Class PerceptionCamera

Captures ground truth from the associated Camera.

Inheritance

object

Object

Component

Behaviour

MonoBehaviour

PerceptionCamera

Inherited Members

MonoBehaviour.IsInvoking()

MonoBehaviour.CancelInvoke()

MonoBehaviour.Invoke(string, float)

MonoBehaviour.InvokeRepeating(string, float, float)

MonoBehaviour.CancelInvoke(string)

MonoBehaviour.IsInvoking(string)

MonoBehaviour.StartCoroutine(string)

MonoBehaviour.StartCoroutine(string, object)

MonoBehaviour.StartCoroutine(IEnumerator)

MonoBehaviour.StartCoroutine_Auto(IEnumerator)

MonoBehaviour.StopCoroutine(IEnumerator)

MonoBehaviour.StopCoroutine(Coroutine)

MonoBehaviour.StopCoroutine(string)

MonoBehaviour.StopAllCoroutines()

MonoBehaviour.print(object)

MonoBehaviour.useGUILayout

MonoBehaviour.runInEditMode

Behaviour.enabled

Behaviour.isActiveAndEnabled

Component.GetComponent(Type)

Component.GetComponent<T>()

Component.TryGetComponent(Type, out Component)

Component.TryGetComponent<T>(out T)

Component.GetComponent(string)

Component.GetComponentInChildren(Type, bool)

Component.GetComponentInChildren(Type)

Component.GetComponentInChildren<T>(bool)

Component.GetComponentInChildren<T>()

Component.GetComponentsInChildren(Type, bool)

Component.GetComponentsInChildren(Type)

Component.GetComponentsInChildren<T>(bool)

Component.GetComponentsInChildren<T>(bool, List<T>)

Component.GetComponentsInChildren<T>()

Component.GetComponentsInChildren<T>(List<T>)

Component.GetComponentInParent(Type)

Component.GetComponentInParent<T>()

Component.GetComponentsInParent(Type, bool)

Component.GetComponentsInParent(Type)

Component.GetComponentsInParent<T>(bool)

Component.GetComponentsInParent<T>(bool, List<T>)

Component.GetComponentsInParent<T>()

Component.GetComponents(Type)

Component.GetComponents(Type, List<Component>)

Component.GetComponents<T>(List<T>)

Component.GetComponents<T>()

Component.CompareTag(string)

Component.SendMessageUpwards(string, object, SendMessageOptions)

Component.SendMessageUpwards(string, object)

Component.SendMessageUpwards(string)

Component.SendMessageUpwards(string, SendMessageOptions)

Component.SendMessage(string, object)

Component.SendMessage(string)

Component.SendMessage(string, object, SendMessageOptions)

Component.SendMessage(string, SendMessageOptions)

Component.BroadcastMessage(string, object, SendMessageOptions)

Component.BroadcastMessage(string, object)

Component.BroadcastMessage(string)

Component.BroadcastMessage(string, SendMessageOptions)

Component.transform

Component.gameObject

Component.tag

Object.GetInstanceID()

Object.GetHashCode()

Object.Equals(object)

Object.Instantiate(Object, Vector3, Quaternion)

Object.Instantiate(Object, Vector3, Quaternion, Transform)

Object.Instantiate(Object)

Object.Instantiate(Object, Transform)

Object.Instantiate(Object, Transform, bool)

Object.Instantiate<T>(T)

Object.Instantiate<T>(T, Vector3, Quaternion)

Object.Instantiate<T>(T, Vector3, Quaternion, Transform)

Object.Instantiate<T>(T, Transform)

Object.Instantiate<T>(T, Transform, bool)

Object.Destroy(Object, float)

Object.Destroy(Object)

Object.DestroyImmediate(Object, bool)

Object.DestroyImmediate(Object)

Object.FindObjectsOfType(Type)

Object.DontDestroyOnLoad(Object)

Object.DestroyObject(Object, float)

Object.DestroyObject(Object)

Object.FindSceneObjectsOfType(Type)

Object.FindObjectsOfTypeIncludingAssets(Type)

Object.FindObjectsOfType<T>()

Object.FindObjectOfType<T>()

Object.FindObjectsOfTypeAll(Type)

Object.FindObjectOfType(Type)

Object.ToString()

Object.name

Object.hideFlags

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetType()

object.MemberwiseClone()

Namespace: UnityEngine.Perception.GroundTruth

Assembly: solution.dll

Syntax

[RequireComponent(typeof(Camera))]
public class PerceptionCamera : MonoBehaviour

Fields

Name	Description
captureRgbImages	Whether camera output should be captured to disk
captureTriggerMode	The method of triggering captures for this camera.
description	A human-readable description of the camera.
firstCaptureFrame	Frame number at which this camera starts capturing.
framesBetweenCaptures	The number of frames to simulate and render between the camera's scheduled captures. Setting this to 0 makes the camera capture every frame.
manualSensorAffectSimulationTiming	Have this unscheduled (manual capture) camera affect simulation timings (similar to a scheduled camera) by requesting a specific frame delta time
showVisualizations	Turns on/off the realtime visualization capability.
simulationDeltaTime	The simulation frame time (seconds) for this camera. E.g. 0.0166 translates to 60 frames per second. This will be used as Unity's captureDeltaTime, causing a fixed number of frames to be generated for each second of elapsed simulation time regardless of the capabilities of the underlying hardware.

Properties

Name	Description
SensorHandle	The SensorHandle associated with this camera. Use this to report additional annotations and metrics at runtime.
attachedCamera	Caches access to the camera attached to the perception camera
labelers	The CameraLabeler instances which will be run for this PerceptionCamera.

Methods

Name	Description
AddLabeler(CameraLabeler)	Add the given CameraLabeler to the PerceptionCamera. It will be set up and executed by this PerceptionCamera each frame it captures data.
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.
RemovePersistentSensorData(string)	Removes a persistent sensor data object.
RequestCapture()	Requests a capture from this camera on the next rendered frame. Can only be used when using PerceptionCamera.CaptureTriggerMode.Manual capture mode.
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.

Events

Name	Description
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.
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.