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Depth capture work

/depth_occlusion
Steven Borkman 4 年前
当前提交
3335da2f
共有 13 个文件被更改,包括 667 次插入11 次删除
  1. 84
      TestProjects/PerceptionURP/Assets/Scenes/PoseSample.unity
  2. 151
      com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs
  3. 39
      com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs
  4. 8
      TestProjects/PerceptionURP/Assets/ToDelete.meta
  5. 91
      TestProjects/PerceptionURP/Assets/ToDelete/row1.mat
  6. 8
      TestProjects/PerceptionURP/Assets/ToDelete/row1.mat.meta
  7. 91
      TestProjects/PerceptionURP/Assets/ToDelete/row2 1.mat
  8. 8
      TestProjects/PerceptionURP/Assets/ToDelete/row2 1.mat.meta
  9. 91
      TestProjects/PerceptionURP/Assets/ToDelete/row2 2.mat
  10. 8
      TestProjects/PerceptionURP/Assets/ToDelete/row2 2.mat.meta
  11. 91
      TestProjects/PerceptionURP/Assets/ToDelete/row2.mat
  12. 8
      TestProjects/PerceptionURP/Assets/ToDelete/row2.mat.meta

84
TestProjects/PerceptionURP/Assets/Scenes/PoseSample.unity


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151
com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs


using System.Linq;
using Unity.Collections;
using Unity.Entities;
using Unity.Simulation;
using UnityEngine.Experimental.Rendering;
using UnityEngine.Serialization;
namespace UnityEngine.Perception.GroundTruth

m_CurrentFrame = 0;
perceptionCamera.InstanceSegmentationImageReadback += OnInstanceSegmentationImageReadback;
perceptionCamera.DepthBufferCaptured += OnDepthBufferCaptured;
}
bool AreEqual(Color32 lhs, Color32 rhs)

public static float DecodeFloatRGBA(byte[] buffer, int index)
{
return DecodeFloatRGBA(new Vector4(buffer[index + 3], buffer[index], buffer[index + 1], buffer[index + 2]));
}
static Vector4 k_DecodeDot = new Vector4(1f, 1f / 255f, 1f / 65025f, 1f / 16581375f);
public static float DecodeFloatRGBA(Vector4 color)
{
return Vector4.Dot(color, k_DecodeDot);
}
float GetDepth((int x, int y) pixel, (int x, int y) bufferExtents, byte[] depthBuffer, float near, float far, GraphicsFormat format)
{
#if false
if (format != GraphicsFormat.R8G8B8A8_UNorm)
{
Debug.LogError($"Wrong conersion type");
return 0;
}
#endif
var elementSize = 4;
var idx = (pixel.y * bufferExtents.x * elementSize) + (pixel.x * elementSize);
var linear = BitConverter.ToSingle(depthBuffer, idx);
var distance = far * linear;
return distance;
#if false
var elementSize = 4;
// r, g, b have the same values for GraphicsFormat.R8G8B8A8_UNorm so any of the 3 bytes assigned to the pixel will work
var index = (pixel.y * bufferExtents.x * elementSize) + (pixel.x * elementSize);
//var pixelValue = depthBuffer[index];
//var intPixelValue = Convert.ToInt32(pixelValue);
var floatPixelValue = BitConverter.ToSingle(depthBuffer, index);
//var percentOffset = intPixelValue / 255f;
//var distance = near + (far - near) * percentOffset;
var distance = near + (far - near) * floatPixelValue;
return distance;
#endif
// return float.NaN;
}
void OnDepthBufferCaptured(int frame, byte[] depthBuffer, int width, int height, float nearClipPlane, float farClipPlane, GraphicsFormat format)
{
#if false
var pixels = new (int, int)[]
{
(50, 15),
(50, 35),
(50, 62),
(50, 88)
};
foreach (var p in pixels)
{
var d = GetDepth(p, (width, height), depthBuffer, nearClipPlane, farClipPlane, format);
Debug.Log($"Depth at {p}: {d}");
}
KeypointsComputed?.Invoke(frame, null);
#else
if (!m_AsyncAnnotations.TryGetValue(frame, out var asyncAnnotation))
return;
m_AsyncAnnotations.Remove(frame);
m_ToReport.Clear();
foreach (var keypointSet in asyncAnnotation.keypoints)
{
if (InstanceIdToColorMapping.TryGetColorFromInstanceId(keypointSet.Key, out var idColor))
{
var shouldReport = false;
var pointsVisible = 0;
foreach (var keypoint in keypointSet.Value.keypoints)
{
// If the keypoint isn't mapped to a body part keep it at 0
if (keypoint.state == 0) continue;
if (keypoint.x < 0 || keypoint.x > width || keypoint.y < 0 || keypoint.y > height)
{
keypoint.state = 0;
keypoint.x = 0;
keypoint.y = 0;
keypoint.z = 0;
}
else
{
// Debug.Log($"keypoint[{keypoint.index}] loc: ({keypoint.x}, {keypoint.y}, {keypoint.z}");
// Get the pixel color at the keypoints location
var h = height - (int)keypoint.y;
//var h = (int)keypoint.y;
var d = GetDepth(((int)keypoint.x, h), (width, height), depthBuffer, nearClipPlane, farClipPlane, format);
if (keypoint.index == 10)
{
Debug.Log($"Depth: {d} <==> keypoint.z: {keypoint.z}");
}
#if true
if (keypoint.z < (d + 0.5f))
{
keypoint.state = 0;
pointsVisible++;
}
else
{
keypoint.state = 0;
}
#else
keypoint.state = 2;
#endif
shouldReport = true;
}
}
Debug.Log($"visible points: {pointsVisible}");
Debug.Log($"should report: {shouldReport} BBBB");
if (shouldReport)
m_ToReport.Add(keypointSet.Value);
}
}
KeypointsComputed?.Invoke(frame, m_ToReport);
asyncAnnotation.annotation.ReportValues(m_ToReport);
#endif
}
Debug.Log($"OnInstanceSeg read back");
#if false
if (!m_AsyncAnnotations.TryGetValue(frameCount, out var asyncAnnotation))
return;

