Steve Borkman
3 年前
当前提交
5da96a7a
共有 40 个文件被更改，包括 1578 次插入 和 1463 次删除
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8com.unity.perception/Editor/GroundTruth/PerceptionCameraEditor.cs
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684com.unity.perception/Runtime/GroundTruth/DatasetCapture.cs
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4com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBox3DLabeler.cs
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26com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBoxLabeler.cs
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76com.unity.perception/Runtime/GroundTruth/Labelers/InstanceSegmentationLabeler.cs
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4com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs
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95com.unity.perception/Runtime/GroundTruth/Labelers/ObjectCountLabeler.cs
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6com.unity.perception/Runtime/GroundTruth/Labelers/RenderedObjectInfoLabeler.cs
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4com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentationLabeler.cs
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52com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs
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731com.unity.perception/Runtime/GroundTruth/SimulationState.cs
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505com.unity.perception/Runtime/GroundTruth/SimulationState_Json.cs
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5com.unity.perception/Runtime/Randomization/Scenarios/PerceptionScenario.cs
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2com.unity.perception/Runtime/Randomization/Scenarios/UnitySimulationScenario.cs
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4com.unity.perception/Tests/Runtime/GroundTruthTests/VisualizationTests.cs
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2com.unity.perception/Runtime/GroundTruth/ConsumerEndpoint.cs.meta
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5com.unity.perception/Runtime/GroundTruth/IMessageBuilder.cs
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2com.unity.perception/Runtime/GroundTruth/IMessageBuilder.cs.meta
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17com.unity.perception/Runtime/GroundTruth/Consumers/OldPerceptionConsumer.cs
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17com.unity.perception/Runtime/GroundTruth/Consumers/OldPerceptionJsonFactory.cs
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7com.unity.perception/Runtime/GroundTruth/Consumers/SoloMessageBuilder.cs
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33com.unity.perception/Runtime/GroundTruth/ConsumerEndpoint.cs
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8com.unity.perception/Runtime/GroundTruth/Consumers.meta
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421com.unity.perception/Runtime/GroundTruth/DataModel.cs
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11com.unity.perception/Runtime/GroundTruth/DataModel.cs.meta
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296com.unity.perception/Runtime/GroundTruth/Consumers/SoloConsumer.cs
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8com.unity.perception/Runtime/GroundTruth/Exporters.meta
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8com.unity.perception/Runtime/GroundTruth/SoloDesign.meta
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0/com.unity.perception/Runtime/GroundTruth/ConsumerEndpoint.cs.meta
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0/com.unity.perception/Runtime/GroundTruth/Consumers/SoloConsumer.cs.meta
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0/com.unity.perception/Runtime/GroundTruth/IMessageBuilder.cs
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0/com.unity.perception/Runtime/GroundTruth/IMessageBuilder.cs.meta
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0/com.unity.perception/Runtime/GroundTruth/Consumers/OldPerceptionConsumer.cs.meta
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0/com.unity.perception/Runtime/GroundTruth/Consumers/OldPerceptionJsonFactory.cs.meta
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0/com.unity.perception/Runtime/GroundTruth/Consumers/SoloMessageBuilder.cs.meta
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0/com.unity.perception/Runtime/GroundTruth/Consumers/OldPerceptionConsumer.cs
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0/com.unity.perception/Runtime/GroundTruth/Consumers/OldPerceptionJsonFactory.cs
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0/com.unity.perception/Runtime/GroundTruth/Consumers/SoloMessageBuilder.cs
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using UnityEngine.Perception.GroundTruth.DataModel; |
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namespace UnityEngine.Perception.GroundTruth |
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{ |
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public abstract class ConsumerEndpoint : MonoBehaviour |
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{ |
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/// <summary>
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/// Called when the simulation begins. Provides simulation wide metadata to
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/// the consumer.
