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Instance segmentation (#112)
Instance segmentation (#112)
* Copy to Color32 in labeler * Finishing touches on instance segmentation labeler * Moved away from static initialization * Fixes for some unit tests * Update packages for newer version of burst * Fixed some documentation * Updated changelog * Updated documentation * Fixes for PR comments * Fix to support labelers coming on and off line * Updates for PR comments/main
GitHub
4 年前
当前提交
d1e6558f
共有 32 个文件被更改，包括 1507 次插入 和 192 次删除
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5com.unity.perception/CHANGELOG.md
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5com.unity.perception/Documentation~/PerceptionCamera.md
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18com.unity.perception/Runtime/GroundTruth/DatasetCapture.cs
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14com.unity.perception/Runtime/GroundTruth/InstanceSegmentationCrossPipelinePass.cs
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8com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBoxLabeler.cs
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7com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs
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8com.unity.perception/Runtime/GroundTruth/Labelers/RenderedObjectInfoLabeler.cs
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103com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentationLabeler.cs
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1com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Materials/SegmentationMaterial.mat
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11com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs
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7com.unity.perception/Runtime/GroundTruth/PerceptionCamera_InstanceSegmentation.cs
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6com.unity.perception/Runtime/GroundTruth/RenderedObjectInfo.cs
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48com.unity.perception/Runtime/GroundTruth/RenderedObjectInfoGenerator.cs
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11com.unity.perception/Runtime/GroundTruth/Resources/InstanceSegmentation.shader
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71com.unity.perception/Tests/Runtime/GroundTruthTests/RenderedObjectInfoTests.cs
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42com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs
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8com.unity.perception/Tests/Runtime/GroundTruthTests/VisualizationTests.cs
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1com.unity.perception/package.json
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202com.unity.perception/Runtime/GroundTruth/InstanceIdToColorMapping.cs
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3com.unity.perception/Runtime/GroundTruth/InstanceIdToColorMapping.cs.meta
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186com.unity.perception/Runtime/GroundTruth/Labelers/InstanceSegmentationLabeler.cs
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11com.unity.perception/Runtime/GroundTruth/Labelers/InstanceSegmentationLabeler.cs.meta
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258com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/OverlayPanel.cs
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3com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/OverlayPanel.cs.meta
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104com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Resources/drop_down.png
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106com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Resources/drop_down.png.meta
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99com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Resources/drop_down2.png
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106com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Resources/drop_down2.png.meta
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5com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Resources/instance_back.png
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104com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Resources/instance_back.png.meta
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135com.unity.perception/Tests/Runtime/GroundTruthTests/InstanceIdToColorMappingTests.cs
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3com.unity.perception/Tests/Runtime/GroundTruthTests/InstanceIdToColorMappingTests.cs.meta
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using System; |
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using System.Collections.Generic; |
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|
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namespace UnityEngine.Perception.GroundTruth |
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{ |
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/// <summary>
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/// Static class to procedurally generate a unique color for an instance ID. This algorithm
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/// is deterministic, and will always return the same color for a ID, and the same ID for a color. ID 0 is reserved to
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/// be an invalid ID and is mapped to color black (0,0,0,255). Invalid IDs always map to black, and black always maps to ID 0.
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/// In order to try to create visually contrasting colors for IDs, there are a subset of IDs reserved (1-65)
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/// to be generated by applying the golden ration to find the next color in the HSL spectrum. All of these
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/// colors, and only theses colors, will be in the alpha channel 255. After the first 65 IDs, the color will be
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/// determined by iterating through all available RGB values in the alpha channels from 264 - 1. Alpha channel 0 is marked as invalid.
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/// This service will support over 4 billion unique IDs => colors [(256^4) - (256*2) + 64]
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/// </summary>
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public static class InstanceIdToColorMapping |
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{ |
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// ReSharper disable once MemberCanBePrivate.Global
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/// <summary>
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/// The max ID supported by this class.
