public override void SetupMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
var found = InstanceIdToColorMapping.TryGetColorFromInstanceId(instanceId, out var color);
if (!found)
{
Debug.LogError($"Could not get a unique color for {instanceId}");
}
mpb.SetVector(k_SegmentationIdProperty, (Color)color);
#if PERCEPTION_DEBUG
Debug.Log($"Assigning id. Frame {Time.frameCount} id {id}");
#endif
}
public void Execute()
{
for (var row = 0; row < rows; row++)
{
var rowSlice = new NativeSlice <Color32>(segmentationImageData, width * row, width);
var currentBB = new Object1DSpan
{
instanceId = 0,
row = row + rowStart
};
for (var i = 0; i < rowSlice.Length; i++)
{
var packed = InstanceIdToColorMapping.GetPackedColorFromColor(rowSlice[i]);
// pixel color black (0,0,0,255) is reserved for no hit, so set it to id 0
var id = packed == 255 ? 0 : packed;
if (id != currentBB.instanceId)
{
if (currentBB.instanceId > 0)
{
//save off currentBB
currentBB.right = i - 1;
boundingBoxes.Add(currentBB);
}
currentBB = new Object1DSpan
{
instanceId = id,
left = i,
row = row + rowStart
};
}
}
if (currentBB.instanceId > 0)
{
//save off currentBB
currentBB.right = width - 1;
boundingBoxes.Add(currentBB);
}
}
}
// ReSharper disable once InvalidXmlDocComment
/// <summary>
/// Compute RenderedObjectInfo for each visible object in the given instance segmentation image.
/// InstanceSegmentationRawData should be the raw data from a texture filled by <see cref="InstanceSegmentationUrpPass"/> or <see cref="InstanceSegmentationPass"/>
/// using the same LabelingConfiguration that was passed into this object.
/// </summary>
/// <param name="instanceSegmentationRawData">The raw instance segmentation image.</param>
/// <param name="stride">Stride of the image data. Should be equal to the width of the image.</param>
/// <param name="boundingBoxOrigin">Whether bounding boxes should be top-left or bottom-right-based.</param>
/// <param name="renderedObjectInfos">When this method returns, filled with RenderedObjectInfo entries for each object visible in the frame.</param>
/// <param name="allocator">The allocator to use for allocating renderedObjectInfos and perLabelEntryObjectCount.</param>
public void Compute(NativeArray <Color32> instanceSegmentationRawData, int stride, BoundingBoxOrigin boundingBoxOrigin, out NativeArray <RenderedObjectInfo> renderedObjectInfos, Allocator allocator)
{
const int jobCount = 24;
var height = instanceSegmentationRawData.Length / stride;
//special math to round up
var rowsPerJob = height / jobCount;
var rowRemainder = height % jobCount;
var handles = new NativeArray <JobHandle>(jobCount, Allocator.Temp);
var jobBoundingBoxLists = new NativeList <Object1DSpan> [jobCount];
using (s_LabelJobs.Auto())
{
for (int row = 0, jobIndex = 0; row < height; row += rowsPerJob, jobIndex++)
{
jobBoundingBoxLists[jobIndex] = new NativeList <Object1DSpan>(10, Allocator.TempJob);
var rowsThisJob = math.min(height - row, rowsPerJob);
if (jobIndex < rowRemainder)
{
rowsThisJob++;
}
handles[jobIndex] = new ComputeHistogramPerRowJob
{
segmentationImageData = new NativeSlice <Color32>(instanceSegmentationRawData, row * stride, stride * rowsThisJob),
width = stride,
rowStart = row,
rows = rowsThisJob,
boundingBoxes = jobBoundingBoxLists[jobIndex]
}.Schedule();
if (jobIndex < rowRemainder)
{
row++;
}
}
JobHandle.CompleteAll(handles);
}
var boundingBoxMap = new NativeHashMap <uint, RenderedObjectInfo>(100, Allocator.Temp);
using (s_LabelMerge.Auto())
{
foreach (var boundingBoxList in jobBoundingBoxLists)
{
if (!boundingBoxList.IsCreated)
{
continue;
}
foreach (var info1D in boundingBoxList)
{
var objectInfo = new RenderedObjectInfo
{
boundingBox = new Rect(info1D.left, info1D.row, info1D.right - info1D.left + 1, 1),
instanceId = info1D.instanceId,
pixelCount = info1D.right - info1D.left + 1
};
if (boundingBoxMap.TryGetValue(info1D.instanceId, out var info))
{
objectInfo.boundingBox = Rect.MinMaxRect(
math.min(info.boundingBox.xMin, objectInfo.boundingBox.xMin),
math.min(info.boundingBox.yMin, objectInfo.boundingBox.yMin),
math.max(info.boundingBox.xMax, objectInfo.boundingBox.xMax),
math.max(info.boundingBox.yMax, objectInfo.boundingBox.yMax));
objectInfo.pixelCount += info.pixelCount;
}
boundingBoxMap[info1D.instanceId] = objectInfo;
}
}
var keyValueArrays = boundingBoxMap.GetKeyValueArrays(Allocator.Temp);
renderedObjectInfos = new NativeArray <RenderedObjectInfo>(keyValueArrays.Keys.Length, allocator);
for (var i = 0; i < keyValueArrays.Keys.Length; i++)
{
var color = InstanceIdToColorMapping.GetColorFromPackedColor(keyValueArrays.Keys[i]);
if (InstanceIdToColorMapping.TryGetInstanceIdFromColor(color, out var instanceId))
{
var renderedObjectInfo = keyValueArrays.Values[i];
var boundingBox = renderedObjectInfo.boundingBox;
if (boundingBoxOrigin == BoundingBoxOrigin.TopLeft)
{
var y = height - boundingBox.yMax;
boundingBox = new Rect(boundingBox.x, y, boundingBox.width, boundingBox.height);
}
renderedObjectInfos[i] = new RenderedObjectInfo
{
instanceId = instanceId,
boundingBox = boundingBox,
pixelCount = renderedObjectInfo.pixelCount,
instanceColor = color
};
}
else
{
Debug.LogError($"Could not generate instance ID for object, ID exceeded maximum ID");
}
}
keyValueArrays.Dispose();
}
boundingBoxMap.Dispose();
foreach (var rowBoundingBox in jobBoundingBoxLists)
{
if (rowBoundingBox.IsCreated)
{
rowBoundingBox.Dispose();
}
}
handles.Dispose();
}