Namespace UnityEngine.Perception.GroundTruth.Labelers

Classes

AnimationPoseConfig

The animation pose config is a configuration file that maps a time range in an animation clip to a ground truth pose. The timestamp record is defined by a pose label and a start time. The timestamp records are order dependent.

BoundingBox2DLabeler

Produces 2d bounding box annotations for all visible objects each frame.

BoundingBox3DAnnotation

The generated product of the labeler

BoundingBox3DDefinition

The annotation definition of a 3D bounding box labeler

BoundingBox3DLabeler

Produces 3d bounding box ground truth for all visible and Labeling objects each frame.

BoundingBoxAnnotation

Bounding boxes for all of the labeled objects in a capture

BoundingBoxDefinition

The annotation definition of a bounding box labeler

DepthAnnotation

The depth image recorded for a capture.

DepthDefinition

Define Depth labeler's model type and description

DepthLabeler

A labeler that captures depth images.

InstanceSegmentationAnnotation

The instance segmentation image recorded for a capture. This includes the data that associates a pixel color to an object.

InstanceSegmentationDefinition

Annotation definition for an instance segmentation

InstanceSegmentationLabeler

Produces instance segmentation for each frame.

KeypointAnnotation

The product of the keypoint labeler

KeypointAnnotationDefinition

The definition of the keypoint

KeypointLabeler

Produces keypoint annotations for a humanoid model. This labeler supports generic KeypointTemplate. Template values are mapped to rigged Animator Avatar. Custom joints can be created by applying JointLabel to empty game objects at a body part's location.

Keypoints are recorded by this labeler with a state value describing if they are present on the model, present but not visible, or visible. A keypoint can be listed as not visible for three reasons: it is outside of the camera's view frustum, it is occluded by another object in the scene, or it is occluded by itself, for example a raised arm in front a model's face could occlude its eyes from being visible. To calculate self occlusion values, the keypoint labeler uses tolerances per keypoint to determine if the keypoint is blocked. The initial tolerance value for each keypoint is set per keypoint in the KeypointTemplate file. The tolerance of a custom keypoints can be set with the JointLabel used to create the keypoint. Finally, a KeypointOcclusionOverrides component be added to a model to apply a universal scaling override to all of the keypoint tolerances defined in a keypoint template.

KeypointOcclusionOverrides

When attached to a model used by the KeypointLabeler overrides the distance values for each keypoint defined in KeypointTemplate by multiplying them by this overrideDistanceScale scalar. The values in KeypointTemplate are generally set for a typical adult model, which makes it so that these values do not meet the needs of models with different body types (i.e. children, different heights, different weights). Changing the value of the scalar will help to get keypoint occlusion working properly for these models. A value of 1.0 will use the template values as is.

KeypointValue

The value of an individual keypoint on a keypoint component.

NormalAnnotation

The vertex normal image recorded for a capture.

NormalDefinition

Annotation definition for Normal

NormalLabeler

Labeler which generates Produces an image capturing the vertex normals of objects within the frame. Normal images are saved to the dataset in EXR format.

ObjectCountLabeler

Labeler which produces object counts for each label in the associated IdLabelConfig each frame.

ObjectCountMetricDefinition

Metric definition for object counts

OcclusionLabeler

This labeler reports a set of visibility metrics for each object that is visible within the frame. Each set contains 3 metrics:

Percent Visible: The portion of an object that visible
Percent In Frame: The portion of an object that is not occluded by the camera frame
Visibility In Frame: The unoccluded portion of the part of an object that is in frame

PixelPositionAnnotation

The pixel position image recorded for a capture.

PixelPositionDefinition

Annotation definition for the PixelPositionLabeler.

PixelPositionLabeler

The Pixel Position labeler outputs the camera-space distance from the camera to an object at a pixel. Imagine a vector v = (x,y,z) from the camera to the object at pixel.

Channel	Description
Red	The "x" component of vector "v".
Green	The "y" component of vector "v".
Blue	The "z" component of vector "v". Represents eye-depth.
Alpha	Always set to 1.

PoseTimestampRecord

Record that maps a pose to a timestamp

RenderedObjectInfoLabeler

Labeler which produces label id, instance id, and visible pixel count in a single metric each frame for each object which takes up one or more pixels in the camera's frame.

RenderedObjectInfoMetricDefinition

Definition of the metric.

SceneHierarchyNode

A SceneHierarchyNode defines the parent-child relationship for a single labeled GameObject.

SemanticSegmentationAnnotation

An annotation recording information pertaining to a semantic segmentation capture.

SemanticSegmentationDefinition

Annotation definition for semantic segmentation

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.

Namespace UnityEngine.Perception.GroundTruth.Labelers

Classes

Structs

Enums