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/// </summary>
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public const uint maxId = uint.MaxValue - ((256 * 256 * 256) * 2) + k_HslCount; |
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static Dictionary<uint, uint> s_IdToColorCache; |
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static Dictionary<uint, uint> s_ColorToIdCache; |
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const uint k_HslCount = 64; |
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const uint k_ColorsPerAlpha = 256 * 256 * 256; |
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const uint k_InvalidPackedColor = 255; // packed uint for color (0, 0, 0, 255);
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static readonly Color32 k_InvalidColor = new Color(0, 0, 0, 255); |
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static readonly float k_GoldenRatio = (1 + Mathf.Sqrt(5)) / 2; |
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const int k_HuesInEachValue = 30; |
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static void InitializeMaps() |
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{ |
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s_IdToColorCache = new Dictionary<uint, uint>(); |
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s_ColorToIdCache = new Dictionary<uint, uint>(); |
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s_IdToColorCache[0] = k_InvalidPackedColor; |
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s_IdToColorCache[k_InvalidPackedColor] = 0; |
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for (uint i = 1; i <= k_HslCount; i++) |
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{ |
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var color = GenerateHSLValueForId(i); |
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s_IdToColorCache[i] = color; |
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s_ColorToIdCache[color] = i; |
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} |
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} |
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static uint GenerateHSLValueForId(uint count) |
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{ |
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count -= 1; |
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var ratio = count * k_GoldenRatio; |
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var hue = ratio - Mathf.Floor(ratio); |
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count /= k_HuesInEachValue; |
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ratio = count * k_GoldenRatio; |
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var value = 1 - (ratio - Mathf.Floor(ratio)); |
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var color = (Color32)Color.HSVToRGB(hue, 1f, value); |
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color.a = 255; |
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return GetPackedColorFromColor(color); |
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} |
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|
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static uint GetColorForId(uint id) |
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{ |
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if (id > maxId || id == 0 || id == k_InvalidPackedColor) return k_InvalidPackedColor; |
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if (id <= k_HslCount) |
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{ |
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if (s_IdToColorCache == null) InitializeMaps(); |
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return s_IdToColorCache[id]; |
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} |
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var altered_id = id - k_HslCount; |
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var rgb = altered_id % k_ColorsPerAlpha; |
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var alpha= 254 - (altered_id / k_ColorsPerAlpha); |
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return rgb << 8 | alpha; |
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} |
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static bool TryGetIdForColor(uint color, out uint id) |
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{ |
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if (color == 0 || color == k_InvalidPackedColor) |
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{ |
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id = 0; |
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return true; |
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} |
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var alpha = color & 0xff; |
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if (alpha == 255) |
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{ |
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if (s_ColorToIdCache == null) InitializeMaps(); |
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return s_ColorToIdCache.TryGetValue(color, out id); |
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} |
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else |
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{ |
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var rgb = color >> 8; |
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id = k_HslCount + rgb + (256 * 256 * 256) * (254 - alpha); |
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return true; |
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} |
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} |
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|
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static uint GetIdForColor(uint color) |
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{ |
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if (!TryGetIdForColor(color, out var id)) |
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{ |
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throw new InvalidOperationException($"Passed in color: {color} was not one of the reserved colors for alpha channel 255"); |
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} |
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return id; |
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} |
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|
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/// <summary>
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/// Packs a color32 (RGBA - 1 byte per channel) into a 32bit unsigned integer.
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/// </summary>
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/// <param name="color">The RGBA color.</param>
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/// <returns>The packed unsigned int 32 of the color.</returns>
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public static uint GetPackedColorFromColor(Color32 color) |
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{ |
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var tmp = (uint) ((color.r << 24) | (color.g << 16) | (color.b << 8) | (color.a << 0)); |
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return tmp; |
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} |
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|
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/// <summary>
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/// Converts a packed color (or unsigned 32bit representation of a color) into an RGBA color.
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/// </summary>
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/// <param name="color">The packed color</param>
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/// <returns>The RGBA color</returns>
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public static Color32 GetColorFromPackedColor(uint color) |
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{ |
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return new Color32((byte)(color >> 24), (byte)(color >> 16), (byte)(color >> 8), (byte)color); |
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} |
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|
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/// <summary>
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/// Retrieve the color that is mapped to the passed in ID. If the ID is 0 or 255 false will be returned, and
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/// color will be set to black.
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/// </summary>
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/// <param name="id">The ID of interest.</param>
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/// <param name="color">Will be set to the color associated with the passed in ID.</param>
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/// <returns>Returns true if the ID was mapped to a non-black color, otherwise returns false</returns>
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public static bool TryGetColorFromInstanceId(uint id, out Color32 color) |
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{ |
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color = k_InvalidColor; |
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if (id > maxId) return false; |
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var packed = GetColorForId(id); |
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if (packed == k_InvalidPackedColor) return false; |
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color = GetColorFromPackedColor(packed); |
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return true; |
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} |
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|
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/// <summary>
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/// Retrieve the color that is mapped to the passed in ID. If the ID is 0 or 255 the returned color will be black.
