void EnsureEgoInitialized()
{
if (m_EgoHandle == default)
{
m_EgoHandle = DatasetCapture.RegisterEgo(Description);
}
}
/// <inheritdoc/>
protected override void Setup()
{
if (idLabelConfig == null)
{
throw new InvalidOperationException("BoundingBox2DLabeler's idLabelConfig field must be assigned");
}
m_AsyncAnnotations = new Dictionary <int, AsyncAnnotation>();
m_BoundingBoxAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition("bounding box", idLabelConfig.GetAnnotationSpecification(),
"Bounding box for each labeled object visible to the sensor", id: new Guid(annotationId));
perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
visualizationEnabled = supportsVisualization;
// Record the original screen size. The screen size can change during play, and the visual bounding
// boxes need to be scaled appropriately
m_OriginalScreenSize = new Vector2(Screen.width, Screen.height);
m_BoundingBoxTexture = Resources.Load <Texture>("outline_box");
m_LabelTexture = Resources.Load <Texture>("solid_white");
m_Style = new GUIStyle();
m_Style.normal.textColor = Color.black;
m_Style.fontSize = 16;
m_Style.padding = new RectOffset(4, 4, 4, 4);
m_Style.contentOffset = new Vector2(4, 0);
m_Style.alignment = TextAnchor.MiddleLeft;
}
/// <inheritdoc/>
protected override void Setup()
{
var myCamera = perceptionCamera.GetComponent <Camera>();
var width = myCamera.pixelWidth;
var height = myCamera.pixelHeight;
if (labelConfig == null)
{
throw new InvalidOperationException(
"SemanticSegmentationLabeler's LabelConfig must be assigned");
}
m_AsyncAnnotations = new Dictionary <int, AsyncAnnotation>();
var renderTextureDescriptor = new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8);
if (targetTexture != null)
{
targetTexture.descriptor = renderTextureDescriptor;
}
else
{
m_TargetTextureOverride = new RenderTexture(renderTextureDescriptor);
}
targetTexture.Create();
targetTexture.name = "Labeling";
#if HDRP_PRESENT
var gameObject = perceptionCamera.gameObject;
var customPassVolume = gameObject.GetComponent <CustomPassVolume>() ?? gameObject.AddComponent <CustomPassVolume>();
customPassVolume.injectionPoint = CustomPassInjectionPoint.BeforeRendering;
customPassVolume.isGlobal = true;
m_SemanticSegmentationPass = new SemanticSegmentationPass(myCamera, targetTexture, labelConfig)
{
name = "Labeling Pass"
};
customPassVolume.customPasses.Add(m_SemanticSegmentationPass);
#endif
#if URP_PRESENT
perceptionCamera.AddScriptableRenderPass(new SemanticSegmentationUrpPass(myCamera, targetTexture, labelConfig));
#endif
var specs = labelConfig.labelEntries.Select((l) => new SemanticSegmentationSpec()
{
label_name = l.label,
pixel_value = l.color
}).ToArray();
m_SemanticSegmentationAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition(
"semantic segmentation",
specs,
"pixel-wise semantic segmentation label",
"PNG",
id: Guid.Parse(annotationId));
m_SemanticSegmentationTextureReader = new RenderTextureReader <Color32>(targetTexture, myCamera,
(frameCount, data, tex) => OnSemanticSegmentationImageRead(frameCount, data));
}
// Start is called before the first frame update
void Awake()
{
m_EgoMarker = this.GetComponentInParent <Ego>();
var ego = m_EgoMarker == null?DatasetCapture.RegisterEgo("") : m_EgoMarker.EgoHandle;
SensorHandle = DatasetCapture.RegisterSensor(ego, "camera", description, period, startTime);
SetupInstanceSegmentation();
RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering;
RenderPipelineManager.endCameraRendering += CheckForRendererFeature;
DatasetCapture.SimulationEnding += OnSimulationEnding;
}
/// <inheritdoc/>
protected override void Setup()
{
if (idLabelConfig == null)
{
throw new InvalidOperationException("BoundingBox2DLabeler's idLabelConfig field must be assigned");
}
m_AsyncAnnotations = new Dictionary <int, AsyncAnnotation>();
m_BoundingBoxAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition("bounding box", idLabelConfig.GetAnnotationSpecification(),
"Bounding box for each labeled object visible to the sensor", id: new Guid(annotationId));
perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
}
// Start is called before the first frame update
void Awake()
{
m_EgoMarker = this.GetComponentInParent <Ego>();
var ego = m_EgoMarker == null?DatasetCapture.RegisterEgo("") : m_EgoMarker.EgoHandle;
SensorHandle = DatasetCapture.RegisterSensor(ego, "camera", description, period, startTime);
AsyncRequest.maxJobSystemParallelism = 0; // Jobs are not chained to one another in any way, maximizing parallelism
AsyncRequest.maxAsyncRequestFrameAge = 4; // Ensure that readbacks happen before Allocator.TempJob allocations get stale
SetupInstanceSegmentation();
var cam = GetComponent <Camera>();
#if UNITY_EDITOR || DEVELOPMENT_BUILD
SetupVisualizationCamera(cam);
#endif
DatasetCapture.SimulationEnding += OnSimulationEnding;
}
/// <inheritdoc/>
protected override void Setup()
{
if (idLabelConfig == null)
{
throw new InvalidOperationException("BoundingBox2DLabeler's idLabelConfig field must be assigned");
}
m_AsyncAnnotations = new Dictionary <int, AsyncAnnotation>();
m_BoundingBoxAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition("bounding box", idLabelConfig.GetAnnotationSpecification(),
"Bounding box for each labeled object visible to the sensor", id: new Guid(annotationId));
perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
visualizationEnabled = supportsVisualization;
// Record the original screen size. The screen size can change during play, and the visual bounding
// boxes need to be scaled appropriately
originalScreenSize = new Vector2(Screen.width, Screen.height);
}
