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.

Implements

IDisposable

IEquatable<SensorHandle>

Inherited Members

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Namespace: UnityEngine.Perception.GroundTruth

Assembly: Unity.Perception.Runtime.dll

Syntax

public struct SensorHandle : IDisposable, IEquatable<SensorHandle>

Properties

Id

The Id of the sensor

Declaration

public readonly string Id { get; }

Property Value

Type	Description
string

IsNil

Returns true if this SensorHandle was default-instantiated.

Declaration

public bool IsNil { get; }

Property Value

Type	Description
bool

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
bool

ShouldAccumulateThisFrame

Whether the sensor should start to accumulate on this frame. Sensors are expected to call this method each frame to determine whether they should start accumulating during the frame.

Declaration

public bool ShouldAccumulateThisFrame { get; }

Property Value

Type	Description
bool

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
bool

Methods

Dispose()

Dispose this SensorHandle.

Declaration

public void Dispose()

Equals(object)

Compare two SensorHandle by Id

Declaration

public override bool Equals(object obj)

Parameters

Type	Name	Description
object	obj	Any other object to compare

Returns

Type	Description
bool	True is obj is a SensorHandle and has the same Id

Overrides

ValueType.Equals(object)

Equals(SensorHandle)

Compare two SensorHandle by Id

Declaration

public bool Equals(SensorHandle other)

Parameters

Type	Name	Description
SensorHandle	other	Other SensorHandle to compare

Returns

Type	Description
bool	True if Id as equal, false if not

GetHashCode()

Ovverided method for GetHashCode. It uses Id.GetHashCode();

Declaration

public override int GetHashCode()

Returns

Type	Description
int	Hash code based on Id

Overrides

ValueType.GetHashCode()

ReportAnnotation(AnnotationDefinition, Annotation)

Reports an annotation for the sensor.

Declaration

public AnnotationHandle ReportAnnotation(AnnotationDefinition definition, Annotation annotation)

Parameters

Type	Name	Description
AnnotationDefinition	definition	The annotation definition
Annotation	annotation	The annotation value

Returns

Type	Description
AnnotationHandle	created AnnotationHandle

Exceptions

Type	Condition
InvalidOperationException	Thrown when an annotation is reported for a frame that should not be captured
ArgumentException	Thrown when an annotation is reported with an invalid annotation definition

ReportAnnotationAsync(AnnotationDefinition)

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

Declaration

public AsyncFuture<Annotation> ReportAnnotationAsync(AnnotationDefinition annotationDefinition)

Parameters

Type	Name	Description
AnnotationDefinition	annotationDefinition	The AnnotationDefinition of this annotation.

Returns

Type	Description
AsyncFuture<Annotation>	Returns a handle to the AsyncFuture<T>, 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.

ReportMetric(MetricDefinition, Metric)

Reports a metric on the current frame.

Declaration

public void ReportMetric(MetricDefinition definition, Metric metric)

Parameters

Type	Name	Description
MetricDefinition	definition	The metric definition
Metric	metric	The metric value

Exceptions

Type	Condition
InvalidOperationException	Thrown when a metric is reported on a frame that should not capture
ArgumentException	Thrown if the passed in metric is invalid

ReportMetricAsync(MetricDefinition)

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

Declaration

public AsyncFuture<Metric> ReportMetricAsync(MetricDefinition metricDefinition)

Parameters

Type	Name	Description
MetricDefinition	metricDefinition	The MetricDefinition of the metric

Returns

Type	Description
AsyncFuture<Metric>	An AsyncFuture<T> which should be used to report the metric values, potentially in a later frame

Exceptions

Type	Condition
InvalidOperationException	Thrown if ShouldCaptureThisFrame is false

ReportSensor(Sensor)

Reports a sensor capture immediately for the current frame

Declaration

public void ReportSensor(Sensor sensor)

Parameters

Type	Name	Description
Sensor	sensor	The capture to report

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.

ReportSensorAsync()

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

Declaration

public AsyncFuture<Sensor> ReportSensorAsync()

Returns

Type	Description
AsyncFuture<Sensor>	Returns a handle to the AsyncFuture<T>, 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.

RequestCapture()

Requests a capture from this sensor on the next rendered frame. Can only be used with manual capture mode (Manual).

Declaration

public void RequestCapture()

ToString()

Overrides method ToString

Declaration

public override string ToString()

Returns

Type	Description
string	SensorHandler Id

Overrides

ValueType.ToString()

Operators

operator ==(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
bool	Returns true if the two SensorHandles refer to the same sensor.

operator !=(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
bool	Returns false if the two SensorHandles refer to the same sensor.

Implements

IDisposable

IEquatable<T>