Initial cut of labeler visualizers

4 年前 · 77c5452c
--- a/com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBoxLabeler.cs
+++ b/com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBoxLabeler.cs
 using Unity.Collections;
 using Unity.Profiling;
 using UnityEngine.Serialization;
+using Unity.Simulation;
+using UnityEngine.UI;

 namespace UnityEngine.Perception.GroundTruth
 {
        AnnotationDefinition m_BoundingBoxAnnotationDefinition;
        BoundingBoxValue[] m_BoundingBoxValues;

+        private Dictionary<string, RectTransform> visualizationPanelCache = null;
+        private GameObject visualizationHolder = null;
+
        /// <summary>
        /// Creates a new BoundingBox2DLabeler. Be sure to assign <see cref="idLabelConfig"/> before adding to a <see cref="PerceptionCamera"/>.
        /// </summary>
                "Bounding box for each labeled object visible to the sensor", id: new Guid(annotationId));

            perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
+
+            supportsVisualization = true;
+            EnableVisualization(supportsVisualization);
        }

        /// <inheritdoc/>
                    };
                }

+                if (!CaptureOptions.useAsyncReadbackIfSupported && frameCount != Time.frameCount) 
+                    Debug.LogWarning("Not on current frame: " + frameCount + "(" + Time.frameCount + ")");
+
+                if (IsVisualizationEnabled()) 
+                    Visualize();
+                
+        }
+
+        /// <inheritdoc/>
+        protected override void SetupVisualizationPanel(GameObject panel)
+        {
+            var toggle  = GameObject.Instantiate(Resources.Load<GameObject>("GenericToggle"));
+            toggle.transform.SetParent(panel.transform);
+            toggle.GetComponentInChildren<Text>().text = "Bounding Boxes";
+            toggle.GetComponent<Toggle>().onValueChanged.AddListener(enabled => {
+                EnableVisualization(enabled);
+            });
+
+            visualizationHolder = GameObject.Instantiate(Resources.Load<GameObject>("BoundsHolder"));
+            visualizationHolder.transform.SetParent(panel.transform.parent, false);
+            
+            visualizationPanelCache = new Dictionary<string, RectTransform>();
+        }
+
+        void Visualize()
+        {
+            foreach (var box in m_BoundingBoxValues)
+            {
+                var rectTrans = GetVisualizationPanel(box.label_name);
+                rectTrans.anchoredPosition = new Vector2(box.x, -box.y);
+                rectTrans.SetSizeWithCurrentAnchors(RectTransform.Axis.Horizontal, box.width);
+                rectTrans.SetSizeWithCurrentAnchors(RectTransform.Axis.Vertical, box.height);
+            }
+        }
+
+        RectTransform GetVisualizationPanel(string label)
+        {
+            if (!visualizationPanelCache.ContainsKey(label))
+            {
+                var box = GameObject.Instantiate(Resources.Load<GameObject>("BoundingBoxPrefab"));
+                box.name = label + "_boundingbox";
+                box.GetComponentInChildren<Text>().text = label;
+                box.transform.SetParent(visualizationHolder.transform, false);
+                visualizationPanelCache[label] = box.transform as RectTransform;
+            }
+
+            return visualizationPanelCache[label];
+        }
+
+        /// <inheritdoc/>
+        override protected void OnVisualizerEnabled(bool enabled)
+        {
+            if (visualizationHolder != null) 
+                visualizationHolder.SetActive(enabled);
        }
    }
 }
--- a/com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs
+++ b/com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs
 using System;
+using Unity.Simulation;

 namespace UnityEngine.Perception.GroundTruth
 {
        internal bool isInitialized { get; private set; }

