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68 行
2.4 KiB
68 行
2.4 KiB
using System;
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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 CustomAnnotationAndMetricReporter : MonoBehaviour
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{
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public GameObject light;
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public GameObject target;
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MetricDefinition lightMetricDefinition;
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AnnotationDefinition boundingBoxAnnotationDefinition;
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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
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lightMetricDefinition = 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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boundingBoxAnnotationDefinition = SimulationManager.RegisterAnnotationDefinition(
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"Target bounding box",
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"The position 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 lightPos = light.transform.position;
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SimulationManager.ReportMetric(lightMetricDefinition,
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$@"[{{ ""x"": {lightPos.x}, ""y"": {lightPos.y}, ""z"": {lightPos.z} }}]");
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//compute the location of the object in the camera's local space
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Vector3 targetPos = transform.worldToLocalMatrix * target.transform.position;
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//Report using the PerceptionCamera's SensorHandle if scheduled this frame
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var sensorHandle = GetComponent<PerceptionCamera>().SensorHandle;
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if (sensorHandle.ShouldCaptureThisFrame)
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{
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sensorHandle.ReportAnnotationValues(
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boundingBoxAnnotationDefinition,
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new[] { targetPos });
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}
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}
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}
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// Example metric that is added each frame in the dataset:
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// {
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// "capture_id": null,
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// "annotation_id": null,
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// "sequence_id": "9768671e-acea-4c9e-a670-0f2dba5afe12",
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// "step": 1,
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// "metric_definition": "1f6bff46-f884-4cc5-a878-db987278fe35",
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// "values": [{ "x": 96.1856, "y": 192.676, "z": -193.8386 }]
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// },
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// Example annotation that is added to each capture in the dataset:
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// {
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// "id": "33f5a3aa-3e5e-48f1-8339-6cbd64ed4562",
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// "annotation_definition": "c0b4a22c-0420-4d9f-bafc-954b8f7b35a7",
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// "values": [
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// [
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// -1.03097284,
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// 0.07265166,
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// -6.318692
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// ]
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// ]
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// }
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