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/// </summary>
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/// <param name="metadata">Metadata describing the active simulation</param>
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public abstract void OnSimulationStarted(SimulationMetadata metadata); |
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public virtual void OnSensorRegistered(SensorDefinition sensor) { } |
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public virtual void OnAnnotationRegistered(AnnotationDefinition annotationDefinition) { } |
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public virtual void OnMetricRegistered(MetricDefinition metricDefinition) { } |
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/// <summary>
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/// Called at the end of each frame. Contains all of the generated data for the
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/// frame. This method is called after the frame has entirely finished processing.
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/// </summary>
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/// <param name="frame">The frame data.</param>
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public abstract void OnFrameGenerated(Frame frame); |
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/// <summary>
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/// Called at the end of the simulation. Contains metadata describing the entire
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/// simulation process.
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/// </summary>
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/// <param name="metadata">Metadata describing the entire simulation process</param>
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public abstract void OnSimulationCompleted(CompletionMetadata metadata); |
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} |
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} |
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fileFormatVersion: 2 |
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guid: e818e37774a99724e8f5cfbeeba26b22 |
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folderAsset: yes |
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DefaultImporter: |
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externalObjects: {} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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using System; |
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using System.Collections.Generic; |
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using UnityEngine.Perception.GroundTruth.Exporters.Solo; |
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namespace UnityEngine.Perception.GroundTruth.DataModel |
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{ |
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public interface IMessageProducer |
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{ |
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void ToMessage(IMessageBuilder builder); |
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} |
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[Serializable] |
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public class SensorDefinition : IMessageProducer |
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{ |
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public SensorDefinition(string id, string modality, string definition) |
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{ |
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this.id = id; |
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this.modality = modality; |
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this.definition = definition; |
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this.firstCaptureFrame = 0; |
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this.captureTriggerMode = string.Empty; |
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this.simulationDeltaTime = 0.0f; |
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this.framesBetweenCaptures = 0; |
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this.manualSensorsAffectTiming = false; |
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} |
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public virtual bool IsValid() |
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{ |
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return id != string.Empty && definition != string.Empty; |
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} |
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public string id; |
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public string modality; |
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public string definition; |
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public float firstCaptureFrame; |
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public string captureTriggerMode; |
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public float simulationDeltaTime; |
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public int framesBetweenCaptures; |
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public bool manualSensorsAffectTiming; |
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public void ToMessage(IMessageBuilder builder) |
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{ |
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builder.AddString("id", id); |
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builder.AddString("modality", modality); |
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builder.AddString("definition", definition); |
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builder.AddFloat("first_capture_frame", firstCaptureFrame); |
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builder.AddString("capture_trigger_mode", captureTriggerMode); |
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builder.AddFloat("simulation_delta_time", simulationDeltaTime); |
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builder.AddInt("frames_between_captures", framesBetweenCaptures); |
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builder.AddBoolean("manual_sensors_affect_timing", manualSensorsAffectTiming); |
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} |
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} |
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[Serializable] |
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public abstract class AnnotationDefinition : IMessageProducer |
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{ |
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public string id = string.Empty; |
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public string description = string.Empty; |
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public string annotationType = string.Empty; |
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public AnnotationDefinition() { } |
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public AnnotationDefinition(string id, string description, string annotationType) |
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{ |
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this.id = id; |
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this.description = description; |
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this.annotationType = annotationType; |
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} |
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public virtual bool IsValid() |
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{ |
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return id != string.Empty && description != string.Empty && annotationType != string.Empty; |
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} |
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public virtual void ToMessage(IMessageBuilder builder) |
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{ |
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builder.AddString("id", id); |
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builder.AddString("description", description); |
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builder.AddString("annotation_type", annotationType); |
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} |
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} |
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[Serializable] |
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public class MetricDefinition : IMessageProducer |
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{ |
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public string id = string.Empty; |
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public string description = string.Empty; |
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bool isRegistered { get; set; }= false; |
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public MetricDefinition() { } |
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public MetricDefinition(string id, string description) |
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{ |
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this.id = id; |
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this.description = description; |
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} |
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public virtual bool IsValid() |
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{ |
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return id != string.Empty && description != string.Empty; |
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} |
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public virtual void ToMessage(IMessageBuilder builder) |
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{ |
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builder.AddString("id", id); |
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builder.AddString("description", description); |
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} |
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} |
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/// <summary>
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/// The top level structure that holds all of the artifacts of a simulation
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/// frame. This is only reported after all of the captures, annotations, and
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/// metrics are ready to report for a single frame.
