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The Perception Camera component

The Perception Camera component ensures the attached Camera runs at deterministic rates and captures RGB and other Camera-related ground truth to the JSON dataset using DatasetCapture. It supports HDRP and URP.

Properties

Property:	Function:
Description	A description of the camera to be registered in the JSON dataset.
Period	The amount of simulation time in seconds between frames for this camera. For more on sensor scheduling, see DatasetCapture.
Start Time	The simulation time at which to run the first frame. This time will offset the period, useful for allowing multiple cameras to run at the right times relative to each other.
Capture Rgb Images	When this is checked, RGB images will be captured as PNG files in the dataset each frame.
Camera Labelers	A list of labelers which generate data derived from this camera.

Camera Labelers

Camera Labelers capture data related to the camera into the JSON dataset. This data can be used for model training or for dataset statistics. A number of Camera Labelers are provided with Perception, and additional labelers can be defined by deriving from the CameraLabeler class.

Semantic Segmentation Labeler

Example semantic segmentation image from a modified SynthDet project

The Semantic Segmentation Labeler generates a 2D RGB image using the attached camera where objects are drawn with the color associated with their label in the provided SemanticSegmentationLabelConfig. If no label is resolved for an object, it is drawn black.

Bounding Box 2D Labeler

example bounding box visualization from SynthDet generated by the SynthDet_Statistics jupyter notebook

The Bounding Box 2D Labeler produces 2D bounding boxes for each visible object with a label resolved by the given ID Label Config. Bounding boxes are calculated using the rendered image, so only occluded or out-of-frame portions of the objects are not included.

Object Count Labeler

{
    "label_id": 25,
    "label_name": "drink_whippingcream_lucerne",
    "count": 1
}

Example object count for a single label

The Object Count Labeler records object counts for each label in the provided ID Label Config. Only objects with at least one visible pixel in the camera frame will be recorded.

Rendered Object Info Labeler

{
    "label_id": 24,
    "instance_id": 320,
    "visible_pixels": 28957
}

Example rendered object info for a single object

The Rendered Object Info Labeler records a list of all objects visible in the camera image, including its instance id, resolved label id and visible pixels. Objects not resolved to a label in the given ID Label Config are not recorded.

Limitations

Ground truth is not compatible with all rendering features, especially ones that modify the visibility or shape of objects in the frame.

When generating ground truth:

Vertex and geometry shaders are not run
Transparency is not considered. All geometry is considered opaque
Besides built-in Lens Distortion in URP and HDRP, post-processing effects are not run

If you encounter additional incompatibilities, please open an issue

3.6 KiB 原始文件 文件历史