public void save(int dataIndex, string carModelName, int index, ref List <int> trackIdx)
{
string dataString = dataIndex + "," + carModelName + "," + index + "," + trackIdx.Count;
for (int i = 0; i < trackIdx.Count; i++)
{
dataString += "," + trackIdx[i];
}
dataCapturer.Capture(dataString);
}
// Update is called once per frame
void FixedUpdate()
{
if (isCapturing)
{
if (imageCapturer && dataCapturer && !isReady)
{
fileName = createFolderWithName() + ".csv";
fileSavePath = basePath + folderName;
createFolder(fileSavePath);
imageCapturer.initialize(fileSavePath);
dataCapturer.initialize(fileSavePath, fileName);
imageCapturer.isCapturing = true;
dataCapturer.isCapturing = true;
isReady = true;
writingCompleteIndex = carPool.dataIndex;
}
//Debug.Log("FrameCapturer - ready");
string timeText = System.DateTime.Now.ToString("yyyyMMddhhmmssfff");
if (dataCapturer && dataCapturer.isReady)
{
List <DataLabel> labels = new List <DataLabel>();
List <DataLabel> nonOccluded = new List <DataLabel>();
List <DataLabel> nonOverlapped = new List <DataLabel>();
for (int i = 0; i < carPool.cars.Count; i++)
{
Vector3 _relativePosition = carPool.cars[i].transform.position - pCamera.transform.position;
// check whether the 2D region of car overlaps screen area or not
Rect carRegion = regionCapturer.getScreenRect(pCamera.GetComponent <Camera>(), carPool.cars[i].GetComponent <Collider>(), imageCapturer.captureHeight);
if (screenRect.Overlaps(carRegion) && _relativePosition.z < 0)
{
float croppedX = Mathf.Max(carRegion.xMin, 0);
float croppedY = Mathf.Max(carRegion.yMin, 0);
Rect croppedRegion = new Rect(croppedX, croppedY, Mathf.Min(carRegion.xMax, imageCapturer.captureWidth - 1) - croppedX, Mathf.Min(carRegion.yMax, imageCapturer.captureHeight - 1) - croppedY);
if (croppedRegion.width >= 800 && croppedRegion.height >= 500)
{
continue;
}
// 1. image resolution : 40x40
if (croppedRegion.width >= 40 && croppedRegion.height >= 40)
{
labels.Add(new DataLabel(carPool.cars[i].GetComponent <SCPAR.SIM.PVATestbed.Car>().getID(), _relativePosition, croppedRegion, Vector3.Distance(carPool.cars[i].transform.position, pCamera.transform.position), 0));
}
}
}
// sort by distance
if (labels.Count > 0)
{
labels.Sort(delegate(DataLabel a, DataLabel b)
{
return(a.distance.CompareTo(b.distance));
});
// 2. check occlusions
RaycastHit hitInfo;
for (int i = 0; i < labels.Count; i++)
{
Vector3 dir = labels[i].relativeDistance;
if (Physics.Raycast(pCamera.transform.position, dir, out hitInfo, 1000))
{
//Debug.Log(hitInfo.collider.name + ", " + hitInfo.collider.tag);
if (hitInfo.collider.tag == "Car")
{
nonOccluded.Add(labels[i]);
}
}
}
if (ensureNonOverlapped)
{
// 3. check whether the region ovelaps or not
for (int i = 0; i < nonOccluded.Count; i++)
{
bool overlapped = false;
for (int k = 0; k < nonOverlapped.Count; k++)
{
if (nonOverlapped[k].region.Overlaps(nonOccluded[i].region))
{
overlapped = true;
break;
}
}
if (!overlapped)
{
nonOverlapped.Add(nonOccluded[i]);
}
}
}
}
List <DataLabel> resultLabel;
if (ensureNonOverlapped)
{
resultLabel = nonOverlapped;
}
else
{
resultLabel = nonOccluded;
}
if (resultLabel.Count == 0 || (prvCarNumbers >= 0 && resultLabel.Count != prvCarNumbers))
{
complete(false);
//Debug.Log(fileSavePath);
string[] filePaths = Directory.GetFiles(fileSavePath);
foreach (string filePath in filePaths)
{
File.Delete(filePath);
}
Directory.Delete(fileSavePath, true);
//if (Directory.Exists(fileSavePath)) { Directory.Delete(fileSavePath, true); }
count = 0;
return;
}
dataCapturer.Capture(timeText, pCamera.GetComponent <Camera>(), resultLabel, 0);
prvCarNumbers = resultLabel.Count;
//Debug.Log("DataCapturer - capture complete!");
//dataCapturer.Capture(timeText, pCamera.relativePosition, pCamera.carObject.transform.rotation.eulerAngles, pCamera.carObject.speed, pCamera.transform.rotation.eulerAngles, 1, 0);
}
if (imageCapturer && imageCapturer.isReady)
{
imageCapturer.Capture(timeText, pCamera.GetComponent <Camera>());
//Debug.Log("ImageCapturer - capture complete!");
}
if (count % interval == interval - 1)
{
complete(true);
}
count++;
}
}
