void ValidateForegroundLabeling(GameObject[] foregroundObjects, PerceptionCamera perceptionCamera)
{
if (perceptionCamera.LabelingConfiguration == null)
{
Debug.LogError("PerceptionCamera does not have a labeling configuration. This will likely cause the program to fail.");
return;
}
var labelingConfiguration = perceptionCamera.LabelingConfiguration;
var regex = new Regex(".*_[0-9][0-9]");
var foregroundNames = foregroundObjects.Select(f =>
{
var foregroundName = f.name;
if (regex.IsMatch(foregroundName))
{
foregroundName = foregroundName.Substring(0, foregroundName.Length - 3);
}
return(foregroundName);
}).ToList();
var foregroundObjectsMissingFromConfig = foregroundNames.Where(f => labelingConfiguration.LabelEntries.All(l => l.label != f)).ToList();
var configurationsMissingModel = labelingConfiguration.LabelEntries.Skip(1).Select(l => l.label).Where(l => !foregroundNames.Any(f => f == l)).ToList();
if (foregroundObjectsMissingFromConfig.Count > 0)
{
Debug.LogError($"The following foreground models are not present in the LabelingConfiguration: {string.Join(", ", foregroundObjectsMissingFromConfig)}");
}
if (configurationsMissingModel.Count > 0)
{
Debug.LogError($"The following LabelingConfiguration entries do not correspond to any foreground object model: {string.Join(", ", configurationsMissingModel)}");
}
}
void ValidateForegroundLabeling(GameObject[] foregroundObjects, PerceptionCamera perceptionCamera)
{
var boundingBox2DLabeler = (BoundingBox2DLabeler)perceptionCamera.labelers.First(l => l is BoundingBox2DLabeler);
if (boundingBox2DLabeler == null)
{
return;
}
var labelConfig = boundingBox2DLabeler.idLabelConfig;
if (labelConfig == null)
{
Debug.LogError("PerceptionCamera does not have a labeling configuration. This will likely cause the program to fail.");
return;
}
var foregroundObjectsMissingFromConfig = new List <GameObject>();
var foundLabels = new List <string>();
foreach (var foregroundObject in foregroundObjects)
{
var labeling = foregroundObject.GetComponent <Labeling>();
if (labeling == null)
{
foregroundObjectsMissingFromConfig.Add(foregroundObject);
continue;
}
bool found = false;
foreach (var label in labeling.labels)
{
if (labelConfig.labelEntries.Select(e => e.label).Contains(label))
{
foundLabels.Add(label);
found = true;
break;
}
}
if (!found)
{
foregroundObjectsMissingFromConfig.Add(foregroundObject);
}
}
if (foregroundObjectsMissingFromConfig.Count > 0)
{
Debug.LogError($"The following foreground models are not present in the LabelingConfiguration: {string.Join(", ", foregroundObjectsMissingFromConfig)}");
}
var configurationsMissingModel = labelConfig.labelEntries.Select(l => l.label).Where(l => !foundLabels.Contains(l)).ToArray();
if (configurationsMissingModel.Length > 0)
{
Debug.LogError($"The following LabelingConfiguration entries do not correspond to any foreground object model: {string.Join(", ", configurationsMissingModel)}");
}
}
GameObject SetupCamera(out PerceptionCamera perceptionCamera)
{
var cameraObject = new GameObject();
cameraObject.SetActive(false);
var camera = cameraObject.AddComponent <Camera>();
camera.orthographic = true;
camera.orthographicSize = 1;
perceptionCamera = cameraObject.AddComponent <PerceptionCamera>();
perceptionCamera.captureRgbImages = false;
AddTestObjectForCleanup(cameraObject);
return(cameraObject);
}
