Class 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.

Inheritance
Object
CameraLabeler
SemanticSegmentationLabeler
Inherited Members
Namespace: UnityEngine.Perception.GroundTruth
Syntax
[Serializable]
public sealed class SemanticSegmentationLabeler : CameraLabeler

Constructors

SemanticSegmentationLabeler()

Creates a new SemanticSegmentationLabeler. Be sure to assign labelConfig before adding to a PerceptionCamera.

Declaration
public SemanticSegmentationLabeler()

SemanticSegmentationLabeler(SemanticSegmentationLabelConfig, RenderTexture)

Creates a new SemanticSegmentationLabeler with the given SemanticSegmentationLabelConfig.

Declaration
public SemanticSegmentationLabeler(SemanticSegmentationLabelConfig labelConfig, RenderTexture targetTextureOverride = null)
Parameters
Type Name Description
SemanticSegmentationLabelConfig labelConfig

The label config associating labels with colors.
RenderTexture targetTextureOverride

Override the target texture of the labeler. Will be reformatted on startup.

Fields

annotationId

The id to associate with semantic segmentation annotations in the dataset.

Declaration
[Tooltip("The id to associate with semantic segmentation annotations in the dataset.")]
public string annotationId
Field Value
Type Description
String

labelConfig

The SemanticSegmentationLabelConfig which maps labels to pixel values.

Declaration
public SemanticSegmentationLabelConfig labelConfig
Field Value
Type Description
SemanticSegmentationLabelConfig

Properties

description

A human-readable description of the labeler

Declaration
public override string description { get; protected set; }
Property Value
Type Description
String
Overrides

supportsVisualization

Labelers should set this in their setup to define if they support realtime visualization of their data.

Declaration
protected override bool supportsVisualization { get; }
Property Value
Type Description
Boolean
Overrides

targetTexture

The RenderTexture on which semantic segmentation images are drawn. Will be resized on startup to match the camera resolution.

Declaration
public RenderTexture targetTexture { get; }
Property Value
Type Description
RenderTexture

Methods

Cleanup()

Called when the Labeler is about to be destroyed or removed from the PerceptionCamera. Use this to clean up to state.

Declaration
protected override void Cleanup()
Overrides

OnBeginRendering()

Called just before the camera renders each frame the the labeler is enabled and ShouldCaptureThisFrame is true.

Declaration
protected override void OnBeginRendering()
Overrides

OnVisualizeAdditionalUI()

In this pass, a labeler can add custom GUI controls to the scene. Important note, all labeler's additional GUIs need to use Unity's Immediate Mode GUI (IMGUI) system. This called is triggered from call. This call happens immediately after the OnVisualize() so that the visualization components are drawn below the UI elements.

Declaration
protected override void OnVisualizeAdditionalUI()
Overrides

OnVisualizerEnabledChanged(Boolean)

Called when the labeler's visualization capability is turned on or off.

Declaration
protected override void OnVisualizerEnabledChanged(bool enabled)
Parameters
Type Name Description
Boolean enabled
Overrides

Setup()

Called just before the first call to OnUpdate() or OnBeginRendering(). Implement this to initialize state.

Declaration
protected override void Setup()
Overrides

Events

imageReadback

Event which is called each frame a semantic segmentation image is read back from the GPU.

Declaration
public event Action<SemanticSegmentationLabeler.ImageReadbackEventArgs> imageReadback
Event Type
Type Description
Action<SemanticSegmentationLabeler.ImageReadbackEventArgs>