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[RequireComponent(typeof(Camera))] |
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public class PerceptionCamera : MonoBehaviour |
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{ |
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const string k_SemanticSegmentationDirectory = "SemanticSegmentation"; |
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const string k_SegmentationFilePrefix = "segmentation_"; |
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/// <summary>
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/// A human-readable description of the camera.
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/// </summary>
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public bool captureRgbImages = true; |
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/// <summary>
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/// Whether semantic segmentation images should be generated
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/// </summary>
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public bool produceSegmentationImages = true; |
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/// <summary>
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/// The LabelingConfiguration to use for segmentation and object count.
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/// </summary>
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public LabelingConfiguration LabelingConfiguration; |
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/// <summary>
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[NonSerialized] |
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internal RenderTexture semanticSegmentationTexture; |
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RenderTextureReader<short> m_SemanticSegmentationTextureReader; |
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Dictionary<string, object> m_PersistentSensorData = new Dictionary<string, object>(); |
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#if URP_PRESENT
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/// The <see cref="SensorHandle"/> associated with this camera. Use this to report additional annotations and metrics at runtime.
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/// </summary>
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public SensorHandle SensorHandle { get; private set; } |
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struct AsyncSemanticSegmentationWrite |
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{ |
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public short[] dataArray; |
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public int width; |
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public int height; |
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public string path; |
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} |
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struct AsyncCaptureInfo |
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{ |
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public int FrameCount; |
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List<AsyncCaptureInfo> m_AsyncCaptureInfos = new List<AsyncCaptureInfo>(); |
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#if HDRP_PRESENT
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SemanticSegmentationPass m_SemanticSegmentationPass; |
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#endif
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MetricDefinition m_ObjectCountMetricDefinition; |
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AnnotationDefinition m_BoundingBoxAnnotationDefinition; |
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AnnotationDefinition m_SemanticSegmentationAnnotationDefinition; |
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MetricDefinition m_RenderedObjectInfoMetricDefinition; |
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[SuppressMessage("ReSharper", "InconsistentNaming")] |
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struct SemanticSegmentationSpec |
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{ |
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[UsedImplicitly] |
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public int label_id; |
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[UsedImplicitly] |
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public string label_name; |
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[UsedImplicitly] |
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public int pixel_value; |
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} |
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/// <summary>
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/// Add a data object which will be added to the dataset with each capture. Overrides existing sensor data associated with the given key.
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/// </summary>
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var width = myCamera.pixelWidth; |
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var height = myCamera.pixelHeight; |
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if (produceSegmentationImages && LabelingConfiguration == null) |
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{ |
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Debug.LogError("LabelingConfiguration must be set if producing ground truth data"); |
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produceSegmentationImages = false; |
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} |
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semanticSegmentationTexture = new RenderTexture(new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8)); |
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semanticSegmentationTexture.name = "Labeling"; |
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#if HDRP_PRESENT
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var customPassVolume = this.GetComponent<CustomPassVolume>() ?? gameObject.AddComponent<CustomPassVolume>(); |
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customPassVolume.injectionPoint = CustomPassInjectionPoint.BeforeRendering; |
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customPassVolume.isGlobal = true; |
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m_SemanticSegmentationPass = new SemanticSegmentationPass(myCamera, semanticSegmentationTexture, LabelingConfiguration) |
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{ |
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name = "Labeling Pass" |
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}; |
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SetupPasses(customPassVolume); |
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#endif
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#if URP_PRESENT
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AddScriptableRenderPass(new SemanticSegmentationUrpPass(myCamera, semanticSegmentationTexture, LabelingConfiguration)); |
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#endif
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if (produceSegmentationImages) |
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{ |
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var specs = LabelingConfiguration.LabelEntries.Select((l) => new SemanticSegmentationSpec() |
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{ |
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label_id = l.id, |
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label_name = l.label, |
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pixel_value = l.value |
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}).ToArray(); |
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m_SemanticSegmentationAnnotationDefinition = SimulationManager.RegisterAnnotationDefinition("semantic segmentation", specs, "pixel-wise semantic segmentation label", "PNG"); |
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m_SemanticSegmentationTextureReader = new RenderTextureReader<short>(semanticSegmentationTexture, myCamera, |
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(frameCount, data, tex) => OnSemanticSegmentationImageRead(frameCount, data)); |
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} |
