/// </summary>
public bool produceSegmentationImages = true ;
/// <summary>
/// Whether object counts should be computed
/// </summary>
public bool produceObjectCountAnnotations = true ;
/// <summary>
/// The ID to use for object count annotations in the resulting dataset
/// </summary>
[FormerlySerializedAs("m_ObjectCountID")]
public string objectCountId = "51DA3C27-369D-4929-AEA6-D01614635CE2" ;
/// <summary>
/// Whether object bounding boxes should be computed
/// </summary>
public bool produceBoundingBoxAnnotations = true ;
/// <summary>
/// The ID to use for bounding box annotations in the resulting dataset
/// </summary>
[FormerlySerializedAs("m_BoundingBoxID")]
public string boundingBoxId = "F9F22E05-443F-4602-A422-EBE4EA9B55CB" ;
/// <summary>
/// Whether rendered object info metrics should be generated. This metric currently contains label id, instance id, and visible pixels.
/// </summary>
[FormerlySerializedAs("produceVisiblePixelsMetric")]
public bool produceRenderedObjectInfoMetric = true ;
/// <summary>
/// The ID to use for visible pixels metrics in the resulting dataset
/// </summary>
[FormerlySerializedAs("visiblePixelsId")]
[FormerlySerializedAs("m_VisiblePixelsID")]
public string renderedObjectInfoId = "5BA92024-B3B7-41A7-9D3F-C03A6A8DDD01" ;
/// <summary>
/// The corner of the image to use as the origin for bounding boxs.
/// </summary>
public BoundingBoxOrigin boundingBoxOrigin = BoundingBoxOrigin . TopLeft ;
/// <summary>
/// Invoked when RenderedObjectInfos are calculated. The first parameter is the Time.frameCount at which the objects were rendered. This may be called many frames after the frame in which the objects were rendered.
/// Event invoked after the camera finishes rendering during a frame.
public event Action < int , NativeArray < RenderedObjectInfo > > renderedObjectInfosCalculated ;
internal event Action < int , NativeArray < uint > > segmentationImageReceived ;
internal event Action < NativeSlice < uint > , IReadOnlyList < LabelEntry > , int > classCountsReceived ;
public event Action BeginRendering ;
internal RenderTexture labelingTexture ;
internal RenderTexture semanticSegmentationTexture ;
RenderTextureReader < short > m_ClassLabelingTextureReader ;
RenderedObjectInfoGenerator m_RenderedObjectInfoGenerator ;
RenderTextureReader < short > m_SemanticSegmentationTextureReader ;
Dictionary < string , object > m_PersistentSensorData = new Dictionary < string , object > ( ) ;
#if URP_PRESENT
List < AsyncCaptureInfo > m_AsyncCaptureInfos = new List < AsyncCaptureInfo > ( ) ;
[SuppressMessage("ReSharper", "InconsistentNaming")]
[SuppressMessage("ReSharper", "NotAccessedField.Local")]
struct ClassCountValue
{
public int label_id ;
public string label_name ;
public uint count ;
}
ClassCountValue [ ] m_ClassCountValues ;
RenderedObjectInfoValue [ ] m_VisiblePixelsValues ;
AnnotationDefinition m_SegmentationAnnotationDefinition ;
AnnotationDefinition m_SemanticSegmentationAnnotationDefinition ;
static ProfilerMarker s_ClassCountCallback = new ProfilerMarker ( "OnClassLabelsReceived" ) ;
static ProfilerMarker s_RenderedObjectInfosCalculatedEvent = new ProfilerMarker ( "renderedObjectInfosCalculated event" ) ;
static ProfilerMarker s_ProduceRenderedObjectInfoMetric = new ProfilerMarker ( "ProduceRenderedObjectInfoMetric" ) ;
[SuppressMessage("ReSharper", "InconsistentNaming")]
struct SemanticSegmentationSpec
public int pixel_value ;
}
[SuppressMessage("ReSharper", "InconsistentNaming")]
struct ObjectCountSpec
{
[UsedImplicitly]
public int label_id ;
[UsedImplicitly]
public string label_name ;
}
/// <summary>
/// Add a data object which will be added to the dataset with each capture. Overrides existing sensor data associated with the given key.
