Class PerceptionCamera

Captures ground truth from the associated Camera.

Inheritance
Object
Object
Component
Behaviour
MonoBehaviour
PerceptionCamera
Inherited Members
Namespace: UnityEngine.Perception.GroundTruth
Syntax
[RequireComponent(typeof(Camera))]
public class PerceptionCamera : MonoBehaviour

Fields

captureRgbImages

Whether camera output should be captured to disk

Declaration
public bool captureRgbImages
Field Value
Type Description
Boolean

description

A human-readable description of the camera.

Declaration
public string description
Field Value
Type Description
String

period

The interval in seconds at which the camera should render and capture.

Declaration
public float period
Field Value
Type Description
Single

showVisualizations

Turns on/off the realtime visualization capability.

Declaration
[SerializeField]
public bool showVisualizations
Field Value
Type Description
Boolean

startTime

The start time in seconds of the first frame in the simulation.

Declaration
public float startTime
Field Value
Type Description
Single

Properties

attachedCamera

Caches access to the camera attached to the perception camera

Declaration
public Camera attachedCamera { get; }
Property Value
Type Description
Camera

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.

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<uint>, RenderTexture> InstanceSegmentationImageReadback
Event Type
Type Description
Action<Int32, NativeArray<UInt32>, 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>>