void Initialize()
{
var light = GameObject.Find("Directional Light");
if (light == null)
{
return;
}
m_LightingInfoDefinition = DatasetCapture.RegisterMetricDefinition("lighting info", "Per-frame light color and orientation", id: k_LightingInfoGuid);
m_Light = light.GetComponent <Light>();
// To simulate phong shading we turn off shadows
m_Light.shadows = LightShadows.None;
m_IsInitialized = true;
// Try to find game object here because scene may not be initialized on Create()
if (m_InitParams == null)
{
m_InitParams = GameObject.Find("Management")?.GetComponentInChildren <ProjectInitialization>();
if (m_InitParams == null)
{
Debug.LogWarning("Unable to find Management object. Will not randomize lighting.");
return;
}
}
}
/// <inheritdoc/>
protected override void OnStart()
{
var randomSeedMetricDefinition = DatasetCapture.RegisterMetricDefinition(
"random-seed",
"The random seed used to initialize the random state of the simulation. Only triggered once per simulation.",
Guid.Parse("14adb394-46c0-47e8-a3f0-99e754483b76"));
DatasetCapture.ReportMetric(randomSeedMetricDefinition, new[] { genericConstants.randomSeed });
}
public override void Create()
{
m_RenderPass = new RandomizedPostProcessingPass();
if (Application.isPlaying)
{
m_PostProcessValuesMetric = DatasetCapture.RegisterMetricDefinition(
"random post processing",
description: "Some post-processing parameters are randomized each frame. These are the per-frame values used.",
id: k_PostProcessValuesMetricId);
}
}
// Initialize your operator here
protected override void OnCreate()
{
m_Rand = new Random(1);
m_ForegroundLayer = LayerMask.NameToLayer("Foreground");
m_ParentForeground = new GameObject("ForegroundContainer");
m_ParentBackgroundInForeground = new GameObject("BackgroundInForegroundContainer");
m_OccludingLayer = LayerMask.NameToLayer("Occluding");
m_ParentOccluding = new GameObject("OccludingContainer");
m_CurriculumQuery = EntityManager.CreateEntityQuery(typeof(CurriculumState));
m_ForegroundPlacementInfoDefinition = DatasetCapture.RegisterMetricDefinition("foreground placement info", description: "Info about each object placed in the foreground layer. Currently only includes label and orientation.", id: new Guid(k_ForegroundPlacementInfoMetricGuid));
}
public void Start()
{
//Metrics and annotations are registered up-front
lightMetricDefinition = DatasetCapture.RegisterMetricDefinition(
"Light position",
"The world-space position of the light",
Guid.Parse("1F6BFF46-F884-4CC5-A878-DB987278FE35"));
boundingBoxAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition(
"Target bounding box",
"The position of the target in the camera's local space",
id: Guid.Parse("C0B4A22C-0420-4D9F-BAFC-954B8F7B35A7"));
}
/// <summary>
/// Start is called after Awake but before the first Update method call
/// </summary>
protected virtual void Start()
{
var randomSeedMetricDefinition = DatasetCapture.RegisterMetricDefinition(
"random-seed",
"The random seed used to initialize the random state of the simulation. Only triggered once per simulation.",
Guid.Parse("14adb394-46c0-47e8-a3f0-99e754483b76"));
DatasetCapture.ReportMetric(randomSeedMetricDefinition, new[] { genericConstants.randomSeed });
#if !UNITY_EDITOR
DeserializeFromFile();
#endif
}
protected override void OnAwake()
{
m_ForegroundObjectPlacementMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Foreground Object Placement Info", $"Reports the world position, scale, rotation, and label id of objects carrying a {nameof(ForegroundObjectMetricReporterTag)} component.", new Guid(k_LayerOneForegroundObjectPlacementInfoMetricGuid));
