// Start is called before the first frame update
void Awake()
{
m_EgoMarker = this.GetComponentInParent <Ego>();
var ego = m_EgoMarker == null?DatasetCapture.RegisterEgo("") : m_EgoMarker.EgoHandle;
SensorHandle = DatasetCapture.RegisterSensor(ego, "camera", description, period, startTime);
SetupInstanceSegmentation();
RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering;
RenderPipelineManager.endCameraRendering += CheckForRendererFeature;
DatasetCapture.SimulationEnding += OnSimulationEnding;
}
// Start is called before the first frame update
void Awake()
{
m_EgoMarker = this.GetComponentInParent <Ego>();
var ego = m_EgoMarker == null?DatasetCapture.RegisterEgo("") : m_EgoMarker.EgoHandle;
SensorHandle = DatasetCapture.RegisterSensor(ego, "camera", description, period, startTime);
AsyncRequest.maxJobSystemParallelism = 0; // Jobs are not chained to one another in any way, maximizing parallelism
AsyncRequest.maxAsyncRequestFrameAge = 4; // Ensure that readbacks happen before Allocator.TempJob allocations get stale
SetupInstanceSegmentation();
var cam = GetComponent <Camera>();
#if UNITY_EDITOR || DEVELOPMENT_BUILD
SetupVisualizationCamera(cam);
#endif
DatasetCapture.SimulationEnding += OnSimulationEnding;
}
// Start is called before the first frame update
void Awake()
{
//CaptureOptions.useAsyncReadbackIfSupported = false;
m_EgoMarker = this.GetComponentInParent <Ego>();
var ego = m_EgoMarker == null?SimulationManager.RegisterEgo("") : m_EgoMarker.EgoHandle;
SensorHandle = SimulationManager.RegisterSensor(ego, "camera", description, period, startTime);
var myCamera = GetComponent <Camera>();
var width = myCamera.pixelWidth;
var height = myCamera.pixelHeight;
if ((produceSegmentationImages || produceObjectCountAnnotations || produceBoundingBoxAnnotations) && LabelingConfiguration == null)
{
Debug.LogError("LabelingConfiguration must be set if producing ground truth data");
produceSegmentationImages = false;
produceObjectCountAnnotations = false;
produceBoundingBoxAnnotations = false;
}
segmentationTexture = new RenderTexture(new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8));
segmentationTexture.name = "Segmentation";
labelingTexture = new RenderTexture(new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8));
labelingTexture.name = "Labeling";
#if HDRP_PRESENT
var customPassVolume = this.GetComponent <CustomPassVolume>() ?? gameObject.AddComponent <CustomPassVolume>();
customPassVolume.injectionPoint = CustomPassInjectionPoint.BeforeRendering;
customPassVolume.isGlobal = true;
m_SegmentationPass = new InstanceSegmentationPass()
{
name = "Segmentation Pass",
targetCamera = myCamera,
targetTexture = segmentationTexture
};
m_SegmentationPass.EnsureInit();
m_SemanticSegmentationPass = new SemanticSegmentationPass(myCamera, labelingTexture, LabelingConfiguration)
{
name = "Labeling Pass"
};
SetupPasses(customPassVolume);
#endif
#if URP_PRESENT
instanceSegmentationUrpPass = new InstanceSegmentationUrpPass(myCamera, segmentationTexture);
semanticSegmentationUrpPass = new SemanticSegmentationUrpPass(myCamera, labelingTexture, LabelingConfiguration);
#endif
if (produceSegmentationImages)
{
var specs = LabelingConfiguration.LabelEntries.Select((l) => new SemanticSegmentationSpec()
{
label_id = l.id,
label_name = l.label,
pixel_value = l.value
}).ToArray();
m_SegmentationAnnotationDefinition = SimulationManager.RegisterAnnotationDefinition("semantic segmentation", specs, "pixel-wise semantic segmentation label", "PNG");
m_ClassLabelingTextureReader = new RenderTextureReader <short>(labelingTexture, myCamera,
(frameCount, data, tex) => OnSemanticSegmentationImageRead(frameCount, data));
}
if (produceObjectCountAnnotations || produceBoundingBoxAnnotations || produceRenderedObjectInfoMetric)
{
var labelingMetricSpec = LabelingConfiguration.LabelEntries.Select((l) => new ObjectCountSpec()
{
label_id = l.id,
label_name = l.label,
}).ToArray();
if (produceObjectCountAnnotations)
{
m_ObjectCountMetricDefinition = SimulationManager.RegisterMetricDefinition("object count", labelingMetricSpec, "Counts of objects for each label in the sensor's view", id: new Guid(objectCountId));
}
if (produceBoundingBoxAnnotations)
{
m_BoundingBoxAnnotationDefinition = SimulationManager.RegisterAnnotationDefinition("bounding box", labelingMetricSpec, "Bounding box for each labeled object visible to the sensor", id: new Guid(boundingBoxId));
}
if (produceRenderedObjectInfoMetric)
{
m_RenderedObjectInfoMetricDefinition = SimulationManager.RegisterMetricDefinition("rendered object info", labelingMetricSpec, "Information about each labeled object visible to the sensor", id: new Guid(renderedObjectInfoId));
}
m_RenderedObjectInfoGenerator = new RenderedObjectInfoGenerator(LabelingConfiguration);
World.DefaultGameObjectInjectionWorld.GetExistingSystem <GroundTruthLabelSetupSystem>().Activate(m_RenderedObjectInfoGenerator);
m_SegmentationReader = new RenderTextureReader <uint>(segmentationTexture, myCamera, (frameCount, data, tex) =>
{
if (segmentationImageReceived != null)
{
segmentationImageReceived(frameCount, data);
}
m_RenderedObjectInfoGenerator.Compute(data, tex.width, boundingBoxOrigin, out var renderedObjectInfos, out var classCounts, Allocator.Temp);
using (s_RenderedObjectInfosCalculatedEvent.Auto())
renderedObjectInfosCalculated?.Invoke(frameCount, renderedObjectInfos);
if (produceObjectCountAnnotations)
{
OnObjectCountsReceived(classCounts, LabelingConfiguration.LabelEntries, frameCount);
}
if (produceBoundingBoxAnnotations)
{
ProduceBoundingBoxesAnnotation(renderedObjectInfos, LabelingConfiguration.LabelEntries, frameCount);
}
if (produceRenderedObjectInfoMetric)
{
ProduceRenderedObjectInfoMetric(renderedObjectInfos, frameCount);
}
});