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/// </summary>
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/// <param name="id">The ID of interest.</param>
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/// <returns>The color associated with the passed in ID, or black if no associated color exists.</returns>
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/// <exception cref="IndexOutOfRangeException">Thrown if the passed in ID is greater than the largest supported ID <see cref="maxId"/></exception>
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public static Color32 GetColorFromInstanceId(uint id) |
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{ |
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if (id > maxId) |
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throw new IndexOutOfRangeException($"Passed in index: {id} is greater than max ID: {maxId}"); |
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TryGetColorFromInstanceId(id, out var color); |
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return color; |
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} |
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|
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/// <summary>
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/// Retrieve the ID associated with the passed in color. If the passed in color is black or cannot be mapped to an ID
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/// this service will return false, and the out id will be set to 0.
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/// </summary>
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/// <param name="color">The color to map to an ID.</param>
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/// <param name="id">This value will be updated with the ID for the passed in color.</param>
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/// <returns>This service will return true if an ID is properly mapped to a color, otherwise it will return false.</returns>
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public static bool TryGetInstanceIdFromColor(Color32 color, out uint id) |
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{ |
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var packed = GetPackedColorFromColor(color); |
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if (!TryGetIdForColor(packed, out id)) |
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{ |
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return false; |
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} |
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return id != 0 && id <= maxId; |
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} |
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/// <summary>
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/// Retrieve the ID associated with the passed in color. If the passed in color is black this service will return 0.
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/// </summary>
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/// <param name="color">The color to map to an ID.</param>
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/// <returns>This value will be updated with the ID for the passed in color.</returns>
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/// <exception cref="IndexOutOfRangeException">Thrown if the passed in color is mapped to an ID that is greater than the largest supported ID</exception>
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/// <<exception cref="InvalidOperationException">Thrown if the passed in color cannot be mapped to an ID in the alpha 255 range<see cref="maxId"/></exception>
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public static uint GetInstanceIdFromColor(Color32 color) |
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{ |
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var id = GetIdForColor(GetPackedColorFromColor(color)); |
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if (id > maxId) throw new IndexOutOfRangeException($"Passed in color: {color} maps to an ID: {id} which is greater than max ID: {maxId}"); |
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return id; |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: ff8ada7e092f426680bbdc7f7af69fbb |
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timeCreated: 1603402608 |
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using System; |
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using System.Collections.Generic; |
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using System.Diagnostics.CodeAnalysis; |
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using System.IO; |
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using Unity.Collections; |
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using Unity.Profiling; |
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using Unity.Simulation; |
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using UnityEditor; |
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using UnityEngine; |
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using UnityEngine.Experimental.Rendering; |
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using UnityEngine.Profiling; |
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namespace UnityEngine.Perception.GroundTruth |
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{ |
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/// <summary>
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/// Produces instance segmentation for each frame.
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/// </summary>
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[Serializable] |
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public sealed class InstanceSegmentationLabeler : CameraLabeler, IOverlayPanelProvider |
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{ |
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///<inheritdoc/>
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public override string description |
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{ |
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get => "Produces an instance segmentation image for each frame. The image will render the pixels of each labeled object in a distinct color."; |
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protected set { } |
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} |
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/// <inheritdoc/>
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protected override bool supportsVisualization => true; |
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static readonly string k_Directory = "InstanceSegmentation" + Guid.NewGuid().ToString(); |
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const string k_FilePrefix = "Instance_"; |
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/// <summary>
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/// The GUID to associate with annotations produced by this labeler.
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/// </summary>
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[Tooltip("The id to associate with instance segmentation annotations in the dataset.")] |
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public string annotationId = "1ccebeb4-5886-41ff-8fe0-f911fa8cbcdf"; |
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/// <summary>
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/// The <see cref="idLabelConfig"/> which associates objects with labels.
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/// </summary>
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public IdLabelConfig idLabelConfig; |
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AnnotationDefinition m_AnnotationDefinition; |
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static ProfilerMarker s_OnObjectInfoReceivedCallback = new ProfilerMarker("OnInstanceSegmentationObjectInformationReceived"); |
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static ProfilerMarker s_OnImageReceivedCallback = new ProfilerMarker("OnInstanceSegmentationImagesReceived"); |
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Dictionary<int, AsyncAnnotation> m_AsyncAnnotations; |
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Texture m_CurrentTexture; |
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/// <inheritdoc cref="IOverlayPanelProvider"/>
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// ReSharper disable once ConvertToAutoPropertyWithPrivateSetter
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public Texture overlayImage => m_CurrentTexture; |
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/// <inheritdoc cref="IOverlayPanelProvider"/>
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public string label => "InstanceSegmentation"; |
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[SuppressMessage("ReSharper", "InconsistentNaming")] |
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[SuppressMessage("ReSharper", "NotAccessedField.Local")] |
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struct InstanceColorValue |
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{ |
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public uint instance_id; |
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public Color32 color; |
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} |
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string m_InstancePath; |
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List<InstanceColorValue> m_InstanceColorValues; |
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struct AsyncWrite |
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{ |
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public NativeArray<Color32> data; |
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public int width; |
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public int height; |
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public string path; |
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} |
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|
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/// <summary>
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/// Creates a new InstanceSegmentationLabeler. Be sure to assign <see cref="idLabelConfig"/> before adding to a <see cref="PerceptionCamera"/>.
