(true);
// Save the color texture as a file.
GeneralToolkit.SaveRenderTextureToPNG(_previewCameraManager.targetTexture, Path.Combine(dataHandler.colorDirectory, imageName));
// If depth data is to be acquired, save the scene's depth (encoded as a 3-channel RGB texture) as a file.
if (_acquireDepthData)
{
_distanceToColorMat.SetInt(shaderNameIsPrecise, 1);
Graphics.Blit(_targetDepthTexture, _distanceAsColorTexture, _distanceToColorMat);
GeneralToolkit.SaveRenderTextureToPNG(_distanceAsColorTexture, Path.Combine(dataHandler.depthDirectory, imageName));
}
yield return(null);
}
// If the process completes without being canceled, inform the user.
if (!GeneralToolkit.progressBarCanceled)
{
Debug.Log(GeneralToolkit.FormatScriptMessage(typeof(Acquisition), "Successfully acquired scene data."));
Debug.Log(GeneralToolkit.FormatScriptMessage(typeof(Acquisition), "Data can be found in directory: " + dataHandler.dataDirectory + "."));
}
// Reset displayed information.
GeneralToolkit.ResetCancelableProgressBar(false, false);
// Reset the preview camera's pose.
cameraSetup.previewIndex = initialPreviewIndex;
UpdatePreviewCameraModel(false);
UnityEditorInternal.InternalEditorUtility.RepaintAllViews();
}