您最多选择25个主题
主题必须以中文或者字母或数字开头，可以包含连字符 (-)，并且长度不得超过35个字符
68 行
2.4 KiB
68 行
2.4 KiB
using System;
|
|
using UnityEngine;
|
|
using UnityEngine.Perception.GroundTruth;
|
|
|
|
[RequireComponent(typeof(PerceptionCamera))]
|
|
public class CustomAnnotationAndMetricReporter : MonoBehaviour
|
|
{
|
|
public GameObject targetLight;
|
|
public GameObject target;
|
|
|
|
MetricDefinition lightMetricDefinition;
|
|
AnnotationDefinition boundingBoxAnnotationDefinition;
|
|
SensorHandle cameraSensorHandle;
|
|
|
|
public void Start()
|
|
{
|
|
//Metrics and annotations are registered up-front
|
|
lightMetricDefinition = DatasetCapture.RegisterMetricDefinition(
|
|
"Light position",
|
|
"The world-space position of the light",
|
|
Guid.Parse("1F6BFF46-F884-4CC5-A878-DB987278FE35"));
|
|
boundingBoxAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition(
|
|
"Target bounding box",
|
|
"The position of the target in the camera's local space",
|
|
id: Guid.Parse("C0B4A22C-0420-4D9F-BAFC-954B8F7B35A7"));
|
|
}
|
|
|
|
public void Update()
|
|
{
|
|
//Report the light's position by manually creating the json array string.
|
|
var lightPos = targetLight.transform.position;
|
|
DatasetCapture.ReportMetric(lightMetricDefinition,
|
|
$@"[{{ ""x"": {lightPos.x}, ""y"": {lightPos.y}, ""z"": {lightPos.z} }}]");
|
|
//compute the location of the object in the camera's local space
|
|
Vector3 targetPos = transform.worldToLocalMatrix * target.transform.position;
|
|
//Report using the PerceptionCamera's SensorHandle if scheduled this frame
|
|
var sensorHandle = GetComponent<PerceptionCamera>().SensorHandle;
|
|
if (sensorHandle.ShouldCaptureThisFrame)
|
|
{
|
|
sensorHandle.ReportAnnotationValues(
|
|
boundingBoxAnnotationDefinition,
|
|
new[] { targetPos });
|
|
}
|
|
}
|
|
}
|
|
|
|
// Example metric that is added each frame in the dataset:
|
|
// {
|
|
// "capture_id": null,
|
|
// "annotation_id": null,
|
|
// "sequence_id": "9768671e-acea-4c9e-a670-0f2dba5afe12",
|
|
// "step": 1,
|
|
// "metric_definition": "1f6bff46-f884-4cc5-a878-db987278fe35",
|
|
// "values": [{ "x": 96.1856, "y": 192.676, "z": -193.8386 }]
|
|
// },
|
|
|
|
// Example annotation that is added to each capture in the dataset:
|
|
// {
|
|
// "id": "33f5a3aa-3e5e-48f1-8339-6cbd64ed4562",
|
|
// "annotation_definition": "c0b4a22c-0420-4d9f-bafc-954b8f7b35a7",
|
|
// "values": [
|
|
// [
|
|
// -1.03097284,
|
|
// 0.07265166,
|
|
// -6.318692
|
|
// ]
|
|
// ]
|
|
// }
|