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/// </summary>
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public InstanceSegmentationLabeler() { } |
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/// <summary>
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/// Creates a new InstanceSegmentationLabeler with the given <see cref="IdLabelConfig"/>.
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/// </summary>
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/// <param name="labelConfig">The label config for resolving the label for each object.</param>
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public InstanceSegmentationLabeler(IdLabelConfig labelConfig) |
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{ |
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this.idLabelConfig = labelConfig; |
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} |
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void OnRenderedObjectInfosCalculated(int frame, NativeArray<RenderedObjectInfo> renderedObjectInfos) |
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{ |
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if (!m_AsyncAnnotations.TryGetValue(frame, out var annotation)) |
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return; |
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m_AsyncAnnotations.Remove(frame); |
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using (s_OnObjectInfoReceivedCallback.Auto()) |
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{ |
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m_InstanceColorValues.Clear(); |
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foreach (var objectInfo in renderedObjectInfos) |
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{ |
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if (!idLabelConfig.TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry)) |
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continue; |
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m_InstanceColorValues.Add(new InstanceColorValue |
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{ |
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instance_id = objectInfo.instanceId, |
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color = objectInfo.instanceColor |
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}); |
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} |
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annotation.ReportFileAndValues(m_InstancePath, m_InstanceColorValues); |
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} |
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} |
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void OnImageCaptured(int frame, NativeArray<Color32> data, RenderTexture renderTexture) |
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{ |
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using (s_OnImageReceivedCallback.Auto()) |
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{ |
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m_CurrentTexture = renderTexture; |
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|
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m_InstancePath = $"{k_Directory}/{k_FilePrefix}{frame}.png"; |
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var localPath = $"{Manager.Instance.GetDirectoryFor(k_Directory)}/{k_FilePrefix}{frame}.png"; |
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var colors = new NativeArray<Color32>(data, Allocator.TempJob); |
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var asyncRequest = Manager.Instance.CreateRequest<AsyncRequest<AsyncWrite>>(); |
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asyncRequest.data = new AsyncWrite |
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{ |
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data = colors, |
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width = renderTexture.width, |
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height = renderTexture.height, |
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path = localPath |
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}; |
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asyncRequest.Enqueue(r => |
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{ |
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Profiler.BeginSample("InstanceSegmentationEncode"); |
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var pngBytes = ImageConversion.EncodeArrayToPNG(r.data.data.ToArray(), GraphicsFormat.R8G8B8A8_UNorm, (uint)r.data.width, (uint)r.data.height); |
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Profiler.EndSample(); |
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Profiler.BeginSample("InstanceSegmentationWritePng"); |
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File.WriteAllBytes(r.data.path, pngBytes); |
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Manager.Instance.ConsumerFileProduced(r.data.path); |
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Profiler.EndSample(); |
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r.data.data.Dispose(); |
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return AsyncRequest.Result.Completed; |
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}); |
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asyncRequest.Execute(); |
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} |
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} |
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|
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/// <inheritdoc/>
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protected override void OnBeginRendering() |
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{ |
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m_AsyncAnnotations[Time.frameCount] = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_AnnotationDefinition); |
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} |
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|
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/// <inheritdoc/>
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protected override void Setup() |
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{ |
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if (idLabelConfig == null) |
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throw new InvalidOperationException("InstanceSegmentationLabeler's idLabelConfig field must be assigned"); |
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|
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m_InstanceColorValues = new List<InstanceColorValue>(); |
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|
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perceptionCamera.InstanceSegmentationImageReadback += OnImageCaptured; |
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perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated; |
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m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>(); |
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|
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m_AnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition( |
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"instance segmentation", |
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idLabelConfig.GetAnnotationSpecification(), |
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"pixel-wise instance segmentation label", |
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"PNG", |
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Guid.Parse(annotationId)); |
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|
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visualizationEnabled = supportsVisualization; |
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} |
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} |
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} |
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|
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fileFormatVersion: 2 |
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guid: be2441bb87b3840b7b3ec637e06e903f |
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MonoImporter: |
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externalObjects: {} |
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serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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|
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using System; |
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using System.Collections.Generic; |
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using System.Linq; |
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using System.Text; |
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using UnityEngine.UI; |
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|
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namespace UnityEngine.Perception.GroundTruth |
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{ |
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/// <summary>
|
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/// Interface that should be defined by a class that wants to be able to provide a image to the overlay
|
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/// panel.
