using System; using System.Collections.Generic; using System.Diagnostics.CodeAnalysis; using Unity.Collections; using Unity.Profiling; using UnityEngine.Serialization; using Unity.Simulation; using UnityEngine.Rendering; using UnityEngine.UI; namespace UnityEngine.Perception.GroundTruth { /// /// Produces 2d bounding box annotations for all visible objects each frame. /// [Serializable] public sealed class BoundingBox2DLabeler : CameraLabeler { /// public override string description { get => "Produces 2D bounding box annotations for all visible objects that bear a label defined in this labeler's associated label configuration."; protected set {} } [SuppressMessage("ReSharper", "InconsistentNaming")] [SuppressMessage("ReSharper", "NotAccessedField.Local")] public struct BoundingBoxValue { public int label_id; public int frame; public string label_name; public uint instance_id; public float x; public float y; public float width; public float height; } static ProfilerMarker s_BoundingBoxCallback = new ProfilerMarker("OnBoundingBoxesReceived"); /// /// The GUID id to associate with the annotations produced by this labeler. /// public static string annotationId = "f9f22e05-443f-4602-a422-ebe4ea9b55cb"; /// /// The which associates objects with labels. /// [FormerlySerializedAs("labelingConfiguration")] public IdLabelConfig idLabelConfig; Dictionary m_AsyncData; AnnotationDefinition m_BoundingBoxAnnotationDefinition; List m_BoundingBoxValues; Vector2 m_OriginalScreenSize = Vector2.zero; Texture m_BoundingBoxTexture; Texture m_LabelTexture; GUIStyle m_Style; /// /// Creates a new BoundingBox2DLabeler. Be sure to assign before adding to a . /// public BoundingBox2DLabeler() { } /// /// Creates a new BoundingBox2DLabeler with the given . /// /// The label config for resolving the label for each object. public BoundingBox2DLabeler(IdLabelConfig labelConfig) { this.idLabelConfig = labelConfig; } /// protected override bool supportsVisualization => true; /// /// Event information for /// internal struct BoundingBoxesCalculatedEventArgs { /// /// The on which the data was derived. This may be multiple frames in the past. /// public int frameCount; /// /// Bounding boxes. /// public IEnumerable data; } /// /// Event which is called each frame a semantic segmentation image is read back from the GPU. /// internal event Action boundingBoxesCalculated; /// protected override void Setup() { if (idLabelConfig == null) throw new InvalidOperationException("BoundingBox2DLabeler's idLabelConfig field must be assigned"); m_AsyncData = new Dictionary(); m_BoundingBoxValues = new List(); m_BoundingBoxAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition("bounding box", idLabelConfig.GetAnnotationSpecification(), "Bounding box for each labeled object visible to the sensor", id: new Guid(annotationId)); perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated; visualizationEnabled = supportsVisualization; // Record the original screen size. The screen size can change during play, and the visual bounding // boxes need to be scaled appropriately m_OriginalScreenSize = new Vector2(Screen.width, Screen.height); m_BoundingBoxTexture = Resources.Load("outline_box"); m_LabelTexture = Resources.Load("solid_white"); m_Style = new GUIStyle(); m_Style.normal.textColor = Color.black; m_Style.fontSize = 16; m_Style.padding = new RectOffset(4, 4, 4, 4); m_Style.contentOffset = new Vector2(4, 0); m_Style.alignment = TextAnchor.MiddleLeft; } /// protected override void OnBeginRendering(ScriptableRenderContext scriptableRenderContext) { m_AsyncData[Time.frameCount] = (perceptionCamera.SensorHandle.ReportAnnotationAsync(m_BoundingBoxAnnotationDefinition), idLabelConfig.CreateLabelEntryMatchCache(Allocator.TempJob)); } void OnRenderedObjectInfosCalculated(int frameCount, NativeArray renderedObjectInfos) { if (!m_AsyncData.TryGetValue(frameCount, out var asyncData)) return; m_AsyncData.Remove(frameCount); using (s_BoundingBoxCallback.Auto()) { m_BoundingBoxValues.Clear(); for (var i = 0; i < renderedObjectInfos.Length; i++) { var objectInfo = renderedObjectInfos[i]; if (!asyncData.labelEntryMatchCache.TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry, out _)) continue; m_BoundingBoxValues.Add(new BoundingBoxValue { label_id = labelEntry.id, frame = frameCount, label_name = labelEntry.label, instance_id = objectInfo.instanceId, x = objectInfo.boundingBox.x, y = objectInfo.boundingBox.y, width = objectInfo.boundingBox.width, height = objectInfo.boundingBox.height, }); } if (!CaptureOptions.useAsyncReadbackIfSupported && frameCount != Time.frameCount) Debug.LogWarning("Not on current frame: " + frameCount + "(" + Time.frameCount + ")"); boundingBoxesCalculated?.Invoke(new BoundingBoxesCalculatedEventArgs() { data = m_BoundingBoxValues, frameCount = frameCount }); asyncData.annotation.ReportValues(m_BoundingBoxValues); asyncData.labelEntryMatchCache.Dispose(); } } /// protected override void OnVisualize() { if (m_BoundingBoxValues == null) return; GUI.depth = 5; // The player screen can be dynamically resized during play, need to // scale the bounding boxes appropriately from the original screen size var screenRatioWidth = Screen.width / m_OriginalScreenSize.x; var screenRatioHeight = Screen.height / m_OriginalScreenSize.y; foreach (var box in m_BoundingBoxValues) { var x = box.x * screenRatioWidth; var y = box.y * screenRatioHeight; var boxRect = new Rect(x, y, box.width * screenRatioWidth, box.height * screenRatioHeight); var labelWidth = Math.Min(120, box.width * screenRatioWidth); var labelRect = new Rect(x, y - 17, labelWidth, 17); GUI.DrawTexture(boxRect, m_BoundingBoxTexture, ScaleMode.StretchToFill, true, 0, Color.yellow, 3, 0.25f); GUI.DrawTexture(labelRect, m_LabelTexture, ScaleMode.StretchToFill, true, 0, Color.yellow, 0, 0); GUI.Label(labelRect, box.label_name + "_" + box.instance_id, m_Style); } } } }