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initial visualization, needs rework

/result_visualization
Steven Borkman 4 年前
当前提交
0cca8c9a
共有 15 个文件被更改,包括 1386 次插入6 次删除
  1. 958
      TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity
  2. 2
      TestProjects/PerceptionURP/Packages/manifest.json
  3. 4
      TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt
  4. 2
      TestProjects/PerceptionURP/ProjectSettings/TagManager.asset
  5. 35
      com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs
  6. 3
      com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs
  7. 154
      TestProjects/PerceptionURP/Assets/ExampleScripts/BoundingBoxRenderer.cs
  8. 11
      TestProjects/PerceptionURP/Assets/ExampleScripts/BoundingBoxRenderer.cs.meta
  9. 8
      TestProjects/PerceptionURP/Assets/Textures.meta
  10. 91
      TestProjects/PerceptionURP/Assets/Textures/OutlineMaterial.mat
  11. 8
      TestProjects/PerceptionURP/Assets/Textures/OutlineMaterial.mat.meta
  12. 8
      TestProjects/PerceptionURP/Assets/Textures/Resources.meta
  13. 4
      TestProjects/PerceptionURP/Assets/Textures/outline_box.png
  14. 104
      TestProjects/PerceptionURP/Assets/Textures/outline_box.png.meta

958
TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity


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2
TestProjects/PerceptionURP/Packages/manifest.json


"com.unity.render-pipelines.universal": "7.3.1",
"com.unity.simulation.capture": "0.0.10-preview.6",
"com.unity.simulation.core": "0.0.10-preview.8",
"com.unity.test-framework": "1.1.13",
"com.unity.test-framework": "1.1.14",
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"com.unity.timeline": "1.2.12",
"com.unity.ugui": "1.0.0",

4
TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt


m_EditorVersion: 2019.3.13f1
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2
TestProjects/PerceptionURP/ProjectSettings/TagManager.asset


- UI
-
-
-
- Bounds
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-

35
com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs


public float height;
}
private GameObject boxQuad = null;
private GameObject cubeQuad = null;
private GameObject crateQuad = null;
ClassCountValue[] m_ClassCountValues;
BoundingBoxValue[] m_BoundingBoxValues;
RenderedObjectInfoValue[] m_VisiblePixelsValues;

RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering;
SimulationManager.SimulationEnding += OnSimulationEnding;
boxQuad = GameObject.Find("BoxQuad");
cubeQuad = GameObject.Find("CubeQuad");
crateQuad = GameObject.Find("CrateQuad");
}
// ReSharper disable InconsistentNaming

width = objectInfo.boundingBox.width,
height = objectInfo.boundingBox.height,
};
GameObject active = crateQuad;
if (labelEntry.label == "Box") active = boxQuad;
else if (labelEntry.label == "Cube") active = cubeQuad;
var cam = GetComponent<Camera>();
var height = cam.pixelHeight;
var halfHeight = height * 0.5f;
var y = halfHeight + (halfHeight - objectInfo.boundingBox.y);
Vector3 ll = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x, y, 1));
Vector3 ul = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x, y - objectInfo.boundingBox.height, 1));
Vector3 ur = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x + objectInfo.boundingBox.width, y - objectInfo.boundingBox.height, 1));
Vector3 lr = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x + objectInfo.boundingBox.width, y, 1));
Vector3[] verts = new Vector3[4] {ll, ul, ur, lr};
int[] tris = new int[6] {0, 2, 1, 0, 3, 2};
Vector2[] uvs = new Vector2[4] {Vector2.zero, new Vector2(0, 1), new Vector2(1, 1), new Vector2(1, 0) };
var filter = active.GetComponent<MeshFilter>();
Mesh mesh = new Mesh();
mesh.vertices = verts;
mesh.triangles = tris;
mesh.uv = uvs;
filter.mesh = mesh;
}
boundingBoxAsyncAnnotation.ReportValues(m_BoundingBoxValues);

3
com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs


this.m_CameraRenderingToSource = cameraRenderingToSource;
m_NextFrameToCapture = Time.frameCount;
// TODO find a better place for this but hardcoded right now to make progress
CaptureOptions.useAsyncReadbackIfSupported = false;
if (!GraphicsUtilities.SupportsAsyncReadback())
m_CpuTexture = new Texture2D(m_Source.width, m_Source.height, m_Source.graphicsFormat, TextureCreationFlags.None);

