using System ;
using System.Collections.Generic ;
using System.Diagnostics.CodeAnalysis ;
using System.Linq ;
using UnityEngine.Perception.GroundTruth.DataModel ;
using UnityEngine.Perception.GroundTruth.Exporters.Solo ;
using UnityEngine.Rendering ;
namespace UnityEngine.Perception.GroundTruth
/// </summary>
public class BoundingBox3DLabeler : CameraLabeler
{
public class BoundingBox3DAnnotationDefinition : AnnotationDefinition
{
static readonly string k_Id = "bounding box 3d" ;
static readonly string k_Description = "Produces 3D bounding box ground truth data for all visible objects that bear a label defined in this labeler's associated label configuration." ;
static readonly string k_AnnotationType = "bounding box 3d" ;
public BoundingBox3DAnnotationDefinition ( ) : base ( k_Id , k_Description , k_AnnotationType ) { }
public BoundingBox3DAnnotationDefinition ( IEnumerable < DefinitionEntry > spec )
: base ( k_Id , k_Description , k_AnnotationType )
{
this . spec = spec ;
}
[Serializable]
public struct DefinitionEntry : IMessageProducer
{
public DefinitionEntry ( int id , string name )
{
labelId = id ;
labelName = name ;
}
public int labelId ;
public string labelName ;
public void ToMessage ( IMessageBuilder builder )
{
builder . AddInt ( "label_id" , labelId ) ;
builder . AddString ( "label_name" , labelName ) ;
}
}
public IEnumerable < DefinitionEntry > spec ;
public override void ToMessage ( IMessageBuilder builder )
{
base . ToMessage ( builder ) ;
foreach ( var e in spec )
{
var nested = builder . AddNestedMessageToVector ( "spec" ) ;
e . ToMessage ( nested ) ;
}
}
}
[Serializable]
public class BoundingBoxAnnotation : Annotation
{
public struct Entry
{
/// <summary>
/// Integer identifier of the label
/// </summary>
public int labelId ;
/// <summary>
/// String identifier of the label
/// </summary>
public string labelName ;
/// <summary>
/// UUID of the instance
/// </summary>
public uint instanceId ;
/// <summary>
/// 3d bounding box's center location in meters as center_x, center_y, center_z with respect to global coordinate system
/// </summary>
public Vector3 translation ;
/// <summary>
/// 3d bounding box size in meters as width, length, height
/// </summary>
public Vector3 size ;
/// <summary>
/// 3d bounding box orientation as quaternion: w, x, y, z
/// </summary>
public Quaternion rotation ;
/// <summary>
/// [optional]: 3d bounding box velocity in meters per second as v_x, v_y, v_z
/// </summary>
public Vector3 velocity ;
/// <summary>
/// [optional]: 3d bounding box acceleration in meters per second^2 as a_x, a_y, a_z
/// </summary>
public Vector3 acceleration ;
public void ToMessage ( IMessageBuilder builder )
{
builder . AddInt ( "instance_id" , ( int ) instanceId ) ;
builder . AddInt ( "label_id" , labelId ) ;
builder . AddString ( "label_name" , labelName ) ;
builder . AddFloatVector ( "translation" , Utils . ToFloatVector ( translation ) ) ;
builder . AddFloatVector ( "size" , Utils . ToFloatVector ( size ) ) ;
builder . AddFloatVector ( "rotation" , Utils . ToFloatVector ( rotation . eulerAngles ) ) ;
builder . AddFloatVector ( "velocity" , Utils . ToFloatVector ( velocity ) ) ;
builder . AddFloatVector ( "acceleration" , Utils . ToFloatVector ( acceleration ) ) ;
}
}
/// <summary>
/// The bounding boxes recorded by the annotator
/// </summary>
public List < Entry > boxes ;
public override void ToMessage ( IMessageBuilder builder )
{
base . ToMessage ( builder ) ;
foreach ( var e in boxes )
{
var nested = builder . AddNestedMessageToVector ( "values" ) ;
e . ToMessage ( nested ) ;
}
}
}
///<inheritdoc/>
public override string description
{
/// </summary>
public IdLabelConfig idLabelConfig ;
// ReSharper restore MemberCanBePrivate.Global
#if false
/// <summary>
/// Each 3D bounding box data record maps a tuple of (instance, label) to translation, size and rotation that draws a 3D bounding box,
/// as well as velocity and acceleration (optional) of the 3D bounding box. All location data is given with respect to the sensor coordinate system.
