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 override void SetupMaterialProperties(
MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
var entry = new SemanticSegmentationLabelEntry();
var found = false;
foreach (var l in m_LabelConfig.labelEntries)
{
if (labeling.labels.Contains(l.label))
{
entry = l;
found = true;
break;
}
}
// Set the labeling ID so that it can be accessed in ClassSemanticSegmentationPass.shader
mpb.SetVector(k_LabelingId, found ? entry.color : Color.black);
}
/// <summary>
/// Attempts to find the matching index in <see cref="LabelEntries"/> for the given <see cref="Labeling"/>.
/// </summary>
/// <remarks>
/// The matching index is the first class name in the given Labeling which matches an entry in <see cref="LabelEntries"/>.
/// </remarks>
/// <param name="labeling">The <see cref="Labeling"/> to match </param>
/// <param name="labelEntry">When this method returns, contains the matching <see cref="LabelEntry"/>, or <code>default</code> if no match was found.</param>
/// <param name="labelEntryIndex">When this method returns, contains the index of the matching <see cref="LabelEntry"/>, or <code>-1</code> if no match was found.</param>
/// <returns>Returns true if a match was found. False if not.</returns>
public bool TryGetMatchingConfigurationEntry(Labeling labeling, out LabelEntry labelEntry, out int labelEntryIndex)
{
foreach (var labelingClass in labeling.labels)
{
for (var i = 0; i < LabelEntries.Count; i++)
{
var entry = LabelEntries[i];
if (string.Equals(entry.label, labelingClass))
{
labelEntry = entry;
labelEntryIndex = i;
return(true);
}
}
}
labelEntryIndex = -1;
labelEntry = default;
return(false);
}
void IGroundTruthGenerator.SetupMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
if (m_IdLabelConfig.TryGetMatchingConfigurationEntry(labeling, out _, out var index))
{
if (m_InstanceIdToLabelEntryIndexLookup.Length <= instanceId)
{
m_InstanceIdToLabelEntryIndexLookup.Resize((int)instanceId + 1, NativeArrayOptions.ClearMemory);
}
m_InstanceIdToLabelEntryIndexLookup[(int)instanceId] = (ushort)index;
}
}
/// <summary>
/// Unregisters a labeling component
/// </summary>
/// <param name="labeling">the component to unregister</param>
internal void Unregister(Labeling labeling)
{
m_LabelsPendingRegistration.Remove(labeling);
m_RegisteredLabels.Remove(labeling);
}
/// <summary>
/// Recursively initializes Renderer components on GameObjects with Labeling components
/// </summary>
/// <param name="gameObject">The parent GameObject being initialized</param>
/// <param name="mpb">A reusable material property block</param>
/// <param name="labeling">The labeling component attached to the current gameObject</param>
/// <param name="instanceId">The perception specific instanceId assigned to the current gameObject</param>
void RecursivelyInitializeGameObjects(
GameObject gameObject, MaterialPropertyBlock mpb, Labeling labeling, uint instanceId)
{
var terrain = gameObject.GetComponent <Terrain>();
if (terrain != null)
{
terrain.GetSplatMaterialPropertyBlock(mpb);
foreach (var pass in m_ActiveGenerators)
{
if (labeling.enabled)
{
pass.SetupMaterialProperties(mpb, null, labeling, instanceId);
}
else
{
pass.ClearMaterialProperties(mpb, null, labeling, instanceId);
}
}
terrain.SetSplatMaterialPropertyBlock(mpb);
}
var renderer = gameObject.GetComponent <Renderer>();
if (renderer != null)
{
renderer.GetPropertyBlock(mpb);
foreach (var pass in m_ActiveGenerators)
{
if (labeling.enabled)
{
pass.SetupMaterialProperties(mpb, renderer, labeling, instanceId);
}
else
{
pass.ClearMaterialProperties(mpb, renderer, labeling, instanceId);
}
}
renderer.SetPropertyBlock(mpb);
var materialCount = renderer.materials.Length;
for (var i = 0; i < materialCount; i++)
{
renderer.GetPropertyBlock(mpb, i);
//Only apply to individual materials if there is already a MaterialPropertyBlock on it
if (!mpb.isEmpty)
{
foreach (var pass in m_ActiveGenerators)
{
if (labeling.enabled)
{
pass.SetupMaterialProperties(mpb, renderer, labeling, instanceId);
}
else
{
pass.ClearMaterialProperties(mpb, renderer, labeling, instanceId);
}
}
renderer.SetPropertyBlock(mpb, i);
}
}
}
for (var i = 0; i < gameObject.transform.childCount; i++)
{
var child = gameObject.transform.GetChild(i).gameObject;
if (child.GetComponent <Labeling>() != null)
{
continue;
}
RecursivelyInitializeGameObjects(child, mpb, labeling, instanceId);
}
}
/// <summary>
/// Refresh ground truth generation for the labeling of a particular GameObject. This is necessary when the
/// list of labels changes or when renderers or materials change on objects in the hierarchy.
