void ReportObjectStats(PlacementStatics placementStatics, NativeList <PlacedObject> placedObjectBoundingBoxes, GameObject cameraObject)
{
var objectStates = new JArray();
for (int i = 0; i < placedObjectBoundingBoxes.Length; i++)
{
var placedObject = placedObjectBoundingBoxes[i];
var labeling = m_ParentForeground.transform.GetChild(placedObject.PrefabIndex).GetChild(0).gameObject.GetComponent <Labeling>();
int labelId;
if (placementStatics.IdLabelConfig.TryGetMatchingConfigurationEntry(labeling, out IdLabelEntry labelEntry))
{
labelId = labelEntry.id;
}
else
{
labelId = -1;
}
var jObject = new JObject();
jObject["label_id"] = labelId;
var rotationEulerAngles = (float3)placedObject.Rotation.eulerAngles;
jObject["rotation"] = new JRaw($"[{rotationEulerAngles.x}, {rotationEulerAngles.y}, {rotationEulerAngles.z}]");
objectStates.Add(jObject);
}
DatasetCapture.ReportMetric(m_ForegroundPlacementInfoDefinition, objectStates.ToString(Formatting.Indented));
}
void PlaceOccludingObjects(
GameObject[] objectsToPlace, Camera camera, PlacementStatics statics, NativeList <PlacedObject> placedObjects)
{
var textures = statics.BackgroundImages;
if (m_OccludingObjectCache == null)
{
m_OccludingObjectCache = new GameObjectOneWayCache(m_ParentOccluding.transform, objectsToPlace);
}
m_OccludingObjectCache.ResetAllObjects();
var occludingObjectBounds = ComputeObjectBounds(objectsToPlace);
var materialPropertyBlock = new MaterialPropertyBlock();
var placedOccludingObjects = new NativeArray <PlacedObject>(placedObjects.Length, Allocator.TempJob);
var placementRegion = ObjectPlacementUtilities.ComputePlacementRegion(camera, k_OccludingLayerDistance);
using (s_ComputePlacements.Auto())
{
var job = new ComputeOccludingObjectPlacements()
{
OccludingObjectBounds = occludingObjectBounds,
ImageCoordinates = placementRegion,
Transformer = new WorldToScreenTransformer(camera),
PlacedForegroundObjects = placedObjects,
RandomSeed = m_Rand.NextUInt(),
PlacedOccludingObjects = placedOccludingObjects,
ScalingMin = statics.ScalingMin,
ScalingSize = statics.ScalingSize
};
job.Schedule(placedObjects.Length, 10).Complete();
}
using (s_SetupObjects.Auto())
{
foreach (var placedOccludingObject in placedOccludingObjects)
{
if (placedOccludingObject.PrefabIndex < 0)
{
continue;
}
var prefab = objectsToPlace[placedOccludingObject.PrefabIndex];
var objectToPlace = m_OccludingObjectCache.GetOrInstantiate(prefab);
objectToPlace.layer = m_OccludingLayer;
var meshRenderer = objectToPlace.GetComponentInChildren <MeshRenderer>();
meshRenderer.GetPropertyBlock(materialPropertyBlock);
ObjectPlacementUtilities.CreateRandomizedHue(materialPropertyBlock, statics.OccludingHueMaxOffset, ref m_Rand);
materialPropertyBlock.SetTexture("_BaseMap", textures[m_Rand.NextInt(textures.Length)]);
meshRenderer.SetPropertyBlock(materialPropertyBlock);
objectToPlace.transform.localPosition = placedOccludingObject.Position;
objectToPlace.transform.localRotation = placedOccludingObject.Rotation;
objectToPlace.transform.localScale = Vector3.one * placedOccludingObject.Scale;
}
}
placedOccludingObjects.Dispose();
occludingObjectBounds.Dispose();
}
void EnsureObjectGroupsExist(PlacementStatics statics, int objectGroupIndex)
{
while (m_ParentForeground.transform.childCount < statics.ForegroundPrefabs.Length * (objectGroupIndex + 1))
{
foreach (var foregroundPrefab in statics.ForegroundPrefabs)
{
var newParent = new GameObject();
newParent.transform.parent = m_ParentForeground.transform;
var gameObject = Object.Instantiate(foregroundPrefab, newParent.transform);
var bounds = ObjectPlacementUtilities.ComputeBounds(gameObject);
gameObject.transform.localPosition -= bounds.center;
gameObject.layer = m_ForegroundLayer;
newParent.name = gameObject.name;
ObjectPlacementUtilities.SetMeshRenderersEnabledRecursive(gameObject, false);
}
}
}
void EnsureObjectGroupsExist(PlacementStatics statics, int objectGroupIndex)
{
