Class CameraSensor

Derive this class to define a new sensor that generates RGB data and it's associated channel information (e.g. depth, normals, segmentation, etc.).

Inheritance

object

CameraSensor

UnityCameraSensor

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.Sensors

Assembly: Unity.Perception.Runtime.dll

Syntax

[Serializable]
[MovedFrom("UnityEngine.Perception.GroundTruth")]
public abstract class CameraSensor

Properties

intrinsics

The intrinsic properties of the RGB sensor such as the field of view and projection type.

Declaration

public abstract CameraSensorIntrinsics intrinsics { get; }

Property Value

Type	Description
CameraSensorIntrinsics

perceptionCamera

The PerceptionCamera component capturing the output of this sensor.

Declaration

protected PerceptionCamera perceptionCamera { get; }

Property Value

Type	Description
PerceptionCamera

pixelHeight

The pixel height of the sensor output.

Declaration

public abstract int pixelHeight { get; }

Property Value

Type	Description
int

pixelWidth

The pixel width of the sensor output.

Declaration

public abstract int pixelWidth { get; }

Property Value

Type	Description
int

Methods

Cleanup()

Cleanup is called when the PerceptionCamera capturing data from this sensor is destroyed.

Declaration

protected virtual void Cleanup()

OnBeginFrameRendering(ScriptableRenderContext)

OnBeginFrameRendering is called just before rendering has begun for the current frame.

Declaration

protected virtual void OnBeginFrameRendering(ScriptableRenderContext ctx)

Parameters

Type	Name	Description
ScriptableRenderContext	ctx	The scriptable render context for the current frame.

OnDisable()

OnDisable is called when the PerceptionCamera capturing data from this sensor is disabled.

Declaration

protected virtual void OnDisable()

OnEnable()

OnEnable is called when the PerceptionCamera capturing data from this sensor is enabled.

Declaration

protected virtual void OnEnable()

OnEndFrameRendering(ScriptableRenderContext)

OnEndFrameRendering is called just after rendering has ended for the current frame.

Declaration

protected virtual void OnEndFrameRendering(ScriptableRenderContext ctx)

Parameters

Type	Name	Description
ScriptableRenderContext	ctx	The scriptable render context for the current frame.

Setup()

Setup is called when the PerceptionCamera capturing data from this sensor is initialized (on Awake).

Declaration

protected virtual void Setup()

SetupChannel<T>(T)

Configures newly enabled channels and returns the output texture of the enabled channel.

Declaration

protected abstract RenderTexture SetupChannel<T>(T channel) where T : CameraChannelBase, new()

Parameters

Type	Name	Description
T	channel	The channel instance being enabled through this sensor.

Returns

Type	Description
RenderTexture	The output texture of the enabled channel.

Type Parameters

Name	Description
T	The type of channel to configure.