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/// </summary>
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[Serializable] |
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public class Frame : IMessageProducer |
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{ |
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public Frame(int frame, int sequence, int step) |
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{ |
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this.frame = frame; |
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this.sequence = sequence; |
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this.step = step; |
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sensors = new List<Sensor>(); |
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} |
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/// <summary>
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/// The perception frame number of this record
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/// </summary>
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public int frame; |
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/// <summary>
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/// The sequence that this record is a part of
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/// </summary>
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public int sequence; |
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/// <summary>
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/// The step in the sequence that this record is a part of
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/// </summary>
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public int step; |
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public float timestamp; |
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/// <summary>
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/// A list of all of the sensor captures recorded for the frame.
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/// </summary>
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public IEnumerable<Sensor> sensors; |
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public void ToMessage(IMessageBuilder builder) |
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{ |
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builder.AddInt("frame", frame); |
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builder.AddInt("sequence", sequence); |
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builder.AddInt("step", step); |
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foreach (var s in sensors) |
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{ |
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var nested = builder.AddNestedMessageToVector("sensors"); |
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s.ToMessage(nested); |
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} |
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} |
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} |
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/// <summary>
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/// Abstract sensor class that holds all of the common information for a sensor.
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/// </summary>
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[Serializable] |
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public abstract class Sensor : IMessageProducer |
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{ |
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/// <summary>
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/// The unique, human readable ID for the sensor.
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/// </summary>
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public string Id; |
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/// <summary>
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/// The type of the sensor.
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/// </summary>
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public string sensorType; |
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public string description; |
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/// <summary>
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/// The position (xyz) of the sensor in the world.
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/// </summary>
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public Vector3 position; |
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/// <summary>
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/// The rotation in euler angles.
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/// </summary>
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public Vector3 rotation; |
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/// <summary>
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/// The current velocity (xyz) of the sensor.
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/// </summary>
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public Vector3 velocity; |
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/// <summary>
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/// The current acceleration (xyz) of the sensor.
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/// </summary>
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public Vector3 acceleration; |
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// TODO put in camera intrinsic
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// TODO put in projection
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/// <summary>
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/// A list of all of the annotations recorded recorded for the frame.
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/// </summary>
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public IEnumerable<Annotation> annotations = new List<Annotation>(); |
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/// <summary>
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/// A list of all of the metrics recorded recorded for the frame.
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/// </summary>
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public IEnumerable<Metric> metrics = new List<Metric>(); |
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public virtual void ToMessage(IMessageBuilder builder) |
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{ |
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builder.AddString("id", Id); |
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builder.AddString("sensor_id", sensorType); |
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builder.AddFloatVector("position", Utils.ToFloatVector(position)); |
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builder.AddFloatVector("rotation", Utils.ToFloatVector(rotation)); |
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builder.AddFloatVector("velocity", Utils.ToFloatVector(velocity)); |
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builder.AddFloatVector("acceleration", Utils.ToFloatVector(acceleration)); |
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foreach (var annotation in annotations) |
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{ |
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var nested = builder.AddNestedMessageToVector("annotations"); |
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annotation.ToMessage(nested); |
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} |
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foreach (var metric in metrics) |
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{ |
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var nested = builder.AddNestedMessageToVector("metrics"); |
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metric.ToMessage(nested); |
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} |
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} |
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} |
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/// <summary>
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/// The concrete class for an RGB sensor.
