Solo API definition

com.unity.perception/Runtime/GroundTruth/SoloDesign.meta

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com.unity.perception/Runtime/GroundTruth/SoloDesign/Frame.cs

+using System.Collections.Generic;
+
+namespace UnityEngine.Perception.GroundTruth.SoloDesign
+{
+    /// <summary>
+    /// Data generated from a perception simulation will be pushed to an active
+    /// consumer.
+    /// </summary>
+    public interface IPerceptionConsumer
+    {
+        /// <summary>
+        /// Called when the simulation begins. Provides simulation wide metadata to
+        /// the consumer.
+        /// </summary>
+        /// <param name="metadata">Metadata describing the active simulation</param>
+        void OnSimulationStarted(SimulationMetadata metadata);
+        /// <summary>
+        /// Called at the end of each frame. Contains all of the generated data for the
+        /// frame. This method is called after the frame has entirely finished processing.
+        /// </summary>
+        /// <param name="frame">The frame data.</param>
+        void OnFrameGenerated(Frame frame);
+        /// <summary>
+        /// Called at the end of the simulation. Contains metadata describing the entire
+        /// simulation process.
+        /// </summary>
+        /// <param name="metadata">Metadata describing the entire simulation process</param>
+        void OnSimulationCompleted(CompletionMetadata metadata);
+    }
+
+    /// <summary>
+    /// Metadata describing the simulation.
+    /// </summary>
+    public class SimulationMetadata
+    {
+        /// <summary>
+        /// The version of the Unity editor executing the simulation.
+        /// </summary>
+        public string unityVersion;
+        /// <summary>
+        /// The version of the perception package used to generate the data.
+        /// </summary>
+        public string perceptionVersion;
+        /// <summary>
+        /// The render pipeline used to create the data. Currently either URP or HDRP.
+        /// </summary>
+        public string renderPipeline;
+        /// <summary>
+        /// Additional key/value pair metadata that can be associated with
+        /// the simulation.
+        /// </summary>
+        public Dictionary<string, object> metadata;
+
+        // We could probably list all of the randomizers here...
+    }
+
+    /// <summary>
+    /// Metadata describing the final metrics of the simulation.
+    /// </summary>
+    public class CompletionMetadata : SimulationMetadata
+    {
+        public struct Sequence
+        {
+            /// <summary>
+            /// The ID of the sequence
+            /// </summary>
+            public int id;
+            /// <summary>
+            /// The number of steps in the sequence.
+            /// </summary>
+            public int numberOfSteps;
+        }
+
+        /// <summary>
+        /// Total frames processed in the simulation. These frames are distributed
+        /// over sequence and steps.
+        /// </summary>
+        public int totalFrames;
+        /// <summary>
+        /// A list of all of the sequences and the number of steps in the sequence for
+        /// a simulation.
+        /// </summary>
+        public List<Sequence> sequences;
+    }
+
+    /// <summary>
+    /// The top level structure that holds all of the artifacts of a simulation
+    /// frame. This is only reported after all of the captures, annotations, and
+    /// metrics are ready to report for a single frame.
+    /// </summary>
+    public class Frame
+    {
+        /// <summary>
+        /// The perception frame number of this record
+        /// </summary>
+        public int frame;
+        /// <summary>
+        /// The sequence that this record is a part of
+        /// </summary>
+        public int sequence;
+        /// <summary>
+        /// The step in the sequence that this record is a part of
+        /// </summary>
+        public int step;
+        /// <summary>
+        /// A list of all of the sensor captures recorded for the frame.
+        /// </summary>
+        public List<Sensor> sensors;
+        /// <summary>
+        /// A list of all of the annotations recorded recorded for the frame.
+        /// </summary>
+        public List<Annotation> annotations;
+        /// <summary>
+        /// A list of all of the metrics recorded recorded for the frame.
+        /// </summary>
+        public List<Metric> metrics;
+    }
+
+    /// <summary>
+    /// Abstract sensor class that holds all of the common information for a sensor.
+    /// </summary>
+    public abstract class Sensor
+    {
+        /// <summary>
+        /// The unique, human readable ID for the sensor.
+        /// </summary>
+        public string Id;
+        /// <summary>
+        /// The type of the sensor.
+        /// </summary>
+        public string sensorType;
+        /// <summary>
+        /// The position (xyz) of the sensor in the world.
+        /// </summary>
+        public Vector3 position;
+        /// <summary>
+        /// The rotation in euler angles.
+        /// </summary>
+        public Vector3 rotation;
+        /// <summary>
+        /// The current velocity (xyz) of the sensor.
+        /// </summary>
+        public Vector3 velocity;
+        /// <summary>
+        /// The current acceleration (xyz) of the sensor.
+        /// </summary>