|
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/// </summary>
|
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public interface IOverlayPanelProvider |
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{ |
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/// <summary>
|
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/// The image to the overlay panel.
|
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/// </summary>
|
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Texture overlayImage { get; } |
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|
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/// <summary>
|
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/// The label of the overlay panel.
|
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/// </summary>
|
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string label { get; } |
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} |
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|
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/// <summary>
|
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/// Some labeler's result in a full screen image per frame. The overlay panel controls which of these labeler's image
|
|||
/// is currently shown.
|
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/// </summary>
|
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public class OverlayPanel : MonoBehaviour |
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{ |
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internal PerceptionCamera perceptionCamera { get; set; } |
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|
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bool m_Enabled; |
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|
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GUIStyle m_LabelStyle; |
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GUIStyle m_SliderStyle; |
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GUIStyle m_SelectorToggleStyle; |
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GUIStyle m_WindowStyle; |
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|
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float m_SegmentTransparency = 0.8f; |
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float m_BackgroundTransparency; |
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|
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GameObject m_SegCanvas; |
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GameObject m_SegVisual; |
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RawImage m_OverlayImage; |
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|
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int m_CachedHeight; |
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int m_CachedWidth; |
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|
|||
bool m_ShowPopup = false; |
|||
Texture2D m_NormalDropDownTexture; |
|||
Texture2D m_HoverDropDownTexture; |
|||
|
|||
void SetEnabled(bool isEnabled) |
|||
{ |
|||
if (isEnabled == m_Enabled) return; |
|||
|
|||
m_Enabled = isEnabled; |
|||
|
|||
m_SegCanvas.SetActive(isEnabled); |
|||
|
|||
foreach (var p in perceptionCamera.labelers) |
|||
{ |
|||
if (p is IOverlayPanelProvider) |
|||
{ |
|||
p.visualizationEnabled = isEnabled; |
|||
} |
|||
} |
|||
|
|||
// Clear out the handle to the cached overlay texture if we are not isEnabled
|
|||
if (!isEnabled) |
|||
m_OverlayImage.texture = null; |
|||
} |
|||
|
|||
void SetupVisualizationElements() |
|||
{ |
|||
m_Enabled = true; |
|||
|
|||
m_SegmentTransparency = 0.8f; |
|||
m_BackgroundTransparency = 0.0f; |
|||
|
|||
m_SegVisual = GameObject.Instantiate(Resources.Load<GameObject>("SegmentTexture")); |
|||
|
|||
m_OverlayImage = m_SegVisual.GetComponent<RawImage>(); |
|||
