您最多选择25个主题
主题必须以中文或者字母或数字开头,可以包含连字符 (-),并且长度不得超过35个字符
188 行
6.1 KiB
188 行
6.1 KiB
using System;
|
|
using System.Collections;
|
|
using UnityEngine;
|
|
using UnityEngine.Perception.GroundTruth;
|
|
using UnityEngine.Perception.Randomization.Configuration;
|
|
using UnityEngine.Perception.Randomization.Parameters;
|
|
|
|
namespace UnityEngine.Perception.Randomization.Scenarios
|
|
{
|
|
/// <summary>
|
|
/// The base class of all scenario classes
|
|
/// </summary>
|
|
public abstract class ScenarioBase : MonoBehaviour
|
|
{
|
|
static ScenarioBase s_ActiveScenario;
|
|
bool m_FirstFrame = true;
|
|
bool m_FirstIteration = true;
|
|
|
|
/// <summary>
|
|
/// If true, this scenario will quit the Unity application when it's finished executing
|
|
/// </summary>
|
|
[HideInInspector] public bool quitOnComplete = true;
|
|
|
|
/// <summary>
|
|
/// When true, this scenario will deserializes constants from a Json file before it begins executing
|
|
/// </summary>
|
|
[HideInInspector] public bool deserializeOnStart;
|
|
|
|
/// <summary>
|
|
/// The name of the Json file this scenario's constants are serialized to/from.
|
|
/// </summary>
|
|
[HideInInspector] public string serializedConstantsFileName = "constants";
|
|
|
|
/// <summary>
|
|
/// Returns the active parameter scenario in the scene
|
|
/// </summary>
|
|
public static ScenarioBase ActiveScenario
|
|
{
|
|
get => s_ActiveScenario;
|
|
private set
|
|
{
|
|
if (s_ActiveScenario != null)
|
|
throw new ScenarioException("There cannot be more than one active ParameterConfiguration");
|
|
s_ActiveScenario = value;
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns the file location of the JSON serialized constants
|
|
/// </summary>
|
|
public string serializedConstantsFilePath =>
|
|
Application.dataPath + "/StreamingAssets/" + serializedConstantsFileName + ".json";
|
|
|
|
/// <summary>
|
|
/// The number of frames that have elapsed since the current scenario iteration was Setup
|
|
/// </summary>
|
|
public int currentIterationFrame { get; private set; }
|
|
|
|
/// <summary>
|
|
/// The number of frames that have elapsed since the scenario was initialized
|
|
/// </summary>
|
|
public int framesSinceInitialization { get; private set; }
|
|
|
|
/// <summary>
|
|
/// The current iteration index of the scenario
|
|
/// </summary>
|
|
public int currentIteration { get; protected set; }
|
|
|
|
/// <summary>
|
|
/// Returns whether the current scenario iteration has completed
|
|
/// </summary>
|
|
public abstract bool isIterationComplete { get; }
|
|
|
|
/// <summary>
|
|
/// Returns whether the entire scenario has completed
|
|
/// </summary>
|
|
public abstract bool isScenarioComplete { get; }
|
|
|
|
/// <summary>
|
|
/// Called before the scenario begins iterating
|
|
/// </summary>
|
|
public virtual void OnInitialize() { }
|
|
|
|
/// <summary>
|
|
/// Called at the beginning of every scenario iteration
|
|
/// </summary>
|
|
public virtual void OnIterationSetup() { }
|
|
|
|
/// <summary>
|
|
/// Called at the start of every frame
|
|
/// </summary>
|
|
public virtual void OnFrameStart() { }
|
|
|
|
/// <summary>
|
|
/// Called the frame after an iteration ends
|
|
/// </summary>
|
|
public virtual void OnIterationTeardown() { }
|
|
|
|
/// <summary>
|
|
/// Called when the scenario has finished iterating
|
|
/// </summary>
|
|
public virtual void OnComplete() { }
|
|
|
|
/// <summary>
|
|
/// Serializes the scenario's constants to a JSON file located at serializedConstantsFilePath
|
|
/// </summary>
|
|
public abstract void Serialize();
|
|
|
|
/// <summary>
|
|
/// Deserializes constants saved in a JSON file located at serializedConstantsFilePath
|
|
/// </summary>
|
|
public abstract void Deserialize();
|
|
|
|
void OnEnable()
|
|
{
|
|
ActiveScenario = this;
|
|
}
|
|
|
|
void OnDisable()
|
|
{
|
|
s_ActiveScenario = null;
|
|
}
|
|
|
|
void Start()
|
|
{
|
|
if (deserializeOnStart)
|
|
Deserialize();
|
|
foreach (var config in ParameterConfiguration.configurations)
|
|
config.ValidateParameters();
|
|
OnInitialize();
|
|
}
|
|
|
|
void Update()
|
|
{
|
|
// TODO: remove this check when the perception camera can capture the first frame of output
|
|
if (m_FirstFrame)
|
|
return;
|
|
|
|
if (currentIterationFrame == 0 && !m_FirstIteration)
|
|
OnIterationTeardown();
|
|
|
|
if (isScenarioComplete)
|
|
{
|
|
OnComplete();
|
|
DatasetCapture.ResetSimulation();
|
|
if (quitOnComplete)
|
|
#if UNITY_EDITOR
|
|
UnityEditor.EditorApplication.isPlaying = false;
|
|
#else
|
|
Application.Quit();
|
|
#endif
|
|
return;
|
|
}
|
|
|
|
if (currentIterationFrame == 0)
|
|
{
|
|
DatasetCapture.StartNewSequence();
|
|
foreach (var config in ParameterConfiguration.configurations)
|
|
config.ResetParameterStates(currentIteration);
|
|
foreach (var config in ParameterConfiguration.configurations)
|
|
config.ApplyParameters(currentIteration, ParameterApplicationFrequency.OnIterationSetup);
|
|
OnIterationSetup();
|
|
}
|
|
|
|
foreach (var config in ParameterConfiguration.configurations)
|
|
config.ApplyParameters(framesSinceInitialization, ParameterApplicationFrequency.EveryFrame);
|
|
OnFrameStart();
|
|
}
|
|
|
|
void LateUpdate()
|
|
{
|
|
// TODO: remove this check when the perception camera can capture the first frame of output
|
|
if (m_FirstFrame)
|
|
{
|
|
m_FirstFrame = false;
|
|
return;
|
|
}
|
|
currentIterationFrame++;
|
|
framesSinceInitialization++;
|
|
if (isIterationComplete)
|
|
{
|
|
m_FirstIteration = false;
|
|
currentIteration++;
|
|
currentIterationFrame = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|