m_LabelingComponentsCache = new Dictionary <GameObject, Labeling>();
if (labelConfigForObjectPlacementMetrics == null)
{
var perceptionCamera = Object.FindObjectOfType <PerceptionCamera>();
if (perceptionCamera && perceptionCamera.labelers.Count > 0 && perceptionCamera.labelers[0] is BoundingBox2DLabeler boundingBox2DLabeler)
{
labelConfigForObjectPlacementMetrics = boundingBox2DLabeler.idLabelConfig;
}
}
}
/// <summary>
/// Awake is called when this scenario MonoBehaviour is created or instantiated
/// </summary>
protected virtual void Awake()
{
activeScenario = this;
foreach (var randomizer in m_Randomizers)
{
randomizer.Create();
}
ValidateParameters();
// Don't skip the first frame if executing on Unity Simulation
if (Configuration.Instance.IsSimulationRunningInCloud())
{
m_SkipFrame = false;
}
m_IterationMetricDefinition = DatasetCapture.RegisterMetricDefinition("scenario_iteration", "Iteration information for dataset sequences",
Guid.Parse(k_ScenarioIterationMetricDefinitionId));
}
void Start()
{
var randomSeedMetricDefinition = DatasetCapture.RegisterMetricDefinition(
"random-seed",
"The random seed used to initialize the random state of the simulation. Only triggered once per simulation.",
Guid.Parse("14adb394-46c0-47e8-a3f0-99e754483b76"));
DatasetCapture.ReportMetric(randomSeedMetricDefinition, new[] { genericConstants.randomSeed });
#if !UNITY_EDITOR
if (File.Exists(defaultConfigFilePath))
{
DeserializeFromFile();
}
else
{
Debug.Log($"No configuration file found at {defaultConfigFilePath}. " +
"Proceeding with built in scenario constants and randomizer settings.");
}
#endif
}
protected void Initialize()
{
m_Rand = new Random(2);
m_CurriculumQuery = EntityManager.CreateEntityQuery(typeof(CurriculumState));
const string globalInitParamsName = "Management";
var globalInitParamsContainer = GameObject.Find(globalInitParamsName);
if (globalInitParamsContainer == null)
{
Debug.Log($"Cannot find a {globalInitParamsName} object to init parameters from.");
return;
}
var init = globalInitParamsContainer.GetComponent <ProjectInitialization>();
m_AppParams = init.AppParameters;
var perceptionCamera = init.PerceptionCamera;
camera = perceptionCamera.GetComponentInParent <Camera>();
m_ForegroundCenter =
camera.transform.position + m_CameraForward * ForegroundObjectPlacer.k_ForegroundLayerDistance;
// Compute the bottom left corner of the view frustum
// IMPORTANT: We're assuming the camera is facing along the positive z-axis
container = new GameObject("BackgroundContainer");
container.transform.SetPositionAndRotation(
m_CameraForward * k_PlacementDistance + camera.transform.position,
Quaternion.identity);
var statics = EntityManager.GetComponentObject <PlacementStatics>(m_CurriculumQuery.GetSingletonEntity());
objectCache = new GameObjectOneWayCache(container.transform, statics.BackgroundPrefabs);
backgroundHueMaxOffset = init.AppParameters.BackgroundHueMaxOffset;
initialized = true;
m_ScaleRangeMetric = DatasetCapture.RegisterMetricDefinition("background scale range", "The range of scale factors used to place background objects each frame", k_BackgroundScaleMetricId);
}
public void RegisterMetricDefinition_InEditMode_Throws()
{
Assert.Throws <InvalidOperationException>(() => DatasetCapture.RegisterMetricDefinition(""));
}
void Start()
{
var backgroundObjects = Resources.LoadAll <GameObject>(BackgroundObjectResourcesDirectory);
var backgroundImages = Resources.LoadAll <Texture2D>(BackgroundImageResourcesDirectory);
if (foregroundObjects.Length == 0)
{
Debug.LogError($"No Prefabs given in Foreground Objects list.");