m_OverlayImage.material.SetFloat("_SegmentTransparency", m_SegmentTransparency); |
|||
m_OverlayImage.material.SetFloat("_BackTransparency", m_BackgroundTransparency); |
|||
|
|||
if (m_SegVisual.transform is RectTransform rt) |
|||
{ |
|||
rt.SetSizeWithCurrentAnchors(RectTransform.Axis.Horizontal, Screen.width); |
|||
rt.SetSizeWithCurrentAnchors(RectTransform.Axis.Vertical, Screen.height); |
|||
} |
|||
|
|||
if (m_SegCanvas == null) |
|||
{ |
|||
m_SegCanvas = new GameObject("overlay_canvas"); |
|||
m_SegCanvas.AddComponent<RectTransform>(); |
|||
var canvas = m_SegCanvas.AddComponent<Canvas>(); |
|||
canvas.renderMode = RenderMode.ScreenSpaceOverlay; |
|||
m_SegCanvas.AddComponent<CanvasScaler>(); |
|||
|
|||
m_SegVisual.transform.SetParent(m_SegCanvas.transform, false); |
|||
} |
|||
|
|||
m_LabelStyle = new GUIStyle(GUI.skin.label) {padding = {left = 10}}; |
|||
m_SliderStyle = new GUIStyle(GUI.skin.horizontalSlider) {margin = {left = 12}}; |
|||
m_SelectorToggleStyle = new GUIStyle(GUI.skin.button); |
|||
|
|||
if (m_NormalDropDownTexture == null) |
|||
{ |
|||
m_NormalDropDownTexture = Resources.Load<Texture2D>("drop_down2"); |
|||
m_HoverDropDownTexture = Resources.Load<Texture2D>("drop_down"); |
|||
} |
|||
|
|||
m_SelectorToggleStyle.normal.background = m_NormalDropDownTexture; |
|||
m_SelectorToggleStyle.border = new RectOffset(7, 70, 6, 6); |
|||
m_SelectorToggleStyle.alignment = TextAnchor.MiddleLeft; |
|||
m_SelectorToggleStyle.clipping = TextClipping.Clip; |
|||
m_SelectorToggleStyle.active.background = m_NormalDropDownTexture; |
|||
m_SelectorToggleStyle.hover.background = m_HoverDropDownTexture; |
|||
m_SelectorToggleStyle.focused.background = m_HoverDropDownTexture; |
|||
|
|||
m_WindowStyle = new GUIStyle(GUI.skin.window); |
|||
var backTexture = Resources.Load<Texture2D>("instance_back"); |
|||
m_WindowStyle.normal.background = backTexture; |
|||
} |
|||
|
|||
IOverlayPanelProvider m_ActiveProvider = null; |
|||
|
|||
// Make the contents of the window
|
|||
void OnSelectorPopup(int windowID) |
|||
{ |
|||
foreach (var labeler in perceptionCamera.labelers.Where(l => l is IOverlayPanelProvider && l.enabled)) |
|||
{ |
|||
var panel = labeler as IOverlayPanelProvider; |
|||
if (GUILayout.Button(panel.label)) |
|||
{ |
|||
m_ActiveProvider = panel; |
|||
m_ShowPopup = false; |
|||
} |
|||
} |
|||
} |
|||
|
|||
internal void OnDrawGUI(float x, float y, float width, float height) |
|||
{ |
|||
var any = perceptionCamera.labelers.Any(l => l is IOverlayPanelProvider && l.enabled); |
|||
|
|||
// If there used to be active providers, but they have been turned off, remove
|
|||
// the active provider and return null. If one has come online, then set it to the active
|
|||
// provider
|
|||
if (!any) |
|||
{ |
|||
m_ActiveProvider = null; |
|||
} |
|||
else |
|||
{ |
|||
var findNewProvider = m_ActiveProvider == null; |
|||
|
|||
if (!findNewProvider) |
|||
{ |
|||
if (m_ActiveProvider is CameraLabeler l) |
|||
{ |
|||
findNewProvider = !l.enabled; |
|||
} |
|||
} |
|||
|
|||
if (findNewProvider) |
|||
m_ActiveProvider= perceptionCamera.labelers.First(l => l is IOverlayPanelProvider && l.enabled) as IOverlayPanelProvider; |
|||
|
|||
} |
|||
|
|||
if (m_ActiveProvider == null) |
|||
{ |
|||
if (m_SegCanvas != null) |
|||
m_SegCanvas.SetActive(false); |
|||
return; |
|||
} |
|||
|
|||
if (m_OverlayImage == null) |
|||
{ |
|||
SetupVisualizationElements(); |
|||
} |
|||
|
|||
// If all overlays were offline, but now one has come on line
|
|||
// we need to set the canvas back to active
|
|||
if (!m_SegCanvas.activeSelf) |
|||
m_SegCanvas.SetActive(true); |
|||
|
|||
GUILayout.Label("Overlay"); |
|||
GUILayout.BeginHorizontal(); |
|||
GUILayout.Space(10); |
|||
GUILayout.Label("Enabled"); |
|||
GUILayout.FlexibleSpace(); |
|||
var isEnabled = GUILayout.Toggle(m_Enabled, ""); |
|||
GUILayout.EndHorizontal(); |