/// </summary>
// Start is called before the first frame update
void Awake ( )
{
//CaptureOptions.useAsyncReadbackIfSupported = false;
m_EgoMarker = this . GetComponentInParent < Ego > ( ) ;
var ego = m_EgoMarker = = null ? SimulationManager . RegisterEgo ( "" ) : m_EgoMarker . EgoHandle ;
SensorHandle = SimulationManager . RegisterSensor ( ego , "camera" , description , period , startTime ) ;
var height = myCamera . pixelHeight ;
if ( ( produceSegmentationImages | | produceObjectCountAnnotations | | produceBoundingBoxAnnotations ) & & LabelingConfiguration = = null )
if ( produceSegmentationImages & & LabelingConfiguration = = null )
produceObjectCountAnnotations = false ;
produceBoundingBoxAnnotations = false ;
labelingTexture = new RenderTexture ( new RenderTextureDescriptor ( width , height , GraphicsFormat . R8G8B8A8_UNorm , 8 ) ) ;
labelingTexture . name = "Labeling" ;
semanticSegmentationTexture = new RenderTexture ( new RenderTextureDescriptor ( width , height , GraphicsFormat . R8G8B8A8_UNorm , 8 ) ) ;
semanticSegmentationTexture . name = "Labeling" ;
m_SemanticSegmentationPass = new SemanticSegmentationPass ( myCamera , labelingTexture , LabelingConfiguration )
m_SemanticSegmentationPass = new SemanticSegmentationPass ( myCamera , semanticSegmentationTexture , LabelingConfiguration )
{
name = "Labeling Pass"
} ;
#if URP_PRESENT
AddScriptableRenderPass ( new SemanticSegmentationUrpPass ( myCamera , labeling Texture, LabelingConfiguration ) ) ;
AddScriptableRenderPass ( new SemanticSegmentationUrpPass ( myCamera , semanticSegmentation Texture, LabelingConfiguration ) ) ;
#endif
if ( produceSegmentationImages )
pixel_value = l . value
} ) . ToArray ( ) ;
m_SegmentationAnnotationDefinition = SimulationManager . RegisterAnnotationDefinition ( "semantic segmentation" , specs , "pixel-wise semantic segmentation label" , "PNG" ) ;
m_SemanticSegmentationAnnotationDefinition = SimulationManager . RegisterAnnotationDefinition ( "semantic segmentation" , specs , "pixel-wise semantic segmentation label" , "PNG" ) ;
m_ClassLabelingTextureReader = new RenderTextureReader < short > ( labelingTexture , myCamera ,
m_SemanticSegmentationTextureReader = new RenderTextureReader < short > ( semanticSegmentationTexture , myCamera ,
if ( produceObjectCountAnnotations | | produceBoundingBoxAnnotations | | produceRenderedObjectInfoMetric )
{
var labelingMetricSpec = LabelingConfiguration . LabelEntries . Select ( ( l ) = > new ObjectCountSpec ( )
{
label_id = l . id ,
label_name = l . label ,
} ) . ToArray ( ) ;
if ( produceObjectCountAnnotations )
{
m_ObjectCountMetricDefinition = SimulationManager . RegisterMetricDefinition ( "object count" , labelingMetricSpec , "Counts of objects for each label in the sensor's view" , id : new Guid ( objectCountId ) ) ;
}
if ( produceRenderedObjectInfoMetric )
m_RenderedObjectInfoMetricDefinition = SimulationManager . RegisterMetricDefinition ( "rendered object info" , labelingMetricSpec , "Information about each labeled object visible to the sensor" , id : new Guid ( renderedObjectInfoId ) ) ;
m_RenderedObjectInfoGenerator = new RenderedObjectInfoGenerator ( LabelingConfiguration ) ;
World . DefaultGameObjectInjectionWorld . GetExistingSystem < GroundTruthLabelSetupSystem > ( ) . Activate ( m_RenderedObjectInfoGenerator ) ;
var instanceSegmentationLabeler = GetComponent < InstanceSegmentationLabeler > ( ) ;
if ( instanceSegmentationLabeler ! = null )
{
instanceSegmentationLabeler . InstanceSegmentationImageReadback + = ( frameCount , data , tex ) = >