154
TestProjects/PerceptionURP/Assets/ExampleScripts/BoundingBoxRenderer.cs


using System;
using System.Collections;
using System.Collections.Generic;
using Unity.Collections;
using UnityEngine;
using UnityEngine.Experimental.Rendering;
using UnityEngine.Perception.GroundTruth;
using UnityEngine.Rendering;
using Unity.Entities;
using Unity.Simulation;
[RequireComponent(typeof(Camera))]
public class BoundingBoxRenderer : MonoBehaviour
{
public GameObject light;
public GameObject target;
private PerceptionCamera perception;
private void Awake()
{
perception = GetComponent<PerceptionCamera>();
CaptureOptions.useAsyncReadbackIfSupported = false;
}
}
#if false
private RenderTexture renderTexture = null;
private Texture2D cpuTexture = null;
private AnnotationDefinition bbDef;
private RenderedObjectInfoGenerator renderedObjectInfoGenerator;
private RenderTextureReader<uint> segmentationReader;
private void Awake()
{
var cam = GetComponent<Camera>();
var width = cam.pixelWidth;
var height = cam.pixelHeight;
renderTexture = new RenderTexture(new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8));
renderTexture.name = "segmentation";
cpuTexture = new Texture2D(renderTexture.width, renderTexture.height, renderTexture.graphicsFormat, TextureCreationFlags.None);
bbDef = SimulationManager.RegisterAnnotationDefinition(
"Target bounding box",
"The position of the target in the camera's local space",
id: Guid.Parse("C0B4A22C-0420-4D9F-BAFC-954B8F7B35A7"));
#if false
renderedObjectInfoGenerator = new RenderedObjectInfoGenerator(labelingConfiguration);
World.DefaultGameObjectInjectionWorld.GetExistingSystem<GroundTruthLabelSetupSystem>().Activate(renderedObjectInfoGenerator);
segmentationReader = new RenderTextureReader<uint>(segmentationTexture, cam, (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);
});
#endif
}
void Update()
{
RenderTexture.active = renderTexture;
cpuTexture.ReadPixels(new Rect(Vector2.zero, new Vector2(renderTexture.width, renderTexture.height)), 0, 0);
RenderTexture.active = null;
var data = cpuTexture.GetRawTextureData<uint>();
ImageReadCallback(Time.frameCount, data, renderTexture);
Vector3 targetPos = transform.worldToLocalMatrix * target.transform.position;
var sensorHandle = GetComponent<PerceptionCamera>().SensorHandle;
var anno = sensorHandle.ReportAnnotationValues(bbDef, new[] { targetPos });
string jsonValues = string.Empty;
MetricDefinition metricDef = SimulationManager.RegisterMetricDefinition()
anno.ReportMetric(bbDef, jsonValues);
// if (sensorHandle.ShouldCaptureThisFrame)
// {
// var anno = sensorHandle.ReportAnnotationValues(bbDef, new[] { targetPos });
// }
}
void ProduceBoundingBoxesAnnotation(NativeArray<RenderedObjectInfo> renderedObjectInfos, List<LabelEntry> labelingConfigurations, int frameCount)
{
RenderTextureReader<short>();
using (s_BoundingBoxCallback.Auto())
{
var findResult = FindAsyncCaptureInfo(frameCount);
if (findResult.index == -1)
return;
var asyncCaptureInfo = findResult.asyncCaptureInfo;
var boundingBoxAsyncAnnotation = asyncCaptureInfo.BoundingBoxAsyncMetric;
if (!boundingBoxAsyncAnnotation.IsValid)
return;
if (m_BoundingBoxValues == null || m_BoundingBoxValues.Length != renderedObjectInfos.Length)
m_BoundingBoxValues = new BoundingBoxValue[renderedObjectInfos.Length];
for (var i = 0; i < renderedObjectInfos.Length; i++)
{
var objectInfo = renderedObjectInfos[i];
if (!TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry))
continue;
m_BoundingBoxValues[i] = new BoundingBoxValue
{
label_id = labelEntry.id,
label_name = labelEntry.label,
instance_id = objectInfo.instanceId,
x = objectInfo.boundingBox.x,
y = objectInfo.boundingBox.y,
width = objectInfo.boundingBox.width,
height = objectInfo.boundingBox.height,
};
}
boundingBoxAsyncAnnotation.ReportValues(m_BoundingBoxValues);
}
}
void ImageReadCallback(int frameCount, NativeArray<uint> data, RenderTexture renderTexture)
{
Debug.Log("Current frame: " + Time.frameCount + ", working frame: " + frameCount);
// First thing lets check that we are the correct frame...
if (frameCount == Time.frameCount)
{
Debug.Log("We are operating on the current frame");
}
else
{
Debug.Log("We are on a different frame");
}
}
}
#endif

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