using System; using System.Collections.Generic; using System.Diagnostics.CodeAnalysis; using Unity.Collections; using Unity.Profiling; using UnityEngine.Serialization; using Unity.Simulation; using UnityEngine.UI; namespace UnityEngine.Perception.GroundTruth { /// /// Produces 2d bounding box annotations for all visible objects each frame. /// [Serializable] public sealed class BoundingBox2DLabeler : CameraLabeler { [SuppressMessage("ReSharper", "InconsistentNaming")] [SuppressMessage("ReSharper", "NotAccessedField.Local")] struct BoundingBoxValue { public int label_id; 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 string annotationId = "f9f22e05-443f-4602-a422-ebe4ea9b55cb"; /// /// The which associates objects with labels. /// [FormerlySerializedAs("labelingConfiguration")] public IdLabelConfig idLabelConfig; Dictionary m_AsyncAnnotations; AnnotationDefinition m_BoundingBoxAnnotationDefinition; BoundingBoxValue[] m_BoundingBoxValues; private GameObject visualizationHolder = null; private Vector2 originalScreenSize = Vector2.zero; /// /// 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; /// protected override void Setup() { if (idLabelConfig == null) throw new InvalidOperationException("BoundingBox2DLabeler's idLabelConfig field must be assigned"); m_AsyncAnnotations = new Dictionary(); 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 originalScreenSize = new Vector2(Screen.width, Screen.height); } /// protected override void OnBeginRendering() { m_AsyncAnnotations[Time.frameCount] = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_BoundingBoxAnnotationDefinition); } void OnRenderedObjectInfosCalculated(int frameCount, NativeArray renderedObjectInfos) { if (!m_AsyncAnnotations.TryGetValue(frameCount, out var asyncAnnotation)) return; m_AsyncAnnotations.Remove(frameCount); using (s_BoundingBoxCallback.Auto()) { 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 (!idLabelConfig.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, }; } if (!CaptureOptions.useAsyncReadbackIfSupported && frameCount != Time.frameCount) Debug.LogWarning("Not on current frame: " + frameCount + "(" + Time.frameCount + ")"); if (visualizationEnabled) { Visualize(); } asyncAnnotation.ReportValues(m_BoundingBoxValues); } } /// protected override void PopulateVisualizationPanel(ControlPanel panel) { panel.AddToggleControl("BoundingBoxes", enabled => { visualizationEnabled = enabled; }); objectPool = new List(); visualizationHolder = new GameObject("BoundsHolder" + Time.frameCount); visualizationCanvas.AddComponent(visualizationHolder); } void ClearObjectPool(int count) { for (int i = count; i < objectPool.Count; i++) { objectPool[i].SetActive(false); } } List objectPool = null; void Visualize() { ClearObjectPool(m_BoundingBoxValues.Length); // The player screen can be dynamically resized during play, need to // scale the bounding boxes appropriately from the original screen size float screenRatioWidth = Screen.width / originalScreenSize.x; float screenRatioHeight = Screen.height / originalScreenSize.y; for (int i = 0; i < m_BoundingBoxValues.Length; i++) { var boxVal = m_BoundingBoxValues[i]; if (i >= objectPool.Count) { var boundingBoxObject = GameObject.Instantiate(Resources.Load("BoundingBoxPrefab")); objectPool.Add(boundingBoxObject); var rectTransform = (RectTransform)boundingBoxObject.transform; rectTransform.SetParent(visualizationHolder.transform, false); } if (!objectPool[i].activeSelf) objectPool[i].SetActive(true); string label = boxVal.label_name + "_" + boxVal.instance_id; objectPool[i].GetComponentInChildren().text = label; var rectTrans = objectPool[i].transform as RectTransform; rectTrans.anchoredPosition = new Vector2(boxVal.x * screenRatioWidth, -boxVal.y * screenRatioHeight); rectTrans.SetSizeWithCurrentAnchors(RectTransform.Axis.Horizontal, boxVal.width * screenRatioWidth); rectTrans.SetSizeWithCurrentAnchors(RectTransform.Axis.Vertical, boxVal.height * screenRatioHeight); } } /// override protected void OnVisualizerEnabledChanged(bool enabled) { if (visualizationHolder != null) visualizationHolder.SetActive(enabled); } } }