/// </summary>
/// <param name="labeling">the component to refresh</param>
internal void RefreshLabeling(Labeling labeling)
{
m_RegisteredLabels.Remove(labeling);
m_LabelsPendingRegistration.Add(labeling);
}
public abstract void SetupMaterialProperties(MaterialPropertyBlock mpb, Renderer meshRenderer, Labeling labeling, uint instanceId);
/// <inheritdoc/>
void IGroundTruthGenerator.ClearMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
if (m_InstanceIdToLabelEntryIndexLookup.Length > instanceId)
{
m_InstanceIdToLabelEntryIndexLookup[(int)instanceId] = k_DefaultValue;
}
}
void IGroundTruthGenerator.SetupMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
if (m_IdLabelConfig.TryGetMatchingConfigurationEntry(labeling, out _, out var index))
{
m_DefaultValue = ushort.MaxValue;
Debug.Assert(index < m_DefaultValue, "Too many entries in the label config");
if (m_InstanceIdToLabelEntryIndexLookup.Length <= instanceId)
{
var oldLength = m_InstanceIdToLabelEntryIndexLookup.Length;
m_InstanceIdToLabelEntryIndexLookup.Resize((int)instanceId + 1, NativeArrayOptions.ClearMemory);
for (int i = oldLength; i < instanceId; i++)
{
m_InstanceIdToLabelEntryIndexLookup[i] = m_DefaultValue;
}
}
m_InstanceIdToLabelEntryIndexLookup[(int)instanceId] = (ushort)index;
}
}
public override void ClearMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
mpb.SetVector(k_SegmentationIdProperty, (Color)InstanceIdToColorMapping.invalidColor);
}
public abstract void ClearMaterialProperties(
MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId);
public override void SetupMaterialProperties(MaterialPropertyBlock mpb, MeshRenderer meshRenderer, Labeling labeling, uint instanceId)
{
var entry = new LabelEntry();
foreach (var l in m_LabelingConfiguration.LabelEntries)
{
if (labeling.labels.Contains(l.label))
{
entry = l;
break;
}
}
//Set the labeling ID so that it can be accessed in ClassSemanticSegmentationPass.shader
mpb.SetInt(k_LabelingId, entry.value);
}
public override void ClearMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
mpb.SetVector(k_LabelingId, Color.black);
}
/// <inheritdoc/>
public void SetupMaterialProperties(MaterialPropertyBlock mpb, MeshRenderer meshRenderer, Labeling labeling, uint instanceId)
{
if (m_LabelingConfiguration.TryGetMatchingConfigurationEntry(labeling, out var entry, out var index))
{
if (m_InstanceIdToLabelEntryIndexLookup.Length <= instanceId)
{
m_InstanceIdToLabelEntryIndexLookup.Resize((int)instanceId + 1, NativeArrayOptions.ClearMemory);
}
m_InstanceIdToLabelEntryIndexLookup[(int)instanceId] = index;
}
}
public override void ClearMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
{
SetLensDistortionShaderParameters();
}
/// <summary>
/// Attempts to find the matching index in <see cref="LabelEntries"/> for the given <see cref="Labeling"/>.
/// </summary>
/// <remarks>
/// The matching index is the first class name in the given Labeling which matches an entry in <see cref="LabelEntries"/>.
/// </remarks>
/// <param name="labeling">The <see cref="Labeling"/> to match </param>
/// <param name="labelEntry">When this method returns, contains the matching <see cref="LabelEntry"/>, or <code>default</code> if no match was found.</param>
/// <returns>Returns true if a match was found. False if not.</returns>
public bool TryGetMatchingConfigurationEntry(Labeling labeling, out LabelEntry labelEntry)
{
return(TryGetMatchingConfigurationEntry(labeling, out labelEntry, out int _));
}
public override void SetupMaterialProperties(MaterialPropertyBlock mpb, MeshRenderer meshRenderer, Labeling labeling, uint instanceId)
{
mpb.SetInt(k_SegmentationIdProperty, (int)instanceId);
#if PERCEPTION_DEBUG
Debug.Log($"Assigning id. Frame {Time.frameCount} id {id}");
#endif
}
public override void SetupMaterialProperties(MaterialPropertyBlock mpb, MeshRenderer meshRenderer, Labeling labeling, uint instanceId)
{
if (!m_InstanceIdToLabelIndexLookup.IsCreated)
{
m_InstanceIdToLabelIndexLookup = new NativeList <int>(k_StartingObjectCount, Allocator.Persistent);
}
if (LabelingConfiguration.TryGetMatchingConfigurationEntry(labeling, out LabelEntry labelEntry, out var index))
{
if (m_InstanceIdToLabelIndexLookup.Length <= instanceId)
{
m_InstanceIdToLabelIndexLookup.Resize((int)instanceId + 1, NativeArrayOptions.ClearMemory);
}
m_IdBuffersNeedUpdating = true;
m_InstanceIdToLabelIndexLookup[(int)instanceId] = index + 1;
}
}