Class PerceptionCamera

Captures ground truth from the associated Camera.

Inheritance
object
Object
Component
Behaviour
MonoBehaviour
PerceptionCamera
Inherited Members
Object.FindObjectsByType<T>(FindObjectsSortMode)
Object.FindObjectsByType<T>(FindObjectsInactive, FindObjectsSortMode)
Object.FindFirstObjectByType<T>()
Object.FindAnyObjectByType<T>()
Object.FindFirstObjectByType<T>(FindObjectsInactive)
Object.FindAnyObjectByType<T>(FindObjectsInactive)
Namespace: UnityEngine.Perception.GroundTruth
Assembly: Unity.Perception.Runtime.dll
Syntax
[RequireComponent(typeof(Camera))]
public class PerceptionCamera : MonoBehaviour

Fields

alphaThreshold

The minimum level of transparency that will be rendered per pixel in the segmentation image.

Declaration
[Tooltip("The minimum level of transparency that will be rendered per pixel in segmentation images.")]
[Range(0, 1)]
public float alphaThreshold
Field Value
Type Description
float

captureRgbImages

Whether camera output should be captured to disk.

Declaration
public bool captureRgbImages
Field Value
Type Description
bool

captureTriggerMode

The method of triggering captures for this camera.

Declaration
public CaptureTriggerMode captureTriggerMode
Field Value
Type Description
CaptureTriggerMode

description

A human-readable description of the camera.

Declaration
public string description
Field Value
Type Description
string

firstCaptureFrame

Frame number at which this camera starts capturing.

Declaration
public int firstCaptureFrame
Field Value
Type Description
int

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.

Declaration
public int framesBetweenCaptures
Field Value
Type Description
int

id

The string ID of this camera sensor

Declaration
public string id
Field Value
Type Description
string

manualSensorAffectSimulationTiming

Have this unscheduled (manual capture) camera affect simulation timings (similar to a scheduled camera) by requesting a specific frame delta time.

Declaration
public bool manualSensorAffectSimulationTiming
Field Value
Type Description
bool

overrideLayerMask

Whether to override the camera's LayerMask on its labelers.

Declaration
public bool overrideLayerMask
Field Value
Type Description
bool

showVisualizations

Turns on/off the realtime visualization capability.

Declaration
public bool showVisualizations
Field Value
Type Description
bool

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.

Declaration
public float simulationDeltaTime
Field Value
Type Description
float

useAccumulation

Whether to use accumulation before capture (e.g. Path Tracing)

Declaration
public bool useAccumulation
Field Value
Type Description
bool

waitFrames

Number of frames to wait before starting the scenario

Declaration
public static int waitFrames
Field Value
Type Description
int

Properties

SensorHandle

The SensorHandle associated with this camera. Use this to report additional annotations and metrics at runtime.

Declaration
public SensorHandle SensorHandle { get; }
Property Value
Type Description
SensorHandle

attachedCamera

Caches access to the camera attached to the perception camera.

Declaration
public Camera attachedCamera { get; }
Property Value
Type Description
Camera

cameraSensor

The CameraSensor used to generate the PerceptionCamera's output.

Declaration
public CameraSensor cameraSensor { get; set; }
Property Value
Type Description
CameraSensor

captureFrameCount

The number of capture-able frames that have been generated

Declaration
public static int captureFrameCount { get; }
Property Value
Type Description
int

channels

The currently enabled CameraChannel<T>s for this PerceptionCamera.

Declaration
public IReadOnlyList<CameraChannelBase> channels { get; }
Property Value
Type Description
IReadOnlyList<CameraChannelBase>

labelers

The CameraLabeler instances which will be run for this PerceptionCamera.

Declaration
public IReadOnlyList<CameraLabeler> labelers { get; }
Property Value
Type Description
IReadOnlyList<CameraLabeler>

layerMask

The LayerMask used for filtering objects before capturing labeler data. The overrideLayerMask field must be enabled for this LayerMask to be used. The attached Camera's cullingMask is used otherwise.

Declaration
public LayerMask layerMask { get; set; }
Property Value
Type Description
LayerMask

Methods

AddLabeler(CameraLabeler)

Add the given CameraLabeler to the PerceptionCamera. It will be set up and executed by this PerceptionCamera each frame it captures data.

Declaration
public void AddLabeler(CameraLabeler cameraLabeler)
Parameters
Type Name Description
CameraLabeler cameraLabeler

The labeler to add to this PerceptionCamera

EnableChannel<T>()

Enables a channel of the given type on the sensor.

Declaration
public T EnableChannel<T>() where T : CameraChannelBase, new()
Returns
Type Description
T

Newly created Channel
Type Parameters
Name Description
T

The type of channel to enable.

GetChannel<T>()

Returns the enabled channel of the specified type.

Declaration
public T GetChannel<T>() where T : CameraChannelBase
Returns
Type Description
T
Type Parameters
Name Description
T

The type of channel to get.
Exceptions
Type Condition
InvalidOperationException

Channel's must be enabled before they can be accessed.

IsChannelEnabled<T>()

Returns whether a channel of the given type has been enabled on the sensor.

Declaration
public bool IsChannelEnabled<T>() where T : CameraChannelBase
Returns
Type Description
bool

The enabled status of the given channel.
Type Parameters
Name Description
T

The type of channel to check the enabled status of.

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.

Declaration
public bool RemoveLabeler(CameraLabeler cameraLabeler)
Parameters
Type Name Description
CameraLabeler cameraLabeler
Returns
Type Description
bool

RemovePersistentSensorData(string)

Removes a persistent sensor data object.

Declaration
public bool RemovePersistentSensorData(string key)
Parameters
Type Name Description
string key

The key of the object to remove.
Returns
Type Description
bool

True if a data object was removed. False if it was not set.

RequestCapture()

Requests a capture from this PerceptionCamera on the next rendered frame. Can only be used when using Manual capture mode.

Declaration
public void RequestCapture()

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.

Declaration
public void SetPersistentSensorData(string key, object data)
Parameters
Type Name Description
string key

The key to associate with the data.
object data

An object containing the data. Will be serialized into json.

TryGetChannel<T>(out T)

Returns whether a channel of the given type is enabled, and additionally outputs the found channel.

Declaration
public bool TryGetChannel<T>(out T channel) where T : CameraChannelBase
Parameters
Type Name Description
T channel

The found channel of the given type.
Returns
Type Description
bool

True if a channel of the given type is enabled, false if otherwise.
Type Parameters
Name Description
T

The type of channel to get.

Events

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.

Declaration
public event Action<int, NativeArray<RenderedObjectInfo>, SceneHierarchyInformation> RenderedObjectInfosCalculated
Event Type
Type Description
Action<int, NativeArray<RenderedObjectInfo>, SceneHierarchyInformation>