{
segmentationImageReceived ? . Invoke ( frameCount , data ) ;
m_RenderedObjectInfoGenerator . Compute ( data , tex . width , boundingBoxOrigin , out var renderedObjectInfos , out var classCounts , Allocator . Temp ) ;
using ( s_RenderedObjectInfosCalculatedEvent . Auto ( ) )
renderedObjectInfosCalculated ? . Invoke ( frameCount , renderedObjectInfos ) ;
if ( produceObjectCountAnnotations )
OnObjectCountsReceived ( classCounts , LabelingConfiguration . LabelEntries , frameCount ) ;
if ( produceRenderedObjectInfoMetric )
ProduceRenderedObjectInfoMetric ( renderedObjectInfos , frameCount ) ;
} ;
}
else
{
produceBoundingBoxAnnotations = produceObjectCountAnnotations = produceRenderedObjectInfoMetric = false ;
Debug . Log ( "Missing InstanceSegmentationLabeler. Will not generate metrics." ) ;
}
}
// ReSharper disable InconsistentNaming
struct RenderedObjectInfoValue
{
[UsedImplicitly]
public int label_id ;
[UsedImplicitly]
public int instance_id ;
[UsedImplicitly]
public int visible_pixels ;
}
// ReSharper restore InconsistentNaming
void ProduceRenderedObjectInfoMetric ( NativeArray < RenderedObjectInfo > renderedObjectInfos , int frameCount )
{
using ( s_ProduceRenderedObjectInfoMetric . Auto ( ) )
{
var findResult = FindAsyncCaptureInfo ( frameCount ) ;
if ( findResult . index = = - 1 )
return ;
var asyncCaptureInfo = findResult . asyncCaptureInfo ;
var metric = asyncCaptureInfo . RenderedObjectInfoAsyncMetric ;
if ( ! metric . IsValid )
return ;
if ( m_VisiblePixelsValues = = null | | m_VisiblePixelsValues . Length ! = renderedObjectInfos . Length )
m_VisiblePixelsValues = new RenderedObjectInfoValue [ renderedObjectInfos . Length ] ;
for ( var i = 0 ; i < renderedObjectInfos . Length ; i + + )
{
var objectInfo = renderedObjectInfos [ i ] ;
if ( ! TryGetLabelEntryFromInstanceId ( objectInfo . instanceId , out var labelEntry ) )
continue ;
m_VisiblePixelsValues [ i ] = new RenderedObjectInfoValue
{
label_id = labelEntry . id ,
instance_id = objectInfo . instanceId ,
visible_pixels = objectInfo . pixelCount
} ;
}
metric . ReportValues ( m_VisiblePixelsValues ) ;
}
}
#if HDRP_PRESENT
void SetupPasses ( CustomPassVolume customPassVolume )
{
customPassVolume . customPasses . Add ( m_SemanticSegmentationPass ) ;
}
/// <summary>
/// Returns the class ID for the given instance ID resolved by <see cref="LabelingConfiguration"/>. Only valid when bounding boxes are being computed.
/// </summary>
/// <param name="instanceId">The instanceId of the object</param>
/// <param name="labelEntry">When this method returns, contains the LabelEntry associated with the given instanceId if one exists. default otherwise.</param>
/// <returns>True if a valid LabelEntry was found for the given instanceId.</returns>
/// <exception cref="InvalidOperationException">Thrown when <see cref="produceBoundingBoxAnnotations"/> was not true on Start.</exception>
public bool TryGetLabelEntryFromInstanceId ( int instanceId , out LabelEntry labelEntry )
{
if ( m_RenderedObjectInfoGenerator = = null )
throw new InvalidOperationException ( $"{nameof(TryGetLabelEntryFromInstanceId)} can only be used when bounding box capture is enabled" ) ;
return m_RenderedObjectInfoGenerator . TryGetLabelEntryFromInstanceId ( instanceId , out labelEntry ) ;
}
void OnObjectCountsReceived ( NativeSlice < uint > counts , IReadOnlyList < LabelEntry > entries , int frameCount )
{
using ( s_ClassCountCallback . Auto ( ) )
{