return;
}
if (backgroundObjects.Length == 0)
{
Debug.LogError($"No Prefabs of FBX files found in background object directory \"{BackgroundObjectResourcesDirectory}\".");
return;
}
//TODO: Fill in CurriculumState from app params
if (TryGetAppParamPathFromCommandLine(out string appParamPath))
{
var AppParamsJson = File.ReadAllText(appParamPath);
AppParameters = JsonUtility.FromJson <AppParams>(AppParamsJson);
}
else if (!String.IsNullOrEmpty(Configuration.Instance.SimulationConfig.app_param_uri))
{
AppParameters = Configuration.Instance.GetAppParams <AppParams>();
}
Debug.Log($"{nameof(ProjectInitialization)}: Starting up. MaxFrames: {AppParameters.MaxFrames}, " +
$"scale factors {{{string.Join(", ", AppParameters.ScaleFactors)}}}");
m_PlacementStatics = new PlacementStatics(
AppParameters.MaxFrames,
AppParameters.MaxForegroundObjectsPerFrame,
AppParameters.ScalingMin,
AppParameters.ScalingSize,
AppParameters.OccludingHueMaxOffset,
AppParameters.BackgroundObjectInForegroundChance,
foregroundObjects,
backgroundObjects,
backgroundImages,
ObjectPlacementUtilities.GenerateInPlaneRotationCurriculum(Allocator.Persistent),
ObjectPlacementUtilities.GenerateOutOfPlaneRotationCurriculum(Allocator.Persistent),
new NativeArray <float>(AppParameters.ScaleFactors, Allocator.Persistent),
idLabelconfig);
var appParamsMetricDefinition = DatasetCapture.RegisterMetricDefinition(
"app-params", description: "The values from the app-params used in the simulation. Only triggered once per simulation.", id: k_AppParamsMetricGuid);
DatasetCapture.ReportMetric(appParamsMetricDefinition, new[] { AppParameters });
m_CurriculumStateEntity = World.DefaultGameObjectInjectionWorld.EntityManager.CreateEntity();
World.DefaultGameObjectInjectionWorld.EntityManager.AddComponentData(
m_CurriculumStateEntity, new CurriculumState());
World.DefaultGameObjectInjectionWorld.EntityManager.AddComponentObject(
m_CurriculumStateEntity, m_PlacementStatics);
ValidateForegroundLabeling(foregroundObjects, PerceptionCamera);
#if !UNITY_EDITOR
if (Debug.isDebugBuild && EnableProfileLog)
{
Debug.Log($"Enabling profile capture");
m_ProfileLogPath = System.IO.Path.Combine(System.IO.Path.GetTempPath(), "profileLog.raw");
if (System.IO.File.Exists(m_ProfileLogPath))
{
System.IO.File.Delete(m_ProfileLogPath);
}
UnityEngine.Profiling.Profiler.logFile = m_ProfileLogPath;
UnityEngine.Profiling.Profiler.enabled = true;
UnityEngine.Profiling.Profiler.enableBinaryLog = true;
}
#endif
Manager.Instance.ShutdownNotification += CleanupState;
//PerceptionCamera.renderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
}
/// <inheritdoc/>
protected override void OnAwake()
{
m_IterationMetricDefinition = DatasetCapture.RegisterMetricDefinition(
"scenario_iteration", "Iteration information for dataset sequences",
Guid.Parse(k_ScenarioIterationMetricDefinitionId));
}
protected override void OnAwake()
{
m_CameraPostProcessingMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Camera Post Processing Info", $"Reports post-processing effects of cameras (or other objects with a Volume) carrying a {nameof(CameraPostProcessingMetricReporter)} component.", new Guid(k_CameraPostProcessingMetricGuid));
m_PostProcessingVolumeCache = new Dictionary <GameObject, Volume>();
}
protected override void OnAwake()
{
m_LightingInfoMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Lighting Info", $"Reports the enabled state, intensity, colour, and rotation of lights carrying a {nameof(LightingInfoMetricReporterTag)} component.", new Guid(k_LightingInfoMetricGuid));
}