|||
|
|||
SetEnabled(isEnabled); |
|||
if (!isEnabled) |
|||
{ |
|||
return; |
|||
} |
|||
|
|||
// Create the overlay button
|
|||
GUILayout.Space(5); |
|||
GUILayout.BeginHorizontal(); |
|||
GUILayout.Space(10); |
|||
|
|||
// Truncate the label if it overflows the button size
|
|||
var label = m_ActiveProvider?.label ?? "Not Selected"; |
|||
var trunc = new StringBuilder(label.Substring(0, Math.Min(label.Length, 10))); |
|||
if (trunc.Length != label.Length) |
|||
trunc.Append("..."); |
|||
GUILayout.Label("Overlay: "); |
|||
if (GUILayout.Button(trunc.ToString(), m_SelectorToggleStyle)) |
|||
{ |
|||
// If bottom is clicked we need to show the popup window
|
|||
m_ShowPopup = true; |
|||
} |
|||
GUILayout.EndHorizontal(); |
|||
|
|||
if (m_ShowPopup) |
|||
{ |
|||
var windowRect = new Rect(x, y, width, height); |
|||
GUILayout.Window(0, windowRect, OnSelectorPopup, "Choose Overlay", m_WindowStyle); |
|||
} |
|||
|
|||
// Create the transparency sliders
|
|||
GUILayout.Space(4); |
|||
GUILayout.Label("Object Alpha:", m_LabelStyle); |
|||
m_SegmentTransparency = GUILayout.HorizontalSlider(m_SegmentTransparency, 0.0f, 1.0f, m_SliderStyle, GUI.skin.horizontalSliderThumb); |
|||
GUILayout.Space(4); |
|||
GUILayout.Label("Background Alpha:", m_LabelStyle); |
|||
m_BackgroundTransparency = GUILayout.HorizontalSlider(m_BackgroundTransparency, 0.0f, 1.0f, m_SliderStyle, GUI.skin.horizontalSliderThumb); |
|||
GUI.skin.label.padding.left = 0; |
|||
|
|||
// Grab the overlay image from the active provider
|
|||
m_OverlayImage.texture = m_ActiveProvider?.overlayImage; |
|||
|
|||
var rt = m_SegVisual.transform as RectTransform; |
|||
if (rt != null && m_CachedHeight != Screen.height) |
|||
{ |
|||
m_CachedHeight = Screen.height; |
|||
rt.SetSizeWithCurrentAnchors(RectTransform.Axis.Vertical, m_CachedHeight); |
|||
} |
|||
|
|||
if (rt != null && m_CachedWidth != Screen.width) |
|||
{ |
|||
m_CachedWidth = Screen.width; |
|||
rt.SetSizeWithCurrentAnchors(RectTransform.Axis.Horizontal, Screen.width); |
|||
} |
|||
|
|||
if (!GUI.changed) return; |
|||
m_OverlayImage.material.SetFloat("_SegmentTransparency", m_SegmentTransparency); |
|||
m_OverlayImage.material.SetFloat("_BackTransparency", m_BackgroundTransparency); |
|||
} |
|||
} |
|||
} |
|||
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|
|||
using System; |
|||
using NUnit.Framework; |
|||
using UnityEngine; |
|||
using UnityEngine.Perception.GroundTruth; |
|||
|
|||
namespace GroundTruthTests |
|||
{ |
|||
[TestFixture] |
|||
public class InstanceIdToColorMappingTests |
|||
{ |
|||
[Test] |
|||
public void InstanceIdToColorMappingTests_TestHslColors() |
|||
{ |
|||
for (var i = 1u; i <= 64u; i++) |
|||
{ |
|||
Assert.IsTrue(InstanceIdToColorMapping.TryGetColorFromInstanceId(i, out var color)); |
|||
Assert.IsTrue(InstanceIdToColorMapping.TryGetInstanceIdFromColor(color, out var id)); |
|||
Assert.AreEqual(i, id); |
|||
|
|||
color = InstanceIdToColorMapping.GetColorFromInstanceId(i); |
|||
id = InstanceIdToColorMapping.GetInstanceIdFromColor(color); |
|||
Assert.AreEqual(i, id); |
|||
} |
|||
} |
|||
|
|||
[Test] |
|||
[TestCase(0, 0, 0, 255, 255u)] |
|||
[TestCase(255, 0, 0, 255, 4278190335u)] |
|||
[TestCase(0, 255, 0, 255, 16711935u)] |
|||
[TestCase(0, 0, 255, 255, 65535u)] |
|||
[TestCase(255, 255, 255, 255, 4294967295u)] |
|||
[TestCase(0, 0, 1, 255, 511u)] |
|||
[TestCase(127, 64, 83, 27, 2134922011u)] |
|||
public void InstanceIdToColorMappingTests_ToAndFromPackedColor(byte r, byte g, byte b, byte a, uint expected) |
|||
{ |
|||
var color = new Color32(r, g, b, a); |
|||
var packed = InstanceIdToColorMapping.GetPackedColorFromColor(color); |
|||
Assert.AreEqual(packed, expected); |
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var c = InstanceIdToColorMapping.GetColorFromPackedColor(packed); |
