static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action <int, List <KeypointLabeler.KeypointEntry> > computeListener, RenderTexture renderTexture = null)
{
var cameraObject = new GameObject();
cameraObject.SetActive(false);
var camera = cameraObject.AddComponent <Camera>();
camera.orthographic = false;
camera.fieldOfView = 60;
camera.nearClipPlane = 0.3f;
camera.farClipPlane = 1000;
camera.transform.position = new Vector3(0, 0, -10);
if (renderTexture)
{
camera.targetTexture = renderTexture;
}
var perceptionCamera = cameraObject.AddComponent <PerceptionCamera>();
perceptionCamera.captureRgbImages = false;
var keyPointLabeler = new KeypointLabeler(config, template);
if (computeListener != null)
{
keyPointLabeler.KeypointsComputed += computeListener;
}
perceptionCamera.AddLabeler(keyPointLabeler);
return(cameraObject);
}
static void SetupCubeJoints(GameObject cube, KeypointTemplate template)
{
SetupCubeJoint(cube, template, "FrontLowerLeft", -0.495f, -0.495f, -0.495f);
SetupCubeJoint(cube, template, "FrontUpperLeft", -0.495f, 0.495f, -0.495f);
SetupCubeJoint(cube, template, "FrontUpperRight", 0.495f, 0.495f, -0.495f);
SetupCubeJoint(cube, template, "FrontLowerRight", 0.495f, -0.495f, -0.495f);
SetupCubeJoint(cube, template, "BackLowerLeft", -0.495f, -0.495f, 0.495f);
SetupCubeJoint(cube, template, "BackUpperLeft", -0.495f, 0.495f, 0.495f);
SetupCubeJoint(cube, template, "BackUpperRight", 0.495f, 0.495f, 0.495f);
SetupCubeJoint(cube, template, "BackLowerRight", 0.495f, -0.495f, 0.495f);
}
static void SetupCubeJoints(GameObject cube, KeypointTemplate template)
{
const float dim = 0.5f;
SetupCubeJoint(cube, template, "FrontLowerLeft", -dim, -dim, -dim);
SetupCubeJoint(cube, template, "FrontUpperLeft", -dim, dim, -dim);
SetupCubeJoint(cube, template, "FrontUpperRight", dim, dim, -dim);
SetupCubeJoint(cube, template, "FrontLowerRight", dim, -dim, -dim);
SetupCubeJoint(cube, template, "BackLowerLeft", -dim, -dim, dim);
SetupCubeJoint(cube, template, "BackUpperLeft", -dim, dim, dim);
SetupCubeJoint(cube, template, "BackUpperRight", dim, dim, dim);
SetupCubeJoint(cube, template, "BackLowerRight", dim, -dim, dim);
}
static void SetupCubeJoint(GameObject cube, KeypointTemplate template, string label, float x, float y, float z)
{
var joint = new GameObject();
joint.transform.parent = cube.transform;
joint.transform.localPosition = new Vector3(x, y, z);
var jointLabel = joint.AddComponent <JointLabel>();
jointLabel.templateInformation = new List <JointLabel.TemplateData>();
var templateData = new JointLabel.TemplateData
{
template = template,
label = label
};
jointLabel.templateInformation.Add(templateData);
}
private void CreateFullyOccludedScene(KeypointTemplate template, GameObject cam)
{
var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
SetupCubeJoints(cube, template);
var blocker = GameObject.CreatePrimitive(PrimitiveType.Cube);
blocker.transform.position = new Vector3(0, 0, 5);
blocker.transform.localScale = new Vector3(7, 7, 7);
cube.SetActive(true);
cam.SetActive(true);
AddTestObjectForCleanup(cam);
AddTestObjectForCleanup(cube);
AddTestObjectForCleanup(blocker);
}
