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61 行
2.3 KiB
61 行
2.3 KiB
using System;
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using Unity.Mathematics;
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using UnityEngine;
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using UnityEngine.Perception.GroundTruth;
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[RequireComponent(typeof(PerceptionCamera))]
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public class CustomAnnotationAndMetricExample : MonoBehaviour
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{
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public GameObject light;
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public GameObject target;
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MetricDefinition lightPositionMetricDefinition;
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AnnotationDefinition targetBoundingBoxAnnotationDefinition;
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SensorHandle cameraSensorHandle;
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public void Start()
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{
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//Metrics and annotations are registered up-front and are referenced later when values are reported
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lightPositionMetricDefinition = SimulationManager.RegisterMetricDefinition(
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"Light position",
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"The world-space position of the light",
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Guid.Parse("1F6BFF46-F884-4CC5-A878-DB987278FE35"));
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targetBoundingBoxAnnotationDefinition = SimulationManager.RegisterAnnotationDefinition(
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"Target bounding box",
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"The axis-aligned bounding box of the target in the camera's local space",
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id: Guid.Parse("C0B4A22C-0420-4D9F-BAFC-954B8F7B35A7"));
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}
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public void Update()
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{
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//Report the light's position by manually creating the json array string.
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var lightPosition = light.transform.position;
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SimulationManager.ReportMetric(lightPositionMetricDefinition,
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$@"[{{ ""x"": {lightPosition.x}, ""y"": {lightPosition.y}, ""z"": {lightPosition.z} }}]");
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//compute the location of the object in the camera's local space
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var targetCameraLocalPosition = transform.worldToLocalMatrix * target.transform.position;
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//Report the annotation on the camera SensorHandle exposed by the PerceptionCamera
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GetComponent<PerceptionCamera>().SensorHandle.ReportAnnotationValues(targetBoundingBoxAnnotationDefinition,new[] { targetCameraLocalPosition });
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}
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}
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//
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// {
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// "id": "71265896-2a46-405a-a3d9-e587cdfac631",
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// "annotation_definition": "c0b4a22c-0420-4d9f-bafc-954b8f7b35a7",
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// "values": [
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// {
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// "Center": {
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// "x": -85.386672973632813,
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// "y": 84.000732421875,
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// "z": 112.38008880615234
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// },
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// "Extents": {
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// "x": 0.64206844568252563,
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// "y": 0.71592754125595093,
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// "z": 0.66213905811309814
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// }
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// }
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// ]
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// },
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