Namespace UnityEngine.Perception.GroundTruth
Classes
BoundingBox2DLabeler
Produces 2d bounding box annotations for all visible objects each frame.
CameraLabeler
Abstract class for defining custom annotation and metric generation to be run by PerceptionCamera. Instances of CameraLabeler on labelers will be invoked each frame the camera is set to capture data (see ShouldCaptureThisFrame).
DatasetCapture
Global manager for frame scheduling and output capture for simulations. Data capture follows the schema defined in TODO: Expose schema publicly
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.
IdLabelConfig
A definition for how a Labeling should be resolved to a single label and id for ground truth generation.
LabelConfig<T>
A definition for how a Labeling should be resolved to a single label and id for ground truth generation.
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.
ObjectCountLabeler
Labeler which produces object counts for each label in the associated IdLabelConfig each frame.
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
RenderedObjectInfoLabeler
Labeler which produces label id, instance id, and visible pixel count in a single metric each frame for each object which takes up one or more pixels in the camera's frame.
SemanticSegmentationLabelConfig
A definition for how a Labeling should be resolved to a single label and color for semantic segmentation generation.
SemanticSegmentationLabeler
Labeler which generates a semantic segmentation image each frame. Each object is rendered to the semantic segmentation image using the color associated with it based on the given SemanticSegmentationLabelConfig. Semantic segmentation images are saved to the dataset in PNG format.
Only one SemanticSegmentationLabeler can render at once across all cameras.
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
IdLabelEntry
An entry for IdLabelConfig mapping a label to an integer id.
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.
SemanticSegmentationLabelEntry
LabelEntry for SemanticSegmentationLabelConfig. Maps a label to a color.
SemanticSegmentationLabeler.ImageReadbackEventArgs
Event information for imageReadback
SensorHandle
A handle to a sensor managed by the DatasetCapture. 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.
ILabelEntry
Required interface for entries in a LabelConfig<T>. Exposes the string label which is the "key" for the entry.
Enums
BoundingBoxOrigin
The origin to use for bounding box calculation
StartingLabelId
Selector for whether label ids should start at zero or one. startingLabelId.