keypoint.state = 0;
keypoint.x = 0;
keypoint.y = 0;
keypoint.z = 0;
Debug.Log($"keypoint[{keypoint.index}] loc: ({keypoint.x}, {keypoint.y}, {keypoint.z}");
#if false
#else
keypoint.state = 2;
#endif
shouldReport = true;
}
}

KeypointsComputed?.Invoke(frameCount, m_ToReport);
asyncAnnotation.annotation.ReportValues(m_ToReport);
#endif
}
/// <inheritdoc/>

/// The keypoint's y-coordinate pixel location
/// </summary>
public float y;
public float z;
/// <summary>
/// The state of the point,
/// 0 = not present,

keypoints[i].index = i;
keypoints[i].x = loc.x;
keypoints[i].y = loc.y;
keypoints[i].z = loc.z;
keypoints[i].state = 2;
}
}

keypoints[idx].index = idx;
keypoints[idx].x = loc.x;
keypoints[idx].y = loc.y;
keypoints[idx].z = loc.z;
keypoints[idx].state = 2;
}

39
com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs


[RequireComponent(typeof(Camera))]
public partial class PerceptionCamera : MonoBehaviour
{
public event Action<int, byte[], int, int, float, float, GraphicsFormat> DepthBufferCaptured;
//TODO: Remove the Guid path when we have proper dataset merging in Unity Simulation and Thea
internal string rgbDirectory { get; } = $"RGB{Guid.NewGuid()}";
static string s_RgbFilePrefix = "rgb_";

SetPersistentSensorData("camera_intrinsic", ToProjectionMatrix3x3(cam.projectionMatrix));
var captureFilename = $"{Manager.Instance.GetDirectoryFor(rgbDirectory)}/{s_RgbFilePrefix}{Time.frameCount}.png";
var depthFilename = $"{Manager.Instance.GetDirectoryFor(rgbDirectory)}/{s_RgbFilePrefix}{Time.frameCount}_depth.png";
var dxRootPath = $"{rgbDirectory}/{s_RgbFilePrefix}{Time.frameCount}.png";
SensorHandle.ReportCapture(dxRootPath, SensorSpatialData.FromGameObjects(m_EgoMarker == null ? null : m_EgoMarker.gameObject, gameObject), m_PersistentSensorData.Select(kvp => (kvp.Key, kvp.Value)).ToArray());

var frame = Time.frameCount;
var nearClipPlane = cam.nearClipPlane;
var farClipPlane = cam.farClipPlane;
//var gf = GraphicsFormat.R8G8B8A8_UNorm;
var gf = GraphicsFormat.R32_SFloat;
Func<AsyncRequest<CaptureCamera.CaptureState>, AsyncRequest.Result> depthFunctor = r =>
{
var depthBuffer = r.data.depthBuffer as byte[];
DepthBufferCaptured?.Invoke(frame, depthBuffer, width, height, nearClipPlane, farClipPlane, gf);
#if false
using (s_WriteFrame.Auto())
{
byte[] encodedData;
using (s_EncodeAndSave.Auto())
{
encodedData = ImageConversion.EncodeArrayToPNG(depthBuffer, gf, (uint)width, (uint)height);
}
var result = AsyncRequest.Result.Completed;
if (gf == GraphicsFormat.R8G8B8A8_UNorm) result = !FileProducer.Write(depthFilename, encodedData) ? AsyncRequest.Result.Error : AsyncRequest.Result.Completed;
return result;
}
#endif
return AsyncRequest.Result.Completed;
};
// depthFunctor = null;
colorFunctor = r =>
{
using (s_WriteFrame.Auto())

};
#if SIMULATION_CAPTURE_0_0_10_PREVIEW_16_OR_NEWER
CaptureCamera.Capture(cam, colorFunctor, forceFlip: ForceFlip.None);
cam.depthTextureMode = DepthTextureMode.Depth;
CaptureCamera.Capture(cam, colorFunctor, depthFunctor: depthFunctor, depthFormat:gf, forceFlip: ForceFlip.None);
#else
CaptureCamera.Capture(cam, colorFunctor, flipY: flipY);
#endif

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