using System; using System.Collections.Generic; using System.Diagnostics.CodeAnalysis; using System.IO; using Unity.Collections; using Unity.Profiling; using Unity.Simulation; using UnityEditor; using UnityEngine; using UnityEngine.Experimental.Rendering; using UnityEngine.Profiling; namespace UnityEngine.Perception.GroundTruth { /// /// Produces instance segmentation for each frame. /// [Serializable] public sealed class InstanceSegmentationLabeler : CameraLabeler, IOverlayPanelProvider { /// public override string description { get => "Produces an instance segmentation image for each frame. The image will render the pixels of each labeled object in a distinct color."; protected set { } } /// protected override bool supportsVisualization => true; static readonly string k_Directory = "InstanceSegmentation" + Guid.NewGuid().ToString(); const string k_FilePrefix = "Instance_"; /// /// The GUID to associate with annotations produced by this labeler. /// [Tooltip("The id to associate with instance segmentation annotations in the dataset.")] public string annotationId = "1ccebeb4-5886-41ff-8fe0-f911fa8cbcdf"; /// /// The which associates objects with labels. /// public IdLabelConfig idLabelConfig; AnnotationDefinition m_AnnotationDefinition; static ProfilerMarker s_OnObjectInfoReceivedCallback = new ProfilerMarker("OnInstanceSegmentationObjectInformationReceived"); static ProfilerMarker s_OnImageReceivedCallback = new ProfilerMarker("OnInstanceSegmentationImagesReceived"); Dictionary m_AsyncAnnotations; Texture m_CurrentTexture; /// // ReSharper disable once ConvertToAutoPropertyWithPrivateSetter public Texture overlayImage => m_CurrentTexture; /// public string label => "InstanceSegmentation"; [SuppressMessage("ReSharper", "InconsistentNaming")] [SuppressMessage("ReSharper", "NotAccessedField.Local")] struct InstanceColorValue { public uint instance_id; public Color32 color; } string m_InstancePath; List m_InstanceColorValues; struct AsyncWrite { public NativeArray data; public int width; public int height; public string path; } /// /// Creates a new InstanceSegmentationLabeler. Be sure to assign before adding to a . /// public InstanceSegmentationLabeler() { } /// /// Creates a new InstanceSegmentationLabeler with the given . /// /// The label config for resolving the label for each object. public InstanceSegmentationLabeler(IdLabelConfig labelConfig) { this.idLabelConfig = labelConfig; } void OnRenderedObjectInfosCalculated(int frame, NativeArray renderedObjectInfos) { if (!m_AsyncAnnotations.TryGetValue(frame, out var annotation)) return; m_AsyncAnnotations.Remove(frame); using (s_OnObjectInfoReceivedCallback.Auto()) { m_InstanceColorValues.Clear(); foreach (var objectInfo in renderedObjectInfos) { if (!idLabelConfig.TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry)) continue; m_InstanceColorValues.Add(new InstanceColorValue { instance_id = objectInfo.instanceId, color = objectInfo.instanceColor }); } annotation.ReportFileAndValues(m_InstancePath, m_InstanceColorValues); } } void OnImageCaptured(int frame, NativeArray data, RenderTexture renderTexture) { using (s_OnImageReceivedCallback.Auto()) { m_CurrentTexture = renderTexture; m_InstancePath = $"{k_Directory}/{k_FilePrefix}{frame}.png"; var localPath = $"{Manager.Instance.GetDirectoryFor(k_Directory)}/{k_FilePrefix}{frame}.png"; var colors = new NativeArray(data, Allocator.TempJob); var asyncRequest = Manager.Instance.CreateRequest>(); asyncRequest.data = new AsyncWrite { data = colors, width = renderTexture.width, height = renderTexture.height, path = localPath }; asyncRequest.Enqueue(r => { Profiler.BeginSample("InstanceSegmentationEncode"); var pngBytes = ImageConversion.EncodeArrayToPNG(r.data.data.ToArray(), GraphicsFormat.R8G8B8A8_UNorm, (uint)r.data.width, (uint)r.data.height); Profiler.EndSample(); Profiler.BeginSample("InstanceSegmentationWritePng"); File.WriteAllBytes(r.data.path, pngBytes); Manager.Instance.ConsumerFileProduced(r.data.path); Profiler.EndSample(); r.data.data.Dispose(); return AsyncRequest.Result.Completed; }); asyncRequest.Execute(); } } /// protected override void OnBeginRendering() { m_AsyncAnnotations[Time.frameCount] = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_AnnotationDefinition); } /// protected override void Setup() { if (idLabelConfig == null) throw new InvalidOperationException("InstanceSegmentationLabeler's idLabelConfig field must be assigned"); m_InstanceColorValues = new List(); perceptionCamera.InstanceSegmentationImageReadback += OnImageCaptured; perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated; m_AsyncAnnotations = new Dictionary(); m_AnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition( "instance segmentation", idLabelConfig.GetAnnotationSpecification(), "pixel-wise instance segmentation label", "PNG", Guid.Parse(annotationId)); visualizationEnabled = supportsVisualization; } } }