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/// </summary>
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[Serializable] |
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public class RgbSensor : Sensor |
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{ |
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// The format of the image type
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public string imageFormat; |
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// The dimensions (width, height) of the image
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public Vector2 dimension; |
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// The raw bytes of the image file
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public byte[] buffer; |
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public override void ToMessage(IMessageBuilder builder) |
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{ |
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base.ToMessage(builder); |
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builder.AddString("image_format", imageFormat); |
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builder.AddFloatVector("dimension", Utils.ToFloatVector(dimension)); |
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builder.AddPngImage("camera", buffer); |
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} |
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} |
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/// <summary>
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/// Abstract class that holds the common data found in all
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/// annotations. Concrete instances of this class will add
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/// data for their specific annotation type.
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/// </summary>
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[Serializable] |
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public abstract class Annotation : IMessageProducer |
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{ |
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/// <summary>
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/// The unique, human readable ID for the annotation.
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/// </summary>
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public string Id; |
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/// <summary>
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/// The sensor that this annotation is associated with.
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/// </summary>
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public string sensorId; |
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/// <summary>
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/// The description of the annotation.
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/// </summary>
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public string description; |
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/// <summary>
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/// The type of the annotation, this will map directly to one of the
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/// annotation subclasses that are concrete implementations of this abstract
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/// class.
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/// </summary>
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public string annotationType; |
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public virtual void ToMessage(IMessageBuilder builder) |
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{ |
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builder.AddString("id", Id); |
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builder.AddString("sensor_id", sensorId); |
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builder.AddString("description", description); |
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builder.AddString("annotation_type", annotationType); |
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} |
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} |
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/// <summary>
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/// Abstract class that holds the common data found in all
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/// metrics. Concrete instances of this class will add
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/// data for their specific metric type.
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/// </summary>
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[Serializable] |
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public abstract class Metric : IMessageProducer |
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{ |
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public string Id; |
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/// <summary>
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/// The sensor ID that this metric is associated with
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/// </summary>
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public string sensorId; |
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/// <summary>
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/// The annotation ID that this metric is associated with. If the value is none ("")
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/// then the metric is capture wide, and not associated with a specific annotation.
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/// </summary>
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public string annotationId; |
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/// <summary>
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/// A human readable description of what this metric is for.
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/// </summary>
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public string description; |
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/// <summary>
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/// Additional key/value pair metadata that can be associated with
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/// any metric.
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/// </summary>
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public Dictionary<string, object> metadata; |
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public virtual void ToMessage(IMessageBuilder builder) |
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{ |
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builder.AddString("id", Id); |
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builder.AddString("sensor_id", sensorId); |
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builder.AddString("annotation_id", annotationId); |
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builder.AddString("description", description); |
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} |
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} |
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/// <summary>
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/// Metadata describing the simulation.
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/// </summary>
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[Serializable] |
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public class SimulationMetadata |
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{ |
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public SimulationMetadata() |
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{ |
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unityVersion = "figure out how to do unity version"; |
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perceptionVersion = "0.8.0-preview.4"; |
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#if HDRP_PRESENT
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renderPipeline = "HDRP"; |
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#elif URP_PRESENT
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renderPipeline = "URP"; |
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#else
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renderPipeline = "built-in"; |
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#endif
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metadata = new Dictionary<string, object>(); |
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} |
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/// <summary>
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/// The version of the Unity editor executing the simulation.
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/// </summary>
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public string unityVersion; |
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/// <summary>
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/// The version of the perception package used to generate the data.
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/// </summary>
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public string perceptionVersion; |
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/// <summary>
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/// The render pipeline used to create the data. Currently either URP or HDRP.
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/// </summary>
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public string renderPipeline; |
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/// <summary>
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/// Additional key/value pair metadata that can be associated with
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/// the simulation.
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/// </summary>
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public Dictionary<string, object> metadata; |
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// We could probably list all of the randomizers here...
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} |
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/// <summary>
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/// Metadata describing the final metrics of the simulation.