/// </summary>
public Vector3 acceleration ;
}
#endif
// AnnotationDefinition m_AnnotationDefinition;
BoundingBox3DAnnotationDefinition m_AnnotationDefinition ;
Dictionary < int , Dictionary < uint , BoxData > > m_BoundingBoxValues ;
List < BoxData > m_ToReport ;
Dictionary < int , Dictionary < uint , BoundingBoxAnnotation . Entry > > m_BoundingBoxValues ;
List < BoundingBoxAnnotation . Entry > m_ToReport ;
// int m_CurrentFrame;
int m_CurrentFrame ;
/// <summary>
/// <summary>
/// Fired when the bounding boxes are computed for a frame.
/// </summary>
public event Action < int , List < BoxData > > BoundingBoxComputed ;
public event Action < int , List < BoundingBoxAnnotation . Entry > > BoundingBoxComputed ;
/// <summary>
/// Creates a new BoundingBox3DLabeler. Be sure to assign <see cref="idLabelConfig"/> before adding to a <see cref="PerceptionCamera"/>.
{
if ( idLabelConfig = = null )
throw new InvalidOperationException ( "BoundingBox3DLabeler's idLabelConfig field must be assigned" ) ;
#if false
m_AnnotationDefinition = DatasetCapture . RegisterAnnotationDefinition ( "bounding box 3D" , idLabelConfig . GetAnnotationSpecification ( ) ,
"Bounding box for each labeled object visible to the sensor" , id : new Guid ( annotationId ) ) ;
#else
// m_AnnotationDefinition = new AnnotationDefinition();
#endif
var spec = idLabelConfig . GetAnnotationSpecification ( ) . Select ( i = > new BoundingBox3DAnnotationDefinition . DefinitionEntry { labelId = i . label_id , labelName = i . label_name } ) ;
m_AnnotationDefinition = new BoundingBox3DAnnotationDefinition ( spec ) ;
DatasetCapture . RegisterAnnotationDefinition ( m_AnnotationDefinition ) ;
m_BoundingBoxValues = new Dictionary < int , Dictionary < uint , BoxData > > ( ) ;
m_ToReport = new List < BoxData > ( ) ;
m_BoundingBoxValues = new Dictionary < int , Dictionary < uint , BoundingBoxAnnotation . Entry > > ( ) ;
m_ToReport = new List < BoundingBoxAnnotation . Entry > ( ) ;
static BoxData ConvertToBoxData ( IdLabelEntry label , uint instanceId , Vector3 center , Vector3 extents , Quaternion rot )
static BoundingBoxAnnotation . Entry ConvertToBoxData ( IdLabelEntry label , uint instanceId , Vector3 center , Vector3 extents , Quaternion rot )
return new BoxData
return new BoundingBoxAnnotation . Entry
label_i d = label . id ,
label_n ame = label . label ,
instance_i d = instanceId ,
labelI d = label . id ,
labelN ame = label . label ,
instanceI d = instanceId ,
translation = center ,
size = extents * 2 ,
rotation = rot ,
/// <inheritdoc/>
protected override void OnBeginRendering ( ScriptableRenderContext scriptableRenderContext )
{
#if false
m_BoundingBoxValues [ m_CurrentFrame ] = new Dictionary < uint , BoxData > ( ) ;
m_BoundingBoxValues [ m_CurrentFrame ] = new Dictionary < uint , BoundingBoxAnnotation . Entry > ( ) ;
#endif
}
void OnRenderObjectInfosCalculated ( int frameCount , NativeArray < RenderedObjectInfo > renderedObjectInfos )
}
BoundingBoxComputed ? . Invoke ( frameCount , m_ToReport ) ;
// asyncAnnotation.ReportValues(m_ToReport);
var toReport = new BoundingBoxAnnotation
{
sensorId = perceptionCamera . ID ,
Id = m_AnnotationDefinition . id ,
description = m_AnnotationDefinition . description ,
annotationType = m_AnnotationDefinition . annotationType ,
boxes = m_ToReport
} ;
asyncAnnotation . Report ( toReport ) ;
}
}
var converted = ConvertToBoxData ( labelEntry , labeledEntity . instanceId , combinedBounds . center , combinedBounds . extents , cameraRotation ) ;
// m_BoundingBoxValues[m_CurrentFrame][labeledEntity.instanceId] = converted;
m_BoundingBoxValues [ m_CurrentFrame ] [ labeledEntity . instanceId ] = converted ;
}
}
}
Steve Borkman
3 年前