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using System;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using JetBrains.Annotations;
using Newtonsoft.Json;
using Unity.Collections;
namespace UnityEngine.Perception.GroundTruth {
/// <summary>
/// A definition for how a <see cref="Labeling"/> should be resolved to a single label and id for ground truth generation.
/// </summary>
[CreateAssetMenu(fileName = "IdLabelConfig", menuName = "Perception/ID Label Config", order = 1)]
public class IdLabelConfig : LabelConfig<IdLabelEntry>
{
/// <summary>
/// Whether the inspector will auto-assign ids based on the id of the first element.
/// </summary>
public bool autoAssignIds = true;
/// <summary>
/// Whether the inspector will start label ids at zero or one when <see cref="autoAssignIds"/> is enabled.
/// </summary>
public StartingLabelId startingLabelId = StartingLabelId.One;
LabelEntryMatchCache m_LabelEntryMatchCache;
/// <summary>
/// Attempts to find the label id for the given instance id.
/// </summary>
/// <param name="instanceId">The instanceId of the object for which the labelId should be found</param>
/// <param name="labelEntry">The LabelEntry associated with the object. default if not found</param>
/// <returns>True if a labelId is found for the given instanceId.</returns>
public bool TryGetLabelEntryFromInstanceId(uint instanceId, out IdLabelEntry labelEntry)
{
return TryGetLabelEntryFromInstanceId(instanceId, out labelEntry, out var _);
}
/// <summary>
/// Attempts to find the label id for the given instance id.
/// </summary>
/// <param name="instanceId">The instanceId of the object for which the labelId should be found</param>
/// <param name="labelEntry">The LabelEntry associated with the object. default if not found</param>
/// <param name="index">The index of the found LabelEntry in <see cref="LabelConfig{T}.labelEntries"/>. -1 if not found</param>
/// <returns>True if a labelId is found for the given instanceId.</returns>
public bool TryGetLabelEntryFromInstanceId(uint instanceId, out IdLabelEntry labelEntry, out int index)
{
EnsureInitLabelEntryMatchCache();
return m_LabelEntryMatchCache.TryGetLabelEntryFromInstanceId(instanceId, out labelEntry, out index);
}
private void EnsureInitLabelEntryMatchCache()
{
if (m_LabelEntryMatchCache == null)
m_LabelEntryMatchCache = new LabelEntryMatchCache(this, Allocator.Persistent);
}
/// <inheritdoc/>
protected override void OnInit()
{
if (m_LabelEntryMatchCache != null)
{
throw new InvalidOperationException("Init may not be called after TryGetLabelEntryFromInstanceId has been called for the first time.");
}
}
void OnDisable()
{
m_LabelEntryMatchCache?.Dispose();
m_LabelEntryMatchCache = null;
}
/// <summary>
/// A structure representing a label entry for writing out to datasets.
/// </summary>
[SuppressMessage("ReSharper", "InconsistentNaming")]
public struct LabelEntrySpec
{
/// <summary>
/// The label id prepared for reporting in the annotation
/// </summary>
[UsedImplicitly]
public int label_id;
/// <summary>
/// The label name prepared for reporting in the annotation
/// </summary>
[UsedImplicitly]
public string label_name;
}
/// <summary>
/// Returns the label entries as structures suited for writing out to JSON datasets.
/// </summary>
public LabelEntrySpec[] GetAnnotationSpecification()
{
return labelEntries.Select((l) => new LabelEntrySpec()
{
label_id = l.id,
label_name = l.label,
}).ToArray();
}
/// <summary>
/// Creates a LabelEntryMatchCache from the currently registered labeled objects, which can be used to look up
/// labeling information in future frames, even after the objects have been destroyed. Due to timing of labeled
/// object registration, if this is called during or before LateUpdate, this cache may become invalid.
///
/// It is recommended to only use this method in rendering, as the cache is guaranteed to be in its final state
/// for ground truth generation.
/// </summary>
/// <param name="allocator">The allocator for creating the cache.</param>
/// <returns>The created cache.</returns>
public LabelEntryMatchCache CreateLabelEntryMatchCache(Allocator allocator)
{
EnsureInitLabelEntryMatchCache();
return m_LabelEntryMatchCache.CloneCurrentState(allocator);
}
}
}