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/// </summary>
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[Serializable] |
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public class CompletionMetadata : SimulationMetadata |
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{ |
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public CompletionMetadata() |
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: base() { } |
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|
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public struct Sequence |
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{ |
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/// <summary>
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/// The ID of the sequence
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/// </summary>
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public int id; |
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/// <summary>
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/// The number of steps in the sequence.
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/// </summary>
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public int numberOfSteps; |
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} |
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|
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/// <summary>
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/// Total frames processed in the simulation. These frames are distributed
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/// over sequence and steps.
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/// </summary>
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public int totalFrames; |
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/// <summary>
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/// A list of all of the sequences and the number of steps in the sequence for
|
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/// a simulation.
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/// </summary>
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public List<Sequence> sequences; |
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} |
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static class Utils |
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{ |
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internal static int[] ToIntVector(Color32 c) |
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{ |
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return new[] { (int)c.r, (int)c.g, (int)c.b, (int)c.a }; |
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} |
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internal static float[] ToFloatVector(Vector2 v) |
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{ |
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return new[] { v.x, v.y }; |
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} |
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internal static float[] ToFloatVector(Vector3 v) |
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{ |
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return new[] { v.x, v.y, v.z }; |
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} |
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} |
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} |
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|
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fileFormatVersion: 2 |
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guid: 6f209872135679b48b67c5cbf3edacd5 |
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MonoImporter: |
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externalObjects: {} |
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serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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|
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using System; |
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using System.Globalization; |
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using System.IO; |
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using System.Text; |
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using Newtonsoft.Json; |
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using Newtonsoft.Json.Linq; |
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using UnityEngine.Perception.GroundTruth.DataModel; |
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|
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namespace UnityEngine.Perception.GroundTruth.Consumers |
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{ |
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public class SoloConsumer : ConsumerEndpoint |
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{ |
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public string _baseDirectory = "D:/PerceptionOutput/SoloConsumer"; |
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public string soloDatasetName = "solo"; |
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static string currentDirectory = ""; |
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|
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SimulationMetadata m_CurrentMetadata; |
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|
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void Start() |
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{ |
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// Only here to get the check mark to show up in Unity Editor
|
|||
} |
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|
|||
public override void OnSimulationStarted(SimulationMetadata metadata) |
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{ |
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Debug.Log("SC - On Simulation Started"); |
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m_CurrentMetadata = metadata; |
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|
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var i = 0; |
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while (true) |
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{ |
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var n = $"{soloDatasetName}_{i++}"; |
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n = Path.Combine(_baseDirectory, n); |
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if (!Directory.Exists(n)) |
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{ |
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Directory.CreateDirectory(n); |
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currentDirectory = n; |
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break; |
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} |
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} |
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} |
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|
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static string GetSequenceDirectoryPath(Frame frame) |
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{ |
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var path = $"sequence.{frame.sequence}"; |
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|
|||
// verify that a directory already exists for a sequence,
|
|||
// if not, create it.
