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    Namespace UnityEngine.Perception.GroundTruth

    Classes

    Ego

    Marker indicating the GameObject is the root of the ego for a set of sensors. Works with PerceptionCamera. Custom sensors can use the EgoHandle property to register themselves under this ego.

    GroundTruthLabelSetupSystem

    System which notifies the registered IGroundTruthGenerator about Labeling additions.

    Labeling

    Defines a set of labels associated with the object and its descendants. A Labeling component will override any Labeling components on the object's ancestors.

    LabelingConfiguration

    A definition for how a Labeling should be resolved to a single label and id for ground truth generation.

    PerceptionCamera

    Captures ground truth from the associated Camera.

    RenderTextureReader<T>

    RenderTextureReader reads a RenderTexture from the GPU each frame and passes the data back through a provided callback.

    RenderedObjectInfoGenerator

    A CPU-based pass which computes bounding box and pixel counts per-object from instance segmentation images

    SimulationManager

    Global manager for frame scheduling and output capture for simulations. Data capture follows the schema defined in TODO: Expose schema publicly

    Structs

    Annotation

    A handle to an annotation. Can be used to report metrics on the annotation.

    AnnotationDefinition

    A metric type, used to define a kind of annotation. RegisterAnnotationDefinition(string, string, string, Guid).

    AsyncAnnotation

    A handle to an async annotation, used to report values for an annotation after the frame for the annotation has past. See ReportAnnotationAsync(AnnotationDefinition)

    AsyncMetric

    Handle to a metric whose values may be reported in a subsequent frame.

    EgoHandle

    An ego, which is used to group multiple sensors under a single frame of reference.

    GroundTruthInfo

    Information regarding a Labeling instance. Generated by GroundTruthLabelSetupSystem

    LabelEntry

    Structure defining a label configuration for LabelingConfiguration.

    MetricDefinition

    A metric type, used to define a kind of metric. RegisterMetricDefinition(string, string, Guid).

    RenderedObjectInfo

    Describes an instance of an object in an instance segmentation frame. Generated by RenderedObjectInfoGenerator.

    SensorHandle

    A handle to a sensor managed by the SimulationManager. It can be used to check whether the sensor is expected to capture this frame and report captures, annotations, and metrics regarding the sensor.

    SensorSpatialData

    Container holding the poses of the ego and sensor. Also optionally contains the ego velocity and acceleration.

    Interfaces

    IGroundTruthGenerator

    Interface for setting up MeshRenderers for ground truth generation via GroundTruthLabelSetupSystem.

    Enums

    BoundingBoxOrigin

    The origin to use for bounding box calculation

    StartingLabelId

    Selector for whether label ids should start at zero or one. StartingLabelId.

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    • Structs
    • Interfaces
    • Enums
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