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using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using Unity.Collections;
using Unity.Profiling;
using UnityEngine.Serialization;
using Unity.Simulation;
using UnityEngine.UI;
namespace UnityEngine.Perception.GroundTruth
{
/// <summary>
/// Produces 2d bounding box annotations for all visible objects each frame.
/// </summary>
[Serializable]
public sealed class BoundingBox2DLabeler : CameraLabeler
{
///<inheritdoc/>
public override string description
{
get => "Produces 2D bounding box annotations for all visible objects that bear a label defined in this labeler's associated label configuration.";
protected set {}
}
[SuppressMessage("ReSharper", "InconsistentNaming")]
[SuppressMessage("ReSharper", "NotAccessedField.Local")]
struct BoundingBoxValue
{
public int label_id;
public string label_name;
public uint instance_id;
public float x;
public float y;
public float width;
public float height;
}
static ProfilerMarker s_BoundingBoxCallback = new ProfilerMarker("OnBoundingBoxesReceived");
/// <summary>
/// The GUID id to associate with the annotations produced by this labeler.
/// </summary>
public string annotationId = "f9f22e05-443f-4602-a422-ebe4ea9b55cb";
/// <summary>
/// The <see cref="IdLabelConfig"/> which associates objects with labels.
/// </summary>
[FormerlySerializedAs("labelingConfiguration")]
public IdLabelConfig idLabelConfig;
Dictionary<int, AsyncAnnotation> m_AsyncAnnotations;
AnnotationDefinition m_BoundingBoxAnnotationDefinition;
List<BoundingBoxValue> m_BoundingBoxValues;
Vector2 m_OriginalScreenSize = Vector2.zero;
Texture m_BoundingBoxTexture;
Texture m_LabelTexture;
GUIStyle m_Style;
/// <summary>
/// Creates a new BoundingBox2DLabeler. Be sure to assign <see cref="idLabelConfig"/> before adding to a <see cref="PerceptionCamera"/>.
/// </summary>
public BoundingBox2DLabeler()
{
}
/// <summary>
/// Creates a new BoundingBox2DLabeler with the given <see cref="IdLabelConfig"/>.
/// </summary>
/// <param name="labelConfig">The label config for resolving the label for each object.</param>
public BoundingBox2DLabeler(IdLabelConfig labelConfig)
{
this.idLabelConfig = labelConfig;
}
/// <inheritdoc/>
protected override bool supportsVisualization => true;
/// <inheritdoc/>
protected override void Setup()
{
if (idLabelConfig == null)
throw new InvalidOperationException("BoundingBox2DLabeler's idLabelConfig field must be assigned");
m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>();
m_BoundingBoxValues = new List<BoundingBoxValue>();
m_BoundingBoxAnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition("bounding box", idLabelConfig.GetAnnotationSpecification(),
"Bounding box for each labeled object visible to the sensor", id: new Guid(annotationId));
perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
visualizationEnabled = supportsVisualization;
// Record the original screen size. The screen size can change during play, and the visual bounding
// boxes need to be scaled appropriately
m_OriginalScreenSize = new Vector2(Screen.width, Screen.height);
m_BoundingBoxTexture = Resources.Load<Texture>("outline_box");
m_LabelTexture = Resources.Load<Texture>("solid_white");
m_Style = new GUIStyle();
m_Style.normal.textColor = Color.black;
m_Style.fontSize = 16;
m_Style.padding = new RectOffset(4, 4, 4, 4);
m_Style.contentOffset = new Vector2(4, 0);
m_Style.alignment = TextAnchor.MiddleLeft;
}
/// <inheritdoc/>
protected override void OnBeginRendering()
{
m_AsyncAnnotations[Time.frameCount] = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_BoundingBoxAnnotationDefinition);
}
void OnRenderedObjectInfosCalculated(int frameCount, NativeArray<RenderedObjectInfo> renderedObjectInfos)
{
if (!m_AsyncAnnotations.TryGetValue(frameCount, out var asyncAnnotation))
return;
m_AsyncAnnotations.Remove(frameCount);
using (s_BoundingBoxCallback.Auto())
{
m_BoundingBoxValues.Clear();
for (var i = 0; i < renderedObjectInfos.Length; i++)
{
var objectInfo = renderedObjectInfos[i];
if (!idLabelConfig.TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry))
continue;
m_BoundingBoxValues.Add(new BoundingBoxValue
{
label_id = labelEntry.id,
label_name = labelEntry.label,
instance_id = objectInfo.instanceId,
x = objectInfo.boundingBox.x,
y = objectInfo.boundingBox.y,
width = objectInfo.boundingBox.width,
height = objectInfo.boundingBox.height,
});
}
if (!CaptureOptions.useAsyncReadbackIfSupported && frameCount != Time.frameCount)
Debug.LogWarning("Not on current frame: " + frameCount + "(" + Time.frameCount + ")");
asyncAnnotation.ReportValues(m_BoundingBoxValues);
}
}
/// <inheritdoc/>
protected override void OnVisualize()
{
if (m_BoundingBoxValues == null) return;
GUI.depth = 5;
// The player screen can be dynamically resized during play, need to
// scale the bounding boxes appropriately from the original screen size
float screenRatioWidth = Screen.width / m_OriginalScreenSize.x;
float screenRatioHeight = Screen.height / m_OriginalScreenSize.y;
foreach (var box in m_BoundingBoxValues)
{
float x = box.x * screenRatioWidth;
float y = box.y * screenRatioHeight;
var boxRect = new Rect(x, y, box.width * screenRatioWidth, box.height * screenRatioHeight);
var labelWidth = Math.Min(120, box.width * screenRatioWidth);
var labelRect = new Rect(x, y - 17, labelWidth, 17);
GUI.DrawTexture(boxRect, m_BoundingBoxTexture, ScaleMode.StretchToFill, true, 0, Color.yellow, 3, 0.25f);
GUI.DrawTexture(labelRect, m_LabelTexture, ScaleMode.StretchToFill, true, 0, Color.yellow, 0, 0);
GUI.Label(labelRect, box.label_name + "_" + box.instance_id, m_Style);
}
}
}
}