+        public Vector3 acceleration;
+        /// <summary>
+        /// Additional key/value pair metadata that can be associated with
+        /// the sensor.
+        /// </summary>
+        public Dictionary<string, object> metadata;
+    }
+
+    /// <summary>
+    /// The concrete class for an RGB sensor.
+    /// </summary>
+    public class RgbSensor : Sensor
+    {
+        // The format of the image type
+        public string imageFormat;
+        // The dimensions (width, height) of the image
+        public Vector2 dimension;
+        // The raw bytes of the image file
+        public byte[] buffer;
+    }
+
+    /// <summary>
+    /// Abstract class that holds the common data found in all
+    /// annotations. Concrete instances of this class will add
+    /// data for their specific annotation type.
+    /// </summary>
+    public abstract class Annotation
+    {
+        /// <summary>
+        /// The unique, human readable ID for the annotation.
+        /// </summary>
+        public string Id;
+        /// <summary>
+        /// The sensor that this annotation is associated with.
+        /// </summary>
+        public string sensorId;
+        /// <summary>
+        /// The description of the annotation.
+        /// </summary>
+        public string description;
+        /// <summary>
+        /// The type of the annotation, this will map directly to one of the
+        /// annotation subclasses that are concrete implementations of this abstract
+        /// class.
+        /// </summary>
+        public string annotationType;
+        /// <summary>
+        /// Additional key/value pair metadata that can be associated with
+        /// any record.
+        /// </summary>
+        public Dictionary<string, object> metadata;
+    }
+
+    /// <summary>
+    /// Bounding boxes for all of the labeled objects in a capture
+    /// </summary>
+    public class BoundingBoxAnnotation : Annotation
+    {
+        public struct Entry
+        {
+            // The instance ID of the object
+            public int instanceId;
+            // The type of the object
+            public string label;
+            /// <summary>
+            /// (xy) pixel location of the object's bounding box
+            /// </summary>
+            public Vector2 origin;
+            /// <summary>
+            /// (width/height) dimensions of the bounding box
+            /// </summary>
+            public Vector2 dimension;
+        }
+
+        /// <summary>
+        /// The bounding boxes recorded by the annotator
+        /// </summary>
+        public List<Entry> boxes;
+    }
+
+    /// <summary>
+    /// The instance segmentation image recorded for a capture. This
+    /// includes the data that associates a pixel color to an object.
+    /// </summary>
+    public class InstanceSegmentation : Annotation
+    {
+        public struct Entry
+        {
+            /// <summary>
+            /// The instance ID associated with a pixel color
+            /// </summary>
+            public int instanceId;
+            /// <summary>
+            /// The color (rgba) value
+            /// </summary>
+            public Color32 rgba;
+        }
+
+        /// <summary>
+        /// This instance to pixel map
+        /// </summary>
+        public List<Entry> instances;
+        // The format of the image type
+        public string imageFormat;
+        // The dimensions (width, height) of the image
+        public Vector2 dimension;
+        // The raw bytes of the image file
+        public byte[] buffer;
+    }
+
+    /// <summary>
+    /// Abstract class that holds the common data found in all
+    /// metrics. Concrete instances of this class will add
+    /// data for their specific metric type.
+    /// </summary>
+    public abstract class Metric
+    {
+        /// <summary>
+        /// The sensor ID that this metric is associated with
+        /// </summary>
+        public string sensorId;
+        /// <summary>
+        /// The annotation ID that this metric is associated with. If the value is none ("")
+        /// then the metric is capture wide, and not associated with a specific annotation.
+        /// </summary>
+        public string annotationId;
+        /// <summary>
+        /// A human readable description of what this metric is for.
+        /// </summary>
+        public string description;
+        /// <summary>
+        /// Additional key/value pair metadata that can be associated with
+        /// any metric.
+        /// </summary>
+        public Dictionary<string, object> metadata;
+    }
+
+    /// <summary>
+    /// The object count metric records how many of a particular object are
+    /// present in a capture.
+    /// </summary>
+    public class ObjectCountMetric : Metric
+    {
+        public struct Entry
+        {
+            /// <summary>
+            /// The label of the category
+            /// </summary>
+            public string labelName;
+            /// <summary>
+            /// The number of instances for a particular category.
+            /// </summary>
+            public int count;
+        }
+
+        /// <summary>
+        ///  The object counts
+        /// </summary>
+        public List<Entry> objectCounts;
+    }
+}

com.unity.perception/Runtime/GroundTruth/SoloDesign/Frame.cs.meta

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