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#if HDRP_PRESENT
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void SetupPasses(CustomPassVolume customPassVolume) |
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{ |
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customPassVolume.customPasses.Remove(m_SemanticSegmentationPass); |
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if (produceSegmentationImages) |
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customPassVolume.customPasses.Add(m_SemanticSegmentationPass); |
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} |
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#endif
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(int index, AsyncCaptureInfo asyncCaptureInfo) FindAsyncCaptureInfo(int frameCount) |
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{ |
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for (var i = 0; i < m_AsyncCaptureInfos.Count; i++) |
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{ |
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var captureInfo = m_AsyncCaptureInfos[i]; |
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if (captureInfo.FrameCount == frameCount) |
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{ |
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return (i, captureInfo); |
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} |
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} |
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return (-1, default); |
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} |
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// Update is called once per frame
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void Update() |
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{ |
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var cam = GetComponent<Camera>(); |
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cam.enabled = SensorHandle.ShouldCaptureThisFrame; |
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m_AsyncCaptureInfos.RemoveSwapBack(i => |
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!i.SegmentationAsyncAnnotation.IsPending && |
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!i.BoundingBoxAsyncMetric.IsPending && |
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!i.RenderedObjectInfoAsyncMetric.IsPending && |
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!i.ClassCountAsyncMetric.IsPending); |
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} |
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void ReportAsyncAnnotations() |
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{ |
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if (produceSegmentationImages) |
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{ |
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var captureInfo = new AsyncCaptureInfo() |
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{ |
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FrameCount = Time.frameCount |
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}; |
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if (produceSegmentationImages) |
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captureInfo.SegmentationAsyncAnnotation = SensorHandle.ReportAnnotationAsync(m_SemanticSegmentationAnnotationDefinition); |
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m_AsyncCaptureInfos.Add(captureInfo); |
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} |
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} |
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void CaptureRgbData(Camera cam) |
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void OnSimulationEnding() |
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{ |
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m_SemanticSegmentationTextureReader?.WaitForAllImages(); |
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m_SemanticSegmentationTextureReader?.Dispose(); |
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m_SemanticSegmentationTextureReader = null; |
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RenderPipelineManager.beginCameraRendering -= OnBeginCameraRendering; |
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} |
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return; |
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#endif
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BeginRendering?.Invoke(); |
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ReportAsyncAnnotations(); |
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CaptureRgbData(cam); |
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} |
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OnSimulationEnding(); |
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m_SemanticSegmentationTextureReader?.Dispose(); |
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m_SemanticSegmentationTextureReader = null; |
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if (semanticSegmentationTexture != null) |
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semanticSegmentationTexture.Release(); |
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semanticSegmentationTexture = null; |
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void OnSemanticSegmentationImageRead(int frameCount, NativeArray<short> data) |
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{ |
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var findResult = FindAsyncCaptureInfo(frameCount); |
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var asyncCaptureInfo = findResult.asyncCaptureInfo; |
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var dxLocalPath = Path.Combine(k_SemanticSegmentationDirectory, k_SegmentationFilePrefix) + frameCount + ".png"; |
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var path = Path.Combine(Manager.Instance.GetDirectoryFor(k_SemanticSegmentationDirectory), k_SegmentationFilePrefix) + frameCount + ".png"; |
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var annotation = asyncCaptureInfo.SegmentationAsyncAnnotation; |
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if (!annotation.IsValid) |
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return; |
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annotation.ReportFile(dxLocalPath); |
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var asyncRequest = Manager.Instance.CreateRequest<AsyncRequest<AsyncSemanticSegmentationWrite>>(); |
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asyncRequest.data = new AsyncSemanticSegmentationWrite() |
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{ |
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dataArray = data.ToArray(), |
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width = semanticSegmentationTexture.width, |
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height = semanticSegmentationTexture.height, |
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path = path |
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}; |
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asyncRequest.Start((r) => |
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{ |
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Profiler.EndSample(); |
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Profiler.BeginSample("Encode"); |
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var pngBytes = ImageConversion.EncodeArrayToPNG(r.data.dataArray, GraphicsFormat.R8G8B8A8_UNorm, (uint)r.data.width, (uint)r.data.height); |
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Profiler.EndSample(); |
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Profiler.BeginSample("WritePng"); |
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File.WriteAllBytes(r.data.path, pngBytes); |
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Manager.Instance.ConsumerFileProduced(r.data.path); |
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Profiler.EndSample(); |
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return AsyncRequest.Result.Completed; |
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}); |
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} |
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} |
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} |
Jon Hogins
5 年前