while (m_ParentForeground.transform.childCount < statics.ForegroundPrefabs.Length * (objectGroupIndex + 1))
{
foreach (var foregroundPrefab in statics.ForegroundPrefabs)
{
var gameObject = Object.Instantiate(foregroundPrefab, m_ParentForeground.transform);
gameObject.layer = m_ForegroundLayer;
ObjectPlacementUtilities.SetMeshRenderersEnabledRecursive(gameObject, false);
var labeling = gameObject.AddComponent <Labeling>();
var name = foregroundPrefab.name;
if (s_NameRegex.IsMatch(name))
{
name = name.Substring(0, name.Length - 3);
}
labeling.labels.Add(name);
}
}
}
NativeList <PlacedObject> PlaceObjects(Camera camera, PlacementStatics statics, ref CurriculumState curriculumState)
{
var placedObjectBoundingBoxes = new NativeList <PlacedObject>(500, Allocator.TempJob);
var objectBounds = ComputeObjectBounds(statics.ForegroundPrefabs);
var localCurriculumState = curriculumState;
var curriculumStatePtr = (CurriculumState *)UnsafeUtility.AddressOf(ref localCurriculumState);
var localRandom = m_Rand;
var randomPtr = (Random *)UnsafeUtility.AddressOf(ref localRandom);
var placementRegion = ObjectPlacementUtilities.ComputePlacementRegion(camera, k_ForegroundLayerDistance);
using (s_ComputePlacements.Auto())
{
var computePlacementsJob = new ComputePlacementsJob()
{
CurriculumStatePtr = curriculumStatePtr,
Transformer = new WorldToScreenTransformer(camera),
ImageCoordinates = placementRegion,
ObjectBounds = objectBounds,
PlaceObjects = placedObjectBoundingBoxes,
RandomPtr = randomPtr,
NativePlacementStatics = new NativePlacementStatics
{
ForegroundPrefabCount = statics.ForegroundPrefabs.Length,
MaxForegroundObjects = statics.MaxForegroundObjectsPerFrame,
InPlaneRotations = statics.InPlaneRotations,
OutOfPlaneRotations = statics.OutOfPlaneRotations,
ScaleFactors = statics.ScaleFactors
}
};
computePlacementsJob.Run();
curriculumState = *computePlacementsJob.CurriculumStatePtr;
m_Rand = *computePlacementsJob.RandomPtr;
}
using (s_SetupObjects.Auto())
{
int objectGroupIndex = 0;
foreach (var placedObject in placedObjectBoundingBoxes)
{
EnsureObjectGroupsExist(statics, objectGroupIndex);
var gameObject = m_ParentForeground.transform.GetChild(placedObject.PrefabIndex + objectGroupIndex * statics.ForegroundPrefabs.Length).gameObject;
gameObject.transform.localRotation = placedObject.Rotation;
gameObject.transform.localScale =
Vector3.one * placedObject.Scale;
gameObject.transform.localPosition = placedObject.Position;
ObjectPlacementUtilities.SetMeshRenderersEnabledRecursive(gameObject, true);
if (placedObject.PrefabIndex == statics.ForegroundPrefabs.Length - 1)
{
objectGroupIndex++;
}
}
}
objectBounds.Dispose();
return(placedObjectBoundingBoxes);
}
void Start()
{
m_ResourceDirectoriesEntity = World.DefaultGameObjectInjectionWorld.EntityManager.CreateEntity(typeof(ResourceDirectories));
World.DefaultGameObjectInjectionWorld.EntityManager.SetComponentData(m_ResourceDirectoriesEntity, new ResourceDirectories
{
ForegroundResourcePath = ForegroundObjectResourcesDirectory,
BackgroundResourcePath = BackgroundObjectResourcesDirectory
});
var foregroundObjects = Resources.LoadAll <GameObject>(ForegroundObjectResourcesDirectory);
var backgroundObjects = Resources.LoadAll <GameObject>(BackgroundObjectResourcesDirectory);
var backgroundImages = Resources.LoadAll <Texture2D>(BackgroundImageResourcesDirectory);
if (foregroundObjects.Length == 0)
{
Debug.LogError($"No Prefabs of FBX files found in foreground object directory \"{ForegroundObjectResourcesDirectory}\".");
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}, " +
$"scale factors {{{string.Join(", ", AppParameters.ScaleFactors)}}}");
m_PlacementStatics = new PlacementStatics(
AppParameters.MaxFrames,
AppParameters.MaxForegroundObjectsPerFrame,
AppParameters.ScalingMin,
AppParameters.ScalingSize,
AppParameters.OccludingHueMaxOffset,
foregroundObjects,
backgroundObjects,
backgroundImages,
ObjectPlacementUtilities.GenerateInPlaneRotationCurriculum(Allocator.Persistent),
