/// <summary>
/// Creates the json representation of the given PendingCapture. Static because this should not depend on any SimulationState members,
/// which may have changed since the capture was reported.
/// </summary>
static JToken JObjectFromPendingCapture(PendingCapture pendingCapture)
{
var sensorJObject = new JObject();//new SensorCaptureJson
sensorJObject["sensor_id"] = pendingCapture.SensorHandle.Id.ToString();
sensorJObject["ego_id"] = pendingCapture.SensorData.egoHandle.Id.ToString();
sensorJObject["modality"] = pendingCapture.SensorData.modality;
sensorJObject["translation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.SensorPose.position);
sensorJObject["rotation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.SensorPose.rotation);
if (pendingCapture.AdditionalSensorValues != null)
{
foreach (var(name, value) in pendingCapture.AdditionalSensorValues)
{
sensorJObject.Add(name, DatasetJsonUtility.ToJToken(value));
}
}
var egoCaptureJson = new JObject();
egoCaptureJson["ego_id"] = pendingCapture.SensorData.egoHandle.Id.ToString();
egoCaptureJson["translation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoPose.position);
egoCaptureJson["rotation"] = DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoPose.rotation);
egoCaptureJson["velocity"] = pendingCapture.SensorSpatialData.EgoVelocity.HasValue ? DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoVelocity.Value) : null;
egoCaptureJson["acceleration"] = pendingCapture.SensorSpatialData.EgoAcceleration.HasValue ? DatasetJsonUtility.ToJToken(pendingCapture.SensorSpatialData.EgoAcceleration.Value) : null;
var capture = new JObject();
capture["id"] = pendingCapture.Id.ToString();
capture["sequence_id"] = pendingCapture.SequenceId.ToString();
capture["step"] = pendingCapture.Step;
capture["timestamp"] = pendingCapture.Timestamp;
capture["sensor"] = sensorJObject;
capture["ego"] = egoCaptureJson;
capture["filename"] = pendingCapture.Path;
capture["format"] = GetFormatFromFilename(pendingCapture.Path);
if (pendingCapture.Annotations.Any())
{
capture["annotations"] = new JArray(pendingCapture.Annotations.Select(JObjectFromAnnotation).ToArray());
}
return(capture);
}
/// <summary>
/// Writes sensors.json, egos.json, metric_definitions.json, and annotation_definitions.json
/// </summary>
public void WriteReferences()
{
var egoReference = new JObject();
egoReference["version"] = SimulationManager.SchemaVersion;
egoReference["egos"] = new JArray(m_Egos.Select(e =>
{
var egoObj = new JObject();
egoObj["id"] = e.Id.ToString();
if (e.Description != null)
{
egoObj["description"] = e.Description;
}
return(egoObj);
}).ToArray());
WriteJObjectToFile(egoReference, "egos.json");
var sensorReferenceDoc = new JObject();
sensorReferenceDoc["version"] = SimulationManager.SchemaVersion;
sensorReferenceDoc["sensors"] = new JArray(m_Sensors.Select(kvp =>
{
var sensorReference = new JObject();
sensorReference["id"] = kvp.Key.Id.ToString();
sensorReference["ego_id"] = kvp.Value.egoHandle.Id.ToString();
sensorReference["modality"] = kvp.Value.modality;
if (kvp.Value.description != null)
{
sensorReference["description"] = kvp.Value.description;
}
return(sensorReference);
}).ToArray());
WriteJObjectToFile(sensorReferenceDoc, "sensors.json");
if (m_AdditionalInfoTypeData.Count > 0)
{
var annotationDefinitionsJArray = new JArray();
var metricDefinitionsJArray = new JArray();
foreach (var typeInfo in m_AdditionalInfoTypeData)
{
var typeJObject = new JObject();
typeJObject.Add("id", new JValue(typeInfo.id.ToString()));
typeJObject.Add("name", new JValue(typeInfo.name));
if (typeInfo.description != null)
{
typeJObject.Add("description", new JValue(typeInfo.description));
}
if (typeInfo.format != null)
{
typeJObject.Add("format", new JValue(typeInfo.format));
}
if (typeInfo.specValues != null)
{
var specValues = new JArray();
foreach (var value in typeInfo.specValues)
{
specValues.Add(DatasetJsonUtility.ToJToken(value));
}
typeJObject.Add("spec", specValues);
}
switch (typeInfo.additionalInfoKind)
{
case AdditionalInfoKind.Annotation:
annotationDefinitionsJArray.Add(typeJObject);
break;
case AdditionalInfoKind.Metric:
metricDefinitionsJArray.Add(typeJObject);
break;
default:
throw new NotSupportedException("Unsupported info kind");
}
}
if (annotationDefinitionsJArray.Count > 0)
{
var annotationDefinitionsJObject = new JObject();
annotationDefinitionsJObject.Add("version", SimulationManager.SchemaVersion);
annotationDefinitionsJObject.Add("annotation_definitions", annotationDefinitionsJArray);
WriteJObjectToFile(annotationDefinitionsJObject, "annotation_definitions.json");
}
if (metricDefinitionsJArray.Count > 0)
{
var metricDefinitionsJObject = new JObject();
metricDefinitionsJObject.Add("version", SimulationManager.SchemaVersion);
metricDefinitionsJObject.Add("metric_definitions", metricDefinitionsJArray);
WriteJObjectToFile(metricDefinitionsJObject, "metric_definitions.json");
}
}
Debug.Log($"Dataset written to {Path.GetDirectoryName(OutputDirectory)}");
}