classCountsReceived ? . Invoke ( counts , entries , frameCount ) ;
var findResult = FindAsyncCaptureInfo ( frameCount ) ;
if ( findResult . index = = - 1 )
return ;
var asyncCaptureInfo = findResult . asyncCaptureInfo ;
var classCountAsyncMetric = asyncCaptureInfo . ClassCountAsyncMetric ;
if ( ! classCountAsyncMetric . IsValid )
return ;
if ( m_ClassCountValues = = null | | m_ClassCountValues . Length ! = entries . Count )
m_ClassCountValues = new ClassCountValue [ entries . Count ] ;
for ( var i = 0 ; i < entries . Count ; i + + )
{
m_ClassCountValues [ i ] = new ClassCountValue ( )
{
label_id = entries [ i ] . id ,
label_name = entries [ i ] . label ,
count = counts [ i ]
} ;
}
classCountAsyncMetric . ReportValues ( m_ClassCountValues ) ;
}
}
( int index , AsyncCaptureInfo asyncCaptureInfo ) FindAsyncCaptureInfo ( int frameCount )
{
for ( var i = 0 ; i < m_AsyncCaptureInfos . Count ; i + + )
void ReportAsyncAnnotations ( )
{
if ( produceSegmentationImages | | produceObjectCountAnnotations | | produceBoundingBoxAnnotations | | produceRenderedObjectInfoMetric )
if ( produceSegmentationImages )
{
var captureInfo = new AsyncCaptureInfo ( )
{
captureInfo . SegmentationAsyncAnnotation = SensorHandle . ReportAnnotationAsync ( m_SegmentationAnnotationDefinition ) ;
if ( produceObjectCountAnnotations )
captureInfo . ClassCountAsyncMetric = SensorHandle . ReportMetricAsync ( m_ObjectCountMetricDefinition ) ;
if ( produceRenderedObjectInfoMetric )
captureInfo . RenderedObjectInfoAsyncMetric = SensorHandle . ReportMetricAsync ( m_RenderedObjectInfoMetricDefinition ) ;
captureInfo . SegmentationAsyncAnnotation = SensorHandle . ReportAnnotationAsync ( m_SemanticSegmentationAnnotationDefinition ) ;
m_AsyncCaptureInfos . Add ( captureInfo ) ;
}
void OnSimulationEnding ( )
{
m_ClassLabeling TextureReader ? . WaitForAllImages ( ) ;
m_ClassLabeling TextureReader ? . Dispose ( ) ;
m_ClassLabeling TextureReader = null ;
m_SemanticSegmentation TextureReader ? . WaitForAllImages ( ) ;
m_SemanticSegmentation TextureReader ? . Dispose ( ) ;
m_SemanticSegmentation TextureReader = null ;
RenderPipelineManager . beginCameraRendering - = OnBeginCameraRendering ;
}
if ( UnityEditor . EditorApplication . isPaused )
return ;
#endif
BeginRendering ? . Invoke ( ) ;
ReportAsyncAnnotations ( ) ;
CaptureRgbData ( cam ) ;
}
OnSimulationEnding ( ) ;
m_ClassLabelingTextureReader ? . Dispose ( ) ;
m_ClassLabelingTextureReader = null ;
if ( labelingTexture ! = null )
labelingTexture . Release ( ) ;
m_SemanticSegmentationTextureReader ? . Dispose ( ) ;
m_SemanticSegmentationTextureReader = null ;
if ( m_RenderedObjectInfoGenerator ! = null )
{
World . DefaultGameObjectInjectionWorld ? . GetExistingSystem < GroundTruthLabelSetupSystem > ( ) ? . Deactivate ( m_RenderedObjectInfoGenerator ) ;
m_RenderedObjectInfoGenerator ? . Dispose ( ) ;
m_RenderedObjectInfoGenerator = null ;
}
if ( semanticSegmentationTexture ! = null )
semanticSegmentationTexture . Release ( ) ;
if ( SensorHandle . IsValid )
SensorHandle . Dispose ( ) ;
labelingTexture = null ;
semanticSegmentationTexture = null ;
}
void OnSemanticSegmentationImageRead ( int frameCount , NativeArray < short > data )
asyncRequest . data = new AsyncSemanticSegmentationWrite ( )
{
dataArray = data . ToArray ( ) ,
width = labeling Texture. width ,
height = labeling Texture. height ,
width = semanticSegmentation Texture. width ,
height = semanticSegmentation Texture. height ,
path = path
} ;
asyncRequest . Start ( ( r ) = >
Jon Hogins
4 年前