Class PerceptionCamera

Captures ground truth from the associated Camera.

Inheritance

PerceptionCamera

Namespace: UnityEngine.Perception.GroundTruth

Syntax

public class PerceptionCamera : MonoBehaviour

Fields

captureRgbImages

Whether camera output should be captured to disk.

Declaration

public bool captureRgbImages

Field Value

Type	Description
Boolean

captureTriggerMode

The method of triggering captures for this camera.

Declaration

public CaptureTriggerMode captureTriggerMode

Field Value

Type	Description
CaptureTriggerMode

description

A human-readable description of the camera.

Declaration

public string description

Field Value

Type	Description
String

firstCaptureFrame

Frame number at which this camera starts capturing.

Declaration

public int firstCaptureFrame

Field Value

Type	Description
Int32

framesBetweenCaptures

The number of frames to simulate and render between the camera's scheduled captures. Setting this to 0 makes the camera capture every frame.

Declaration

public int framesBetweenCaptures

Field Value

Type	Description
Int32

ID

The string ID of this camera sensor

Declaration

public string ID

Field Value

Type	Description
String

manualSensorAffectSimulationTiming

Have this unscheduled (manual capture) camera affect simulation timings (similar to a scheduled camera) by requesting a specific frame delta time.

Declaration

public bool manualSensorAffectSimulationTiming

Field Value

Type	Description
Boolean

RgbCaptureReadback

An event that executes for each captured RGB image that is read from GPU memory back to CPU memory.

Declaration

public Action<int, NativeArray<Color32>> RgbCaptureReadback

Field Value

Type	Description
Action<Int32, NativeArray<Color32>>

showVisualizations

Turns on/off the realtime visualization capability.

Declaration

public bool showVisualizations

Field Value

Type	Description
Boolean

simulationDeltaTime

The simulation frame time (seconds) for this camera. E.g. 0.0166 translates to 60 frames per second. This will be used as Unity's , causing a fixed number of frames to be generated for each second of elapsed simulation time regardless of the capabilities of the underlying hardware.

Declaration

public float simulationDeltaTime

Field Value

Type	Description
Single

useAsyncReadbackIfSupported

A toggle for choosing whether to use async or synchronous readback APIs to transfer captured RGB image data from the GPU back to the CPU. The more performant option of async readbacks is enabled by default.

Declaration

public static bool useAsyncReadbackIfSupported

Field Value

Type	Description
Boolean

Properties

attachedCamera

Caches access to the camera attached to the perception camera.

Declaration

public Camera attachedCamera { get; }

Property Value

Type	Description
Camera

captureFrameCount

The number of capture-able frames that have been generated

Declaration

public static int captureFrameCount { get; }

Property Value

Type	Description
Int32

labelers

The CameraLabeler instances which will be run for this PerceptionCamera.

Declaration

public IReadOnlyList<CameraLabeler> labelers { get; }

Property Value

Type	Description
IReadOnlyList<CameraLabeler>

SensorHandle

The SensorHandle associated with this camera. Use this to report additional annotations and metrics at runtime.

Declaration

public SensorHandle SensorHandle { get; }

Property Value

Type	Description
SensorHandle

Methods

AddLabeler(CameraLabeler)

Add the given CameraLabeler to the PerceptionCamera. It will be set up and executed by this PerceptionCamera each frame it captures data.

Declaration

public void AddLabeler(CameraLabeler cameraLabeler)

Parameters

Type	Name	Description
CameraLabeler	cameraLabeler	The labeler to add to this PerceptionCamera

RemoveLabeler(CameraLabeler)

Removes the given CameraLabeler from the list of labelers under this PerceptionCamera, if it is in the list. The labeler is cleaned up in the process. Labelers removed from a PerceptionCamera should not be used again.

Declaration

public bool RemoveLabeler(CameraLabeler cameraLabeler)

Parameters

Type	Name	Description
CameraLabeler	cameraLabeler

Returns

Type	Description
Boolean

RemovePersistentSensorData(String)

Removes a persistent sensor data object.

Declaration

public bool RemovePersistentSensorData(string key)

Parameters

Type	Name	Description
String	key	The key of the object to remove.

Returns

Type	Description
Boolean	True if a data object was removed. False if it was not set.

RequestCapture()

Requests a capture from this camera on the next rendered frame. Can only be used when using Manual capture mode.

Declaration

public void RequestCapture()

SetPersistentSensorData(String, Object)

Add a data object which will be added to the dataset with each capture. Overrides existing sensor data associated with the given key.

Declaration

public void SetPersistentSensorData(string key, object data)

Parameters

Type	Name	Description
String	key	The key to associate with the data.
Object	data	An object containing the data. Will be serialized into json.

Events

InstanceSegmentationImageReadback

Invoked when instance segmentation images are read back from the graphics system. The first parameter is the Time.frameCount at which the objects were rendered. May be invoked many frames after the objects were rendered.

Declaration

public event Action<int, NativeArray<Color32>, RenderTexture> InstanceSegmentationImageReadback

Event Type

Type	Description
Action<Int32, NativeArray<Color32>, RenderTexture>

RenderedObjectInfosCalculated

Invoked when RenderedObjectInfos are calculated. The first parameter is the Time.frameCount at which the objects were rendered. This may be called many frames after the objects were rendered.

Declaration

public event Action<int, NativeArray<RenderedObjectInfo>> RenderedObjectInfosCalculated

Event Type

Type	Description
Action<Int32, NativeArray<RenderedObjectInfo>>