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68 行
2.4 KiB

using System;
using UnityEngine;
using UnityEngine.Perception.GroundTruth;
[RequireComponent(typeof(PerceptionCamera))]
public class CustomAnnotationAndMetricReporter : MonoBehaviour
{
public GameObject light;
public GameObject target;
MetricDefinition lightMetricDefinition;
AnnotationDefinition boundingBoxAnnotationDefinition;
SensorHandle cameraSensorHandle;
public void Start()
{
//Metrics and annotations are registered up-front
lightMetricDefinition = SimulationManager.RegisterMetricDefinition(
"Light position",
"The world-space position of the light",
Guid.Parse("1F6BFF46-F884-4CC5-A878-DB987278FE35"));
boundingBoxAnnotationDefinition = SimulationManager.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 = light.transform.position;
SimulationManager.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
// ]
// ]
// }