Class PerceptionEndpoint

Endpoint to write out generated data in the perception format.

Inheritance

object

PerceptionEndpoint

Implements

IConsumerEndpoint

ICloneable

IFileSystemEndpoint

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Namespace: UnityEngine.Perception.GroundTruth.Consumers

Assembly: Unity.Perception.Runtime.dll

Syntax

[Serializable]
public class PerceptionEndpoint : IConsumerEndpoint, ICloneable, IFileSystemEndpoint

Fields

capturesPerFile

The number of captures to write to a single captures file.

Declaration

public int capturesPerFile

Field Value

Type	Description
int

m_CurrentPathDoNotUseDirectly

The runtime resolved directory path where the dataset will be written to. This value should not be accessed directly. Please use currentPath

Declaration

protected string m_CurrentPathDoNotUseDirectly

Field Value

Type	Description
string

metricsPerFile

The number of metrics to write to a single metrics file.

Declaration

public int metricsPerFile

Field Value

Type	Description
int

Properties

basePath

The base path the endpoint will write to

Declaration

public virtual string basePath { get; set; }

Property Value

Type	Description
string

currentFrame

Current frame in the dataset generation

Declaration

public int currentFrame { get; }

Property Value

Type	Description
int

currentPath

The current base path that generated data is being serialized to. This path is the base path plus a GUID. If the base is set to default or if the simulation is being run in USim, then this path will be the default simulation path.

Declaration

public virtual string currentPath { get; }

Property Value

Type	Description
string

datasetPath

The path that the dataset json files are written to.

Declaration

public string datasetPath { get; }

Property Value

Type	Description
string

defaultPath

The default path the endpoint will write to

Declaration

public string defaultPath { get; }

Property Value

Type	Description
string

description

The human readable description of the endpoint

Declaration

public string description { get; }

Property Value

Type	Description
string

version

output version

Declaration

public static string version { get; }

Property Value

Type	Description
string

Methods

AnnotationRegistered(AnnotationDefinition)

Called when an annotation is registered with the perception engine.

Declaration

public void AnnotationRegistered(AnnotationDefinition annotationDefinition)

Parameters

Type	Name	Description
AnnotationDefinition	annotationDefinition	The registered annotation definition

Clone()

Creates a copy of PerceptionEndpoint. Copies capturesPerFile and metricsPerFile

Declaration

public object Clone()

Returns

Type	Description
object	New object PerceptionEndpoint

FrameGenerated(Frame)

Called at the end of each frame. Contains all of the generated data for the frame. This method is called after the frame has entirely finished processing.

Declaration

public void FrameGenerated(Frame frame)

Parameters

Type	Name	Description
Frame	frame	The frame data.

IsValid(out string)

Checks to see if an endpoint is configured properly. If an endpoint is invalid the endpoint will not be able to properly produce generated data.

Declaration

public bool IsValid(out string errorMessage)

Parameters

Type	Name	Description
string	errorMessage	If validation fails, this will be updated with an error message

Returns

Type	Description
bool	True if validation is successful

MetricRegistered(MetricDefinition)

Called when a metric is registered with the perception engine.

Declaration

public void MetricRegistered(MetricDefinition metricDefinition)

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The registered metric definition

RegisterFile(string)

Override this method to register a newly written file after it is written to disk.

Declaration

public virtual void RegisterFile(string path)

Parameters

Type	Name	Description
string	path

ResumeSimulationFromCrash(int)

Placeholder for crash resumption logic.

Declaration

public (string, int) ResumeSimulationFromCrash(int maxFrameCount)

Parameters

Type	Name	Description
int	maxFrameCount

Returns

Type	Description
(string, int)

Remarks

Not supported for Perception Endpoint

SensorRegistered(SensorDefinition)

Called when a sensor is registered with the perception engine.

Declaration

public void SensorRegistered(SensorDefinition sensor)

Parameters

Type	Name	Description
SensorDefinition	sensor	The registered sensor definition

SimulationCompleted(SimulationMetadata)

Called at the end of the simulation. Contains metadata describing the entire simulation process.

Declaration

public void SimulationCompleted(SimulationMetadata metadata)

Parameters

Type	Name	Description
SimulationMetadata	metadata	Metadata describing the entire simulation process

SimulationStarted(SimulationMetadata)

Called when the simulation begins. Provides simulation wide metadata to the consumer.

Declaration

public void SimulationStarted(SimulationMetadata metadata)

Parameters

Type	Name	Description
SimulationMetadata	metadata	Metadata describing the active simulation

Implements

IConsumerEndpoint

ICloneable

IFileSystemEndpoint