Struct 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.

Inherited Members

ValueType.ToString()

Object.Equals(Object, Object)

Object.ReferenceEquals(Object, Object)

Object.GetType()

Namespace: UnityEngine.Perception.GroundTruth

Syntax

public struct SensorHandle : IDisposable, IEquatable<SensorHandle>

Properties

Enabled

Whether the sensor is currently enabled. When disabled, the DatasetCapture will no longer schedule frames for running captures on this sensor.

Declaration

public bool Enabled { get; set; }

Property Value

Type	Description
Boolean

Id

The unique ID of the sensor. This ID is used to refer to this sensor in the json metadata.

Declaration

public Guid Id { get; }

Property Value

Type	Description
Guid

IsNil

Returns true if this SensorHandle was default-instantiated.

Declaration

public bool IsNil { get; }

Property Value

Type	Description
Boolean

IsValid

Returns whether this SensorHandle is valid in the current simulation. Nil SensorHandles are never valid.

Declaration

public bool IsValid { get; }

Property Value

Type	Description
Boolean

ShouldCaptureThisFrame

Whether the sensor should capture this frame. Sensors are expected to call this method each frame to determine whether they should capture during the frame. Captures should only be reported when this is true.

Declaration

public bool ShouldCaptureThisFrame { get; }

Property Value

Type	Description
Boolean

Methods

Dispose()

Dispose this SensorHandle.

Declaration

public void Dispose()

Implements

IDisposable.Dispose()

Equals(Object)

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
Object	obj

Returns

Type	Description
Boolean

Overrides

ValueType.Equals(Object)

Equals(SensorHandle)

Declaration

public bool Equals(SensorHandle other)

Parameters

Type	Name	Description
SensorHandle	other

Returns

Type	Description
Boolean

Implements

IEquatable<T>.Equals(T)

GetHashCode()

Declaration

public override int GetHashCode()

Returns

Type	Description
Int32

Overrides

ValueType.GetHashCode()

ReportAnnotationAsync(AnnotationDefinition)

Creates an async annotation for reporting the values for an annotation during a future frame.

Declaration

public AsyncAnnotation ReportAnnotationAsync(AnnotationDefinition annotationDefinition)

Parameters

Type	Name	Description
AnnotationDefinition	annotationDefinition	The AnnotationDefinition of this annotation.

Returns

Type	Description
AsyncAnnotation	Returns a handle to the AsyncAnnotation, which can be used to report annotation data during a subsequent frame.

Exceptions

Type	Condition
InvalidOperationException	Thrown if this method is called during a frame where ShouldCaptureThisFrame is false.
ArgumentException	Thrown if the given AnnotationDefinition is invalid.

ReportAnnotationFile(AnnotationDefinition, String)

Report a file-based annotation related to this sensor in this frame.

Declaration

public Annotation ReportAnnotationFile(AnnotationDefinition annotationDefinition, string filename)

Parameters

Type	Name	Description
AnnotationDefinition	annotationDefinition	The AnnotationDefinition of this annotation.
String	filename	The path to the file containing the annotation data.

Returns

Type	Description
Annotation	A handle to the reported annotation for reporting annotation-based metrics.

Exceptions

Type	Condition
InvalidOperationException	Thrown if this method is called during a frame where ShouldCaptureThisFrame is false.
ArgumentException	Thrown if the given AnnotationDefinition is invalid.

ReportAnnotationValues<T>(AnnotationDefinition, T[])

Report a value-based annotation related to this sensor in this frame.

Declaration

public Annotation ReportAnnotationValues<T>(AnnotationDefinition annotationDefinition, T[] values)

Parameters

Type	Name	Description
AnnotationDefinition	annotationDefinition	The AnnotationDefinition of this annotation.
T[]	values	The annotation data, which will be automatically converted to json.

Returns

Type	Description
Annotation	Returns a handle to the reported annotation for reporting annotation-based metrics.

Type Parameters

Name	Description
T	The type of the values array.

Exceptions

Type	Condition
InvalidOperationException	Thrown if this method is called during a frame where ShouldCaptureThisFrame is false.
ArgumentException	Thrown if the given AnnotationDefinition is invalid.

ReportCapture(String, SensorSpatialData, (String, Object)[])

Report a sensor capture recorded to disk. This should be called on the same frame as the capture is taken, and may be called before the file is written to disk.

Declaration

public void ReportCapture(string filename, SensorSpatialData sensorSpatialData, params (string, object)[] additionalSensorValues)

Parameters

Type	Name	Description
String	filename	The path to the capture data.
SensorSpatialData	sensorSpatialData	Spatial data describing the sensor and the ego containing it.
ValueTuple<String, Object>[]	additionalSensorValues	Additional values to be emitted as json name/value pairs on the sensor object under the capture.

Exceptions

Type	Condition
InvalidOperationException	Thrown if ReportCapture is being called when ShouldCaptureThisFrame is false or it has already been called this frame.

ReportMetric(MetricDefinition, String)

Report a metric regarding this sensor in the current frame.

Declaration

public void ReportMetric(MetricDefinition metricDefinition, [NotNull] string valuesJsonArray)

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The MetricDefinition of the metric.
String	valuesJsonArray	A string-based JSON array to be placed in the "values" field of the metric

Exceptions

Type	Condition
ArgumentNullException	Thrown if values is null
InvalidOperationException	Thrown if ShouldCaptureThisFrame is false.

ReportMetric<T>(MetricDefinition, T[])

Report a metric regarding this sensor in the current frame.

Declaration

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

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The MetricDefinition of the metric.
T[]	values	An array to be converted to json and put in the "values" field of the metric

Type Parameters

Name	Description
T	The value type

Exceptions

Type	Condition
ArgumentNullException	Thrown if values is null
InvalidOperationException	Thrown if ShouldCaptureThisFrame is false.

ReportMetricAsync(MetricDefinition)

Start an async metric for reporting metric values for this frame in a subsequent frame.

Declaration

public AsyncMetric ReportMetricAsync(MetricDefinition metricDefinition)

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The MetricDefinition of the metric

Returns

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

Exceptions

Type	Condition
InvalidOperationException	Thrown if ShouldCaptureThisFrame is false

Operators

Equality(SensorHandle, SensorHandle)

Compares two SensorHandle instances for equality.

Declaration

public static bool operator ==(SensorHandle left, SensorHandle right)

Parameters

Type	Name	Description
SensorHandle	left	The first SensorHandle.
SensorHandle	right	The second SensorHandle.

Returns

Type	Description
Boolean	Returns true if the two SensorHandles refer to the same sensor.

Inequality(SensorHandle, SensorHandle)

Compares two SensorHandle instances for inequality.

Declaration

public static bool operator !=(SensorHandle left, SensorHandle right)

Parameters

Type	Name	Description
SensorHandle	left	The first SensorHandle.
SensorHandle	right	The second SensorHandle.

Returns

Type	Description
Boolean	Returns false if the two SensorHandles refer to the same sensor.