        /// <summary>
+        /// Labelers should set this in their setup to define if they support realtime
+        /// visualization of their data. 
+        /// </summary>
+        protected bool supportsVisualization = false;
+        /// <summary>
+        /// Flag holding if the realtime visualizer for the labeler in enabled. This
+        /// value is ignored if <see cref="supportsVisualization"/> is false.
+        /// </summary>
+        private bool visualizationEnabled = false;
+        /// <summary>
+        /// Static counter shared by all lableler classes. If any visualizers are
+        /// active then perception camera cannot operate in asynchronous mode. 
+        /// </summary>
+        private static int activeVisualizers = 0;
+
+        /// <summary>
        /// The <see cref="PerceptionCamera"/> that contains this labeler.
        /// </summary>
        protected PerceptionCamera perceptionCamera { get; private set; }
        /// </summary>
        protected virtual void Setup() { }
        /// <summary>
+        /// Called immediately after <see cref="setup"/>. Implement this to initialize labeler's visualization
+        /// capability if one exists <see cref="supportVisualization"/>.
+        /// </summary>
+        protected virtual void SetupVisualizationPanel(GameObject panel) { }
+        /// <summary>
+        /// Called when the labeler's visualization capability is turned on or off.
+        /// </summary>
+        protected virtual void OnVisualizerEnabled(bool enabled) {}
+        /// <summary>
        /// Called during the Update each frame the the labeler is enabled and <see cref="SensorHandle.ShouldCaptureThisFrame"/> is true.
        /// </summary>
        protected virtual void OnUpdate() {}
        protected virtual void Cleanup() {}

        internal void InternalSetup() => Setup();
+        internal void InternalSetupVisualizationPanel(GameObject panel) => SetupVisualizationPanel(panel);
+        internal void InternalVisualizerEnabled(bool enabled) => OnVisualizerEnabled(enabled);
+        /// <summary>
+        /// Turns on/off the labeler's realtime visualization capability. If a labeler
+        /// does not support realtime visualization (<see cref="supportsVisualization"/>)
+        /// this will not function.
+        /// </summary>
+        protected void EnableVisualization(bool enabled)
+        {
+            if (!supportsVisualization) return;
+
+            if (enabled != visualizationEnabled)
+            {
+                visualizationEnabled = enabled;
+                
+                if (enabled)
+                    activeVisualizers++;
+                else
+                    activeVisualizers--;
+
+                if (activeVisualizers > 0)
+                    CaptureOptions.useAsyncReadbackIfSupported = false;
+                else
+                    CaptureOptions.useAsyncReadbackIfSupported = true;
+
+                OnVisualizerEnabled(enabled);
+            }
+        }
+
+        /// <summary>
+        /// Is the visualization capability of the labeler currently active.
+        /// </summary>
+        protected bool IsVisualizationEnabled()
+        {
+            return supportsVisualization && visualizationEnabled;
+        }
+
        internal void Init(PerceptionCamera newPerceptionCamera)
        {
            try
                Setup();
                isInitialized = true;
+
+                if (supportsVisualization)
+                {
+                    InitPanel();
+                }
            }
            catch (Exception)
            {
+        }
+
+        internal void InitPanel()
+        {
+            var canvas = GameObject.Find("Canvas");
+            
+            if (canvas == null)
+            {
+               canvas = GameObject.Instantiate(Resources.Load<GameObject>("Canvas"));
+               canvas.name = "Canvas";
+            }
+            
+            var panel = canvas.transform.Find("VisualizationPanel");
+
+            if (panel == null)
+            {
+                panel = GameObject.Instantiate(Resources.Load<GameObject>("VisualizationPanel")).transform;
+                (panel as RectTransform).SetParent(canvas.transform);
+            }
+
+            SetupVisualizationPanel(panel.gameObject);
        }
    }
 }
--- a/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentationLabeler.cs
+++ b/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentationLabeler.cs
 using Unity.Simulation;
 using UnityEngine.Experimental.Rendering;
 using UnityEngine.Profiling;
+using UnityEngine.UI;

 #if HDRP_PRESENT
 using UnityEngine.Rendering.HighDefinition;
            public string path;
        }

+        int camWidth = 0;
+        int camHeight = 0;
+
+        private GameObject segVisual = null;
+        private Image segImage = null;
+
-            var width = myCamera.pixelWidth;
-            var height = myCamera.pixelHeight;
+            camWidth = myCamera.pixelWidth;
+            camHeight = myCamera.pixelHeight;

            if (labelConfig == null)
            {

            m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>();

