Namespace UnityEngine.Perception.GroundTruth
Classes
Ego
Marker indicating the GameObject is the root of the ego for a set of sensors. Works with Perception
GroundTruthLabelSetupSystem
System which notifies the registered IGround
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. Register
AsyncAnnotation
A handle to an async annotation, used to report values for an annotation after the frame for the annotation has past.
See Report
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 Ground
LabelEntry
Structure defining a label configuration for Labeling
MetricDefinition
A metric type, used to define a kind of metric. Register
RenderedObjectInfo
Describes an instance of an object in an instance segmentation frame. Generated by Rendered
SensorHandle
A handle to a sensor managed by the Simulation
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 Ground
Enums
BoundingBoxOrigin
The origin to use for bounding box calculation
StartingLabelId
Selector for whether label ids should start at zero or one. Starting