ObjectPlacementUtilities.GenerateOutOfPlaneRotationCurriculum(Allocator.Persistent),
new NativeArray <float>(AppParameters.ScaleFactors, Allocator.Persistent));
var appParamsMetricDefinition = SimulationManager.RegisterMetricDefinition(
"app-params", description: "The values from the app-params used in the simulation. Only triggered once per simulation.", id: k_AppParamsMetricGuid);
SimulationManager.ReportMetric(appParamsMetricDefinition, new[] { AppParameters });
m_CurriculumStateEntity = World.DefaultGameObjectInjectionWorld.EntityManager.CreateEntity();
World.DefaultGameObjectInjectionWorld.EntityManager.AddComponentData(
m_CurriculumStateEntity, new CurriculumState());
World.DefaultGameObjectInjectionWorld.EntityManager.AddComponentObject(
m_CurriculumStateEntity, m_PlacementStatics);
ValidateForegroundLabeling(foregroundObjects, PerceptionCamera);
#if !UNITY_EDITOR
if (Debug.isDebugBuild && EnableProfileLog)
{
Debug.Log($"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;
}
NativeList <PlacedObject> PlaceObjects(Camera camera, PlacementStatics statics, NativeArray <Bounds> occludingObjectBounds, ref CurriculumState curriculumState)
{
var placedObjectBoundingBoxes = new NativeList <PlacedObject>(500, Allocator.TempJob);
var objectBounds = ComputeObjectBounds(statics.ForegroundPrefabs);
var localCurriculumState = curriculumState;
var curriculumStatePtr = (CurriculumState *)UnsafeUtility.AddressOf(ref localCurriculumState);
var localRandom = m_Rand;
var randomPtr = (Random *)UnsafeUtility.AddressOf(ref localRandom);
var placementRegion = ObjectPlacementUtilities.ComputePlacementRegion(camera, k_ForegroundLayerDistance);
using (s_ComputePlacements.Auto())
{
var computePlacementsJob = new ComputePlacementsJob()
{
CurriculumStatePtr = curriculumStatePtr,
Transformer = new WorldToScreenTransformer(camera),
ImageCoordinates = placementRegion,
ObjectBounds = objectBounds,
OccludingObjectBounds = occludingObjectBounds,
PlaceObjects = placedObjectBoundingBoxes,
RandomPtr = randomPtr,
NativePlacementStatics = new NativePlacementStatics
{
ForegroundPrefabCount = statics.ForegroundPrefabs.Length,
MaxForegroundObjects = statics.MaxForegroundObjectsPerFrame,
InPlaneRotations = statics.InPlaneRotations,
OutOfPlaneRotations = statics.OutOfPlaneRotations,
ScaleFactors = statics.ScaleFactors,
BackgroundObjectInForegroundChance = statics.BackgroundObjectInForegroundChance,
}
};
computePlacementsJob.Run();
curriculumState = *computePlacementsJob.CurriculumStatePtr;
m_Rand = *computePlacementsJob.RandomPtr;
}
using (s_SetupObjects.Auto())
{
var materialPropertyBlock = new MaterialPropertyBlock();
int objectGroupIndex = 0;
foreach (var placedObject in placedObjectBoundingBoxes)
{
GameObject gameObject;
if (placedObject.IsOccluding)
{
gameObject = m_BackgroundInForegroundObjectCache.GetOrInstantiate(statics.BackgroundPrefabs[placedObject.PrefabIndex]);
var meshRenderer = gameObject.GetComponentInChildren <MeshRenderer>();
meshRenderer.GetPropertyBlock(materialPropertyBlock);
ObjectPlacementUtilities.CreateRandomizedHue(materialPropertyBlock, statics.OccludingHueMaxOffset, ref m_Rand);
materialPropertyBlock.SetTexture("_BaseMap", statics.BackgroundImages[m_Rand.NextInt(statics.BackgroundImages.Length)]);
meshRenderer.SetPropertyBlock(materialPropertyBlock);
}
else
{
EnsureObjectGroupsExist(statics, objectGroupIndex);
gameObject = m_ParentForeground.transform.GetChild(placedObject.PrefabIndex + objectGroupIndex * statics.ForegroundPrefabs.Length).gameObject;
}
gameObject.transform.localRotation = placedObject.Rotation;
gameObject.transform.localScale = Vector3.one * placedObject.Scale;
gameObject.transform.localPosition = placedObject.Position;
ObjectPlacementUtilities.SetMeshRenderersEnabledRecursive(gameObject, true);
if (placedObject.PrefabIndex == statics.ForegroundPrefabs.Length - 1)
{
objectGroupIndex++;
}
}
}
objectBounds.Dispose();
return(placedObjectBoundingBoxes);
}