-            var renderTextureDescriptor = new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8);
+            var renderTextureDescriptor = new RenderTextureDescriptor(camWidth, camHeight, GraphicsFormat.R8G8B8A8_UNorm, 8);
            if (targetTexture != null)
                targetTexture.descriptor = renderTextureDescriptor;
            else

            m_SemanticSegmentationTextureReader = new RenderTextureReader<Color32>(targetTexture, myCamera,
                (frameCount, data, tex) => OnSemanticSegmentationImageRead(frameCount, data));
+        
+            supportsVisualization = true;
+            EnableVisualization(supportsVisualization);
        }

        void OnSemanticSegmentationImageRead(int frameCount, NativeArray<Color32> data)
            annotation.ReportFile(datasetRelativePath);

            var asyncRequest = Manager.Instance.CreateRequest<AsyncRequest<AsyncSemanticSegmentationWrite>>();
+            
+            if (IsVisualizationEnabled())
+                VisualizeSegmentationTexture(data, targetTexture);
+
            imageReadback?.Invoke(new ImageReadbackEventArgs
            {
                data = data,
                m_TargetTextureOverride.Release();

            m_TargetTextureOverride = null;
+        }
+
+        /// <inheritdoc/>
+        protected override void SetupVisualizationPanel(GameObject panel)
+        {
+            var toggle  = GameObject.Instantiate(Resources.Load<GameObject>("GenericToggle"));
+            toggle.transform.SetParent(panel.transform);
+            toggle.GetComponentInChildren<Text>().text = "Segmentation Information";
+            toggle.GetComponent<Toggle>().onValueChanged.AddListener(enabled => {
+                EnableVisualization(enabled);
+            });
+
+            segVisual = GameObject.Instantiate(Resources.Load<GameObject>("SegmentTexture"));
+            segVisual.transform.SetParent(panel.transform.parent, false);
+            
+            // It is important that segment visualizer be the lowest layer part of the UI when rendered (so other annotations
+            // will be drawn on top of it)
+            segVisual.transform.SetAsFirstSibling();
+
+            segImage = segVisual.GetComponent<Image>();
+
+            RectTransform rt = segVisual.transform as RectTransform;
+            rt.SetSizeWithCurrentAnchors(RectTransform.Axis.Horizontal, camWidth);
+            rt.SetSizeWithCurrentAnchors(RectTransform.Axis.Vertical, camHeight);
+        }
+
+        void VisualizeSegmentationTexture(NativeArray<Color32> data, RenderTexture texture)
+        {
+            var cpuTexture = new Texture2D(texture.width, texture.height, GraphicsFormat.R8G8B8A8_UNorm, TextureCreationFlags.None);
+            cpuTexture.LoadRawTextureData(data);
+            cpuTexture.Apply();
+            
+            segImage.material.SetTexture("_BaseMap", cpuTexture);
+        }
+
+        /// <inheritdoc/>
+        override protected void OnVisualizerEnabled(bool enabled)
+        {
+            if (segVisual != null) 
+                segVisual.SetActive(enabled);
        }
    }
 }
--- a/com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs
+++ b/com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs
            this.m_CameraRenderingToSource = cameraRenderingToSource;
            m_NextFrameToCapture = Time.frameCount;

-            if (!GraphicsUtilities.SupportsAsyncReadback())
-                m_CpuTexture = new Texture2D(m_Source.width, m_Source.height, m_Source.graphicsFormat, TextureCreationFlags.None);
+            m_CpuTexture = new Texture2D(m_Source.width, m_Source.height, m_Source.graphicsFormat, TextureCreationFlags.None);

            RenderPipelineManager.endFrameRendering += OnEndFrameRendering;
        }
                m_ImageReadCallback(Time.frameCount, data, m_Source);
                return;
            }
-
-            var commandBuffer = CommandBufferPool.Get("RenderTextureReader");
-            var frameCount = Time.frameCount;
-            commandBuffer.RequestAsyncReadback(m_Source, r => OnGpuReadback(r, frameCount));
-            context.ExecuteCommandBuffer(commandBuffer);
-            context.Submit();
-            CommandBufferPool.Release(commandBuffer);
+            else
+            {
+                var commandBuffer = CommandBufferPool.Get("RenderTextureReader");
+                var frameCount = Time.frameCount;
+                commandBuffer.RequestAsyncReadback(m_Source, r => OnGpuReadback(r, frameCount));
+                context.ExecuteCommandBuffer(commandBuffer);
+                context.Submit();
+                CommandBufferPool.Release(commandBuffer);
+            }
        }

        void OnGpuReadback(AsyncGPUReadbackRequest request, int frameCount)
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