Class DatasetCapture

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

Inheritance

Object

DatasetCapture

Inherited Members

Object.ToString()

Object.Equals(Object)

Object.Equals(Object, Object)

Object.ReferenceEquals(Object, Object)

Object.GetHashCode()

Object.GetType()

Object.MemberwiseClone()

Namespace: UnityEngine.Perception.GroundTruth

Syntax

public static class DatasetCapture

Properties

SchemaVersion

The json metadata schema version the DatasetCapture's output conforms to.

Declaration

public static string SchemaVersion { get; }

Property Value

Type	Description
String

Methods

RegisterAnnotationDefinition(String, String, String, Guid)

Creates an annotation type, which can be used to produce annotations during the simulation. See ReportAnnotationFile(AnnotationDefinition, String), ReportAnnotationValues<T>(AnnotationDefinition, T[]) and ReportAnnotationAsync(AnnotationDefinition).

Declaration

public static AnnotationDefinition RegisterAnnotationDefinition(string name, string description = null, string format = "json", Guid id = default(Guid))

Parameters

Type	Name	Description
String	name	Human readable annotation spec name (e.g. sementic_segmentation, instance_segmentation, etc.)
String	description	Description of the annotation.
String	format	Optional format name.
Guid	id	The ID for this annotation type. This allows annotation types to be shared across simulations and sequences.

Returns

Type	Description
AnnotationDefinition	An AnnotationDefinition. If the given has already been defined, its AnnotationDefinition is returned.

RegisterAnnotationDefinition<TSpec>(String, TSpec[], String, String, Guid)

Declaration

public static AnnotationDefinition RegisterAnnotationDefinition<TSpec>(string name, TSpec[] specValues, string description = null, string format = "json", Guid id = default(Guid))

Parameters

Type	Name	Description
String	name	Human readable annotation spec name (e.g. sementic_segmentation, instance_segmentation, etc.)
TSpec[]	specValues	Format-specific specification for the annotation values (ex. label-value mappings for semantic segmentation images)
String	description	Description of the annotation.
String	format	Optional format name.
Guid	id	The ID for this annotation type. This allows annotation types to be shared across simulations and sequences.

Returns

Type	Description
AnnotationDefinition	An AnnotationDefinition. If the given has already been defined, its AnnotationDefinition is returned.

Type Parameters

Name	Description
TSpec	The type of the values for the spec array in the resulting json.

RegisterEgo(String)

Register a new ego. Used along with RegisterSensor to organize sensors under a top-level ego container. RegisterSensor(EgoHandle, String, String, Single, Single)

Declaration

public static EgoHandle RegisterEgo(string description)

Parameters

Type	Name	Description
String	description	A human-readable description for the ego

Returns

Type	Description
EgoHandle	An EgoHandle, which can be used to organize sensors under a common ego.

RegisterMetricDefinition(String, String, Guid)

Creates a metric type, which can be used to produce metrics during the simulation. See ReportMetric<T>(MetricDefinition, T[]), ReportMetricAsync(MetricDefinition), ReportMetric<T>(MetricDefinition, T[]), ReportMetricAsync(MetricDefinition), ReportMetric<T>(MetricDefinition, T[]), ReportMetricAsync(MetricDefinition)

Declaration

public static MetricDefinition RegisterMetricDefinition(string name, string description = null, Guid id = default(Guid))

Parameters

Type	Name	Description
String	name	Human readable annotation spec name (e.g. sementic_segmentation, instance_segmentation, etc.)
String	description	Description of the annotation.
Guid	id	The ID for this metric. This allows metric types to be shared across simulations and sequences.

Returns

Type	Description
MetricDefinition	A MetricDefinition, which can be used during this simulation to report metrics.

RegisterMetricDefinition<TSpec>(String, TSpec[], String, Guid)

Declaration

public static MetricDefinition RegisterMetricDefinition<TSpec>(string name, TSpec[] specValues, string description = null, Guid id = default(Guid))

Parameters

Type	Name	Description
String	name	Human readable annotation spec name (e.g. sementic_segmentation, instance_segmentation, etc.)
TSpec[]	specValues	Format-specific specification for the metric values. Will be converted to json automatically.
String	description	Description of the annotation.
Guid	id	The ID for this metric. This allows metric types to be shared across simulations and sequences.

Returns

Type	Description
MetricDefinition	A MetricDefinition, which can be used during this simulation to report metrics.

Type Parameters

Name	Description
TSpec	The type of the struct to write.

RegisterSensor(EgoHandle, String, String, Single, Single)

Declaration

public static SensorHandle RegisterSensor(EgoHandle egoHandle, string modality, string description, float period, float firstCaptureTime)

Parameters

Type	Name	Description
EgoHandle	egoHandle	The ego container for the sensor. Sensor orientation will be reported in the context of the given ego.
String	modality	The kind of the sensor (ex. "camera", "lidar")
String	description	A human-readable description of the sensor (ex. "front-left rgb camera")
Single	period	The period, in seconds, on which the sensor should capture. Frames will be scheduled in the simulation such that each sensor is triggered every period seconds.
Single	firstCaptureTime	The time, in seconds, from the start of the sequence on which this sensor should first be scheduled.

Returns

Type	Description
SensorHandle	A SensorHandle, which should be used to check ShouldCaptureThisFrame each frame to determine whether to capture (or render) that frame. It is also used to report captures, annotations, and metrics on the sensor.

Exceptions

Type	Condition
ArgumentException	Thrown if ego is invalid.

ReportMetric(MetricDefinition, String)

Report a metric not associated with any sensor or annotation.

Declaration

public static void ReportMetric(MetricDefinition metricDefinition, string valuesJsonArray)

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The MetricDefinition associated with this metric. RegisterMetricDefinition(String, String, Guid)
String	valuesJsonArray	A string-based JSON array to be placed in the "values" field of the metric

ReportMetric<T>(MetricDefinition, T[])

Report a metric not associated with any sensor or annotation.

Declaration

public static void ReportMetric<T>(MetricDefinition metricDefinition, T[] values)

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The MetricDefinition associated with this metric. RegisterMetricDefinition(String, String, Guid)
T[]	values	An array to be converted to json and put in the "values" field of the metric

Type Parameters

Name	Description
T	The type of the array

ReportMetricAsync(MetricDefinition)

Report a metric not associated with any sensor or annotation.

Declaration

public static AsyncMetric ReportMetricAsync(MetricDefinition metricDefinition)

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The metric definition of the metric being reported

Returns

Type	Description
AsyncMetric	An AsyncMetric which should be used to report the metric values, potentially in a later frame

ResetSimulation()

Stop the current simulation and start a new one. All pending data is written to disk before returning.

Declaration

public static void ResetSimulation()

StartNewSequence()

Starts a new sequence in the capture.

Declaration

public static void StartNewSequence()

Events

SimulationEnding

Called when the simulation ends. The simulation ends on playmode exit, application exit, or when ResetSimulation() is called.

Declaration

public static event Action SimulationEnding

Event Type

Type	Description
Action