|
|||
path = Path.Combine(currentDirectory, path); |
|||
|
|||
if (!Directory.Exists(path)) |
|||
{ |
|||
Directory.CreateDirectory(path); |
|||
} |
|||
|
|||
return path; |
|||
} |
|||
|
|||
void WriteJTokenToFile(string filePath, JToken jToken) |
|||
{ |
|||
var stringWriter = new StringWriter(new StringBuilder(256), CultureInfo.InvariantCulture); |
|||
using (var jsonTextWriter = new JsonTextWriter(stringWriter)) |
|||
{ |
|||
jsonTextWriter.Formatting = Formatting.Indented; |
|||
jToken.WriteTo(jsonTextWriter); |
|||
} |
|||
|
|||
var contents = stringWriter.ToString(); |
|||
|
|||
File.WriteAllText(filePath, contents); |
|||
} |
|||
|
|||
public override void OnFrameGenerated(Frame frame) |
|||
{ |
|||
var path = GetSequenceDirectoryPath(frame); |
|||
path = Path.Combine(path, $"step{frame.step}.frame_data.json"); |
|||
|
|||
WriteJTokenToFile(path, ToFrame(frame)); |
|||
|
|||
Debug.Log("SC - On Frame Generated"); |
|||
} |
|||
|
|||
public override void OnSimulationCompleted(CompletionMetadata metadata) |
|||
{ |
|||
Debug.Log("SC - On Simulation Completed"); |
|||
} |
|||
|
|||
static JToken ToFrame(Frame frame) |
|||
{ |
|||
var frameJson = new JObject |
|||
{ |
|||
["frame"] = frame.frame, |
|||
["sequence"] = frame.sequence, |
|||
["step"] = frame.step |
|||
}; |
|||
|
|||
var captures = new JArray(); |
|||
|
|||
|
|||
foreach (var sensor in frame.sensors) |
|||
{ |
|||
switch (sensor) |
|||
{ |
|||
case RgbSensor rgb: |
|||
captures.Add(ConvertSensor(frame, rgb)); |
|||
break; |
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
frameJson["captures"] = captures; |
|||
|
|||
|
|||
return frameJson; |
|||
} |
|||
|
|||
static JArray FromVector3(Vector3 vector3) |
|||
{ |
|||
return new JArray |
|||
{ |
|||
vector3.x, vector3.y, vector3.z |
|||
}; |
|||
} |
|||
|
|||
static JArray FromVector2(Vector2 vector2) |
|||
{ |
|||
return new JArray |
|||
{ |
|||
vector2.x, vector2.y |
|||
}; |
|||
} |
|||
|
|||
static JArray FromColor32(Color32 color) |
|||
{ |
|||
return new JArray |
|||
{ |
|||
color.r, color.g, color.b, color.a |
|||
}; |
|||
} |
|||
|
|||
static JToken ToSensorHeader(Frame frame, Sensor sensor) |
|||
{ |
|||
var token = new JObject |
|||
{ |
|||
["Id"] = sensor.Id, |
|||
["sensorType"] = sensor.sensorType, |
|||
["position"] = FromVector3(sensor.position), |
|||
["rotation"] = FromVector3(sensor.rotation), |
|||
["velocity"] = FromVector3(sensor.velocity), |
|||
["acceleration"] = FromVector3(sensor.acceleration) |
|||
}; |
|||
return token; |
|||
} |
|||
|
|||
|
|||
static JToken ConvertSensor(Frame frame, RgbSensor sensor) |
|||
{ |
|||
// write out the png data
|
|||
var path = GetSequenceDirectoryPath(frame); |
|||
|
|||
path = Path.Combine(path, $"step{frame.step}.{sensor.sensorType}.{sensor.imageFormat}"); |
|||
var file = File.Create(path, 4096); |
|||
file.Write(sensor.buffer, 0, sensor.buffer.Length); |
|||
file.Close(); |
|||
|
|||
var outRgb = ToSensorHeader(frame, sensor); |
|||
outRgb["fileName"] = path; |
|||
outRgb["imageFormat"] = sensor.imageFormat; |
|||
outRgb["dimension"] = FromVector2(sensor.dimension); |
|||
|
|||
var annotations = new JArray(); |
|||
var metrics = new JArray(); |
|||
|
|||
foreach (var annotation in sensor.annotations) |
|||
{ |
|||
switch (annotation) |
|||
{ |
|||
case BoundingBox2DLabeler.BoundingBoxAnnotation bbox: |
|||
annotations.Add(ConvertAnnotation(frame, bbox)); |
|||
break; |
|||
case InstanceSegmentationLabeler.InstanceSegmentation seg: |
