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 GameObject SetupCamera(IdLabelConfig config, Action <int, List <BoundingBox3DLabeler.BoxData> > computeListener)
{
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;
var perceptionCamera = cameraObject.AddComponent <PerceptionCamera>();
perceptionCamera.captureRgbImages = false;
var bboxLabeler = new BoundingBox3DLabeler(config);
if (computeListener != null)
{
bboxLabeler.BoundingBoxComputed += computeListener;
}
perceptionCamera.AddLabeler(bboxLabeler);
return(cameraObject);
}
public IEnumerator TryGet_ReturnsFalse_ForNonMatchingLabel_WithOtherMatches()
{
var label = "label";
//only way to guarantee registration order is to run frames.
//We want to ensure labeledPlane is registered before labeledPlane2 so that the cache does not early out
var labeledPlane = TestHelper.CreateLabeledPlane(label: "foo");
AddTestObjectForCleanup(labeledPlane);
yield return(null);
var labeledPlane2 = TestHelper.CreateLabeledPlane(label: label);
AddTestObjectForCleanup(labeledPlane2);
var config = new IdLabelConfig();
config.Init(new[]
{
new IdLabelEntry()
{
id = 1,
label = label
},
});
using (var cache = new LabelEntryMatchCache(config))
{
//allow label to be registered
yield return(null);
Assert.IsFalse(cache.TryGetLabelEntryFromInstanceId(labeledPlane.GetComponent <Labeling>().instanceId, out var labelEntry, out var index));
Assert.AreEqual(-1, index);
Assert.AreEqual(default(IdLabelEntry), labelEntry);
}
}
public IEnumerator TryGet_ReturnsTrue_ForMatchingLabel()
{
var label = "label";
var labeledPlane = TestHelper.CreateLabeledPlane(label: label);
AddTestObjectForCleanup(labeledPlane);
var config = new IdLabelConfig();
config.Init(new[]
{
new IdLabelEntry()
{
id = 1,
label = label
},
});
using (var cache = new LabelEntryMatchCache(config))
{
//allow label to be registered
yield return(null);
Assert.IsTrue(cache.TryGetLabelEntryFromInstanceId(labeledPlane.GetComponent <Labeling>().instanceId, out var labelEntry, out var index));
Assert.AreEqual(0, index);
Assert.AreEqual(config.labelEntries[0], labelEntry);
}
}
public void TryGet_ReturnsFalse_ForInvalidInstanceId()
{
var config = new IdLabelConfig();
using (var cache = new LabelEntryMatchCache(config))
{
Assert.IsFalse(cache.TryGetLabelEntryFromInstanceId(100, out var labelEntry, out var index));
Assert.AreEqual(-1, index);
Assert.AreEqual(default(IdLabelEntry), labelEntry);
}
}
protected override void OnAwake()
{
m_ForegroundObjectPlacementMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Foreground Object Placement Info", $"Reports the world position, scale, rotation, and label id of objects carrying a {nameof(ForegroundObjectMetricReporterTag)} component.", new Guid(k_LayerOneForegroundObjectPlacementInfoMetricGuid));
m_LabelingComponentsCache = new Dictionary <GameObject, Labeling>();
if (labelConfigForObjectPlacementMetrics == null)
{
var perceptionCamera = Object.FindObjectOfType <PerceptionCamera>();
if (perceptionCamera && perceptionCamera.labelers.Count > 0 && perceptionCamera.labelers[0] is BoundingBox2DLabeler boundingBox2DLabeler)
{
labelConfigForObjectPlacementMetrics = boundingBox2DLabeler.idLabelConfig;
}
}
}
public PlacementStatics(int maxFrames, int maxForegroundObjectsPerFrame, float scalingMin, float scalingSize, float occludingHueMaxOffset, float backgroundObjectInForegroundChance, GameObject[] foreground, GameObject[] backgroundPrefabs, Texture2D[] backgroundImages, NativeArray <Quaternion> inPlaneRot, NativeArray <Quaternion> outPlaneRot, NativeArray <float> scaleFactors, IdLabelConfig idLabelConfig)
{
MaxFrames = maxFrames;
ForegroundPrefabs = foreground;
BackgroundPrefabs = backgroundPrefabs;
InPlaneRotations = inPlaneRot;
OutOfPlaneRotations = outPlaneRot;
ScaleFactors = scaleFactors;
IdLabelConfig = idLabelConfig;
ScalingMin = scalingMin;
ScalingSize = scalingSize;
OccludingHueMaxOffset = occludingHueMaxOffset;
BackgroundObjectInForegroundChance = backgroundObjectInForegroundChance;
MaxForegroundObjectsPerFrame = maxForegroundObjectsPerFrame;
BackgroundImages = backgroundImages;
}
public IEnumerator TryGet_ReturnsFalse_ForNonMatchingLabel()
{
var label = "label";
var labeledPlane = TestHelper.CreateLabeledPlane(label: label);
AddTestObjectForCleanup(labeledPlane);
var config = new IdLabelConfig();
using (var cache = new LabelEntryMatchCache(config))
{
//allow label to be registered
yield return(null);
Assert.IsFalse(cache.TryGetLabelEntryFromInstanceId(labeledPlane.GetComponent <Labeling>().instanceId, out var labelEntry, out var index));
Assert.AreEqual(-1, index);
Assert.AreEqual(default(IdLabelEntry), labelEntry);
}
}
private GameObject SetupCameraBoundingBox2D(Action <BoundingBox2DLabeler.BoundingBoxesCalculatedEventArgs> onBoundingBoxesCalculated, IdLabelConfig idLabelConfig)
{
var cameraObject = SetupCamera(camera =>
{
camera.showVisualizations = false;
var boundingBox2DLabeler = new BoundingBox2DLabeler(idLabelConfig);
boundingBox2DLabeler.boundingBoxesCalculated += onBoundingBoxesCalculated;
camera.AddLabeler(boundingBox2DLabeler);
});
return(cameraObject);
}
