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.