|||
annotations.Add(ConvertAnnotation(frame, seg)); |
|||
break; |
|||
} |
|||
} |
|||
|
|||
foreach (var metric in sensor.metrics) |
|||
{ |
|||
switch (metric) |
|||
{ |
|||
case ObjectCountLabeler.ObjectCountMetric objCount: |
|||
metrics.Add(ConvertMetric(frame, objCount)); |
|||
break; |
|||
} |
|||
} |
|||
|
|||
outRgb["annotations"] = annotations; |
|||
outRgb["metrics"] = metrics; |
|||
|
|||
return outRgb; |
|||
} |
|||
|
|||
static JToken ToAnnotationHeader(Frame frame, Annotation annotation) |
|||
{ |
|||
return new JObject |
|||
{ |
|||
["Id"] = annotation.Id, |
|||
["definition"] = annotation.description, |
|||
["sequence"] = frame.sequence, |
|||
["step"] = frame.step, |
|||
["sensor"] = annotation.sensorId |
|||
}; |
|||
} |
|||
|
|||
static JToken ToMetricHeader(Frame frame, Metric metric) |
|||
{ |
|||
return new JObject |
|||
{ |
|||
["sensorId"] = metric.sensorId, |
|||
["annotationId"] = metric.annotationId, |
|||
["description"] = metric.description |
|||
}; |
|||
} |
|||
|
|||
static JToken ConvertAnnotation(Frame frame, BoundingBox2DLabeler.BoundingBoxAnnotation bbox) |
|||
{ |
|||
var outBox = ToAnnotationHeader(frame, bbox); |
|||
var values = new JArray(); |
|||
|
|||
foreach (var box in bbox.boxes) |
|||
{ |
|||
values.Add(new JObject |
|||
{ |
|||
["frame"] = frame.frame, |
|||
["label_name"] = box.labelName, |
|||
["instance_id"] = box.instanceId, |
|||
["origin"] = FromVector2(box.origin), |
|||
["dimension"] = FromVector2(box.dimension) |
|||
}); |
|||
} |
|||
|
|||
outBox["values"] = values; |
|||
|
|||
return outBox; |
|||
} |
|||
|
|||
static JToken ConvertMetric(Frame frame, ObjectCountLabeler.ObjectCountMetric count) |
|||
{ |
|||
var outCount = ToMetricHeader(frame, count); |
|||
var values = new JArray(); |
|||
|
|||
foreach (var i in count.objectCounts) |
|||
{ |
|||
values.Add(new JObject |
|||
{ |
|||
["label_name"] = i.labelName, |
|||
["count"] = i.count |
|||
}); |
|||
} |
|||
|
|||
outCount["object_counts"] = values; |
|||
return outCount; |
|||
} |
|||
|
|||
static JToken ConvertAnnotation(Frame frame, InstanceSegmentationLabeler.InstanceSegmentation segmentation) |
|||
{ |
|||
// write out the png data
|
|||
var path = GetSequenceDirectoryPath(frame); |
|||
|
|||
path = Path.Combine(path,$"step{frame.step}.segmentation.{segmentation.imageFormat}"); |
|||
var file = File.Create(path, 4096); |
|||
file.Write(segmentation.buffer, 0, segmentation.buffer.Length); |
|||
file.Close(); |
|||
|
|||
var outSeg = ToAnnotationHeader(frame, segmentation); |
|||
var values = new JArray(); |
|||
|
|||
foreach (var i in segmentation.instances) |
|||
{ |
|||
values.Add(new JObject |
|||
{ |
|||
["instance_id"] = i.instanceId, |
|||
["rgba"] = FromColor32(i.rgba) |
|||
}); |
|||
} |
|||
|
|||
outSeg["imageFormat"] = segmentation.imageFormat; |
|||
outSeg["dimension"] = FromVector2(segmentation.dimension); |
|||
outSeg["imagePath"] = path; |
|||
outSeg["instances"] = values; |
|||
|
|||
return outSeg; |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 5353392e887128948bc94b5e0dd9ff73 |
|||
folderAsset: yes |
|||
DefaultImporter: |
|||
externalObjects: {} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 3dbded9ae1438d344bc799a283ac4ea2 |
|||
folderAsset: yes |
|||
DefaultImporter: |
|||
externalObjects: {} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
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Reference in new issue