void SetupVisualizationCamera(Camera cam)
{
var visualizationAllowed = s_VisualizedPerceptionCamera == null;
if (!visualizationAllowed && showVisualizations)
{
Debug.LogWarning($"Currently only one PerceptionCamera may be visualized at a time. Disabling visualization on {gameObject.name}.");
showVisualizations = false;
return;
}
if (!showVisualizations)
{
return;
}
m_ShowingVisualizations = true;
s_VisualizedPerceptionCamera = this;
// set up to render to a render texture instead of the screen
var visualizationRenderTexture = new RenderTexture(cam.pixelWidth, cam.pixelHeight, 8, RenderTextureFormat.ARGB32, RenderTextureReadWrite.sRGB);
visualizationRenderTexture.name = cam.name + "_visualization_texture";
cam.targetTexture = visualizationRenderTexture;
s_VisualizationCamera = new GameObject(cam.name + "_VisualizationCamera");
var visualizationCameraComponent = s_VisualizationCamera.AddComponent <Camera>();
int layerMask = 1 << LayerMask.NameToLayer("UI");
visualizationCameraComponent.orthographic = true;
visualizationCameraComponent.cullingMask = layerMask;
s_VisualizationCanvas = GameObject.Instantiate(Resources.Load <GameObject>("VisualizationUI"));
s_VisualizationCanvas.name = cam.name + "_VisualizationCanvas";
var canvas = s_VisualizationCanvas.GetComponent <Canvas>();
canvas.renderMode = RenderMode.ScreenSpaceCamera;
canvas.worldCamera = visualizationCameraComponent;
var imgObj = new GameObject(cam.name + "_Image");
var img = imgObj.AddComponent <RawImage>();
img.texture = visualizationRenderTexture;
var rect = imgObj.transform as RectTransform;
rect.SetParent(s_VisualizationCanvas.transform, false);
//ensure the rgb image is rendered in the back
rect.SetAsFirstSibling();
rect.anchorMin = new Vector2(0, 0);
rect.anchorMax = new Vector2(1, 1);
rect.pivot = new Vector2(0.5f, 0.5f);
rect.offsetMax = Vector2.zero;
rect.offsetMin = Vector2.zero;
}
void CleanupVisualization()
{
if (s_VisualizedPerceptionCamera == this)
{
Destroy(s_VisualizationCamera);
Destroy(s_VisualizationCanvas);
s_VisualizedPerceptionCamera = null;
s_VisualizationCamera = null;
s_VisualizationCanvas = null;
}
}
internal void Init(PerceptionCamera newPerceptionCamera)
{
try
{
this.perceptionCamera = newPerceptionCamera;
sensorHandle = newPerceptionCamera.SensorHandle;
Setup();
isInitialized = true;
}
catch (Exception)
{
this.enabled = false;
throw;
}
}