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Assert.AreEqual(r, c.r); |
|||
Assert.AreEqual(g, c.g); |
|||
Assert.AreEqual(b, c.b); |
|||
Assert.AreEqual(a, c.a); |
|||
} |
|||
|
|||
[Test] |
|||
[TestCase(1u, 255,0,0,255)] |
|||
[TestCase(2u,0,74,255,255)] |
|||
[TestCase(3u,149,255,0,255)] |
|||
[TestCase(4u,255,0,223,255)] |
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[TestCase(5u,0,255,212,255)] |
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[TestCase(6u,255,138,0,255)] |
|||
[TestCase(64u,195,0,75,255)] |
|||
[TestCase(65u,0,0,1,254)] |
|||
[TestCase(66u,0,0,2,254)] |
|||
[TestCase(64u + 256u,0,1,0,254)] |
|||
[TestCase(65u + 256u,0,1,1,254)] |
|||
[TestCase(64u + 65536u,1,0,0,254)] |
|||
[TestCase(16777216u,255,255,192,254)] |
|||
[TestCase(64u + 16777216u,0,0,0,253)] |
|||
[TestCase(64u + (16777216u * 2),0,0,0,252)] |
|||
public void InstanceIdToColorMappingTests_TestColorForId(uint id, byte r, byte g, byte b, byte a) |
|||
{ |
|||
Assert.IsTrue(InstanceIdToColorMapping.TryGetColorFromInstanceId(id, out var color)); |
|||
Assert.AreEqual(color.r, r); |
|||
Assert.AreEqual(color.g, g); |
|||
Assert.AreEqual(color.b, b); |
|||
Assert.AreEqual(color.a, a); |
|||
|
|||
Assert.IsTrue(InstanceIdToColorMapping.TryGetInstanceIdFromColor(color, out var id2)); |
|||
Assert.AreEqual(id, id2); |
|||
|
|||
color = InstanceIdToColorMapping.GetColorFromInstanceId(id); |
|||
Assert.AreEqual(color.r, r); |
|||
Assert.AreEqual(color.g, g); |
|||
Assert.AreEqual(color.b, b); |
|||
Assert.AreEqual(color.a, a); |
|||
|
|||
id2 = InstanceIdToColorMapping.GetInstanceIdFromColor(color); |
|||
Assert.AreEqual(id, id2); |
|||
} |
|||
|
|||
[Test] |
|||
[TestCase(0u)] |
|||
[TestCase(255u)] |
|||
public void InstanceIdToColorMappingTests_GetBlackForId(uint id) |
|||
{ |
|||
Assert.IsFalse(InstanceIdToColorMapping.TryGetColorFromInstanceId(id, out var color)); |
|||
Assert.AreEqual(color.r, 0); |
|||
Assert.AreEqual(color.g, 0); |
|||
Assert.AreEqual(color.b, 0); |
|||
Assert.AreEqual(color.a, 255); |
|||
Assert.IsFalse(InstanceIdToColorMapping.TryGetInstanceIdFromColor(color, out var id2)); |
|||
Assert.AreEqual(0, id2); |
|||
|
|||
color = InstanceIdToColorMapping.GetColorFromInstanceId(id); |
|||
Assert.AreEqual(color.r, 0); |
|||
Assert.AreEqual(color.g, 0); |
|||
Assert.AreEqual(color.b, 0); |
|||
Assert.AreEqual(color.a, 255); |
|||
id2 = InstanceIdToColorMapping.GetInstanceIdFromColor(color); |
|||
Assert.AreEqual(0, id2); |
|||
} |
|||
|
|||
[Test] |
|||
public void InstanceIdToColorMappingTests_ThrowExceptionIdTooLarge() |
|||
{ |
|||
Assert.Throws<IndexOutOfRangeException>(() => InstanceIdToColorMapping.GetColorFromInstanceId(uint.MaxValue)); |
|||
var c = new Color32(255, 255, 255, 0); |
|||
Assert.Throws<IndexOutOfRangeException>(() => InstanceIdToColorMapping.GetInstanceIdFromColor(c)); |
|||
} |
|||
|
|||
[Test] |
|||
public void InstanceIdToColorMappingTests_TryGetReturnsFalseIdTooLarge() |
|||
{ |
|||
Assert.IsFalse(InstanceIdToColorMapping.TryGetColorFromInstanceId(uint.MaxValue, out var color)); |
|||
color = new Color32(255, 255, 255, 0); |
|||
Assert.IsFalse(InstanceIdToColorMapping.TryGetInstanceIdFromColor(color, out var id)); |
|||
} |
|||
|
|||
[Test] |
|||
public void InstanceIdToColorMappingTests_ThrowExceptionIdNotMapped() |
|||
{ |
|||
var c = new Color32(28,92,14,255); |
|||
Assert.Throws<InvalidOperationException>(() => InstanceIdToColorMapping.GetInstanceIdFromColor(c)); |
|||
} |
|||
|
|||
[Test] |
|||
public void InstanceIdToColorMappingTests_TryGetReturnsFalseIdNotMapped() |
|||
{ |
|||
var c = new Color32(28,92,14,255); |
|||
Assert.IsFalse(InstanceIdToColorMapping.TryGetInstanceIdFromColor(c, out var id)); |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 2977b6a5f1074f3f90e8a8c64ffb16a3 |
|||
timeCreated: 1604077566 |
|||
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