updated randomizer default values

SynthDet/Assets/Scenes/SynthDet.unity

@@ -1,3 +1,3 @@
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-size 100683
+oid sha256:26424c3a508656ea81a61ba91b040412eda4b7e1249e51b8ce1ae3b2467150b3
+size 100812

SynthDet/Assets/Scripts/CustomRandomizerTags.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 36bd4a49b03b4494839cf95a2cee495c
+timeCreated: 1615929356

SynthDet/Assets/Scripts/CustomRandomizerTags/CameraPostProcessingMetricReporterTag.cs

@@ -0,0 +1,10 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [AddComponentMenu("SynthDet/RandomizerTags/My Camera Post-processing Metric Reporter Tag")]
+    public class CameraPostProcessingMetricReporterTag : RandomizerTag { }
+}
+

SynthDet/Assets/Scripts/CustomRandomizerTags/CameraRandomizerTag.cs

@@ -0,0 +1,10 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [RequireComponent(typeof(Camera))]
+    [AddComponentMenu("Perception/RandomizerTags/My Camera Randomizer Tag")]
+    public class CameraRandomizerTag : RandomizerTag { }
+}

SynthDet/Assets/Scripts/CustomRandomizerTags/ForegroundObjectMetricReporterTag.cs

@@ -0,0 +1,10 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [AddComponentMenu("SynthDet/RandomizerTags/My Foreground Object Metric Reporter Tag")]
+    public class ForegroundObjectMetricReporterTag : RandomizerTag { }
+}
+

SynthDet/Assets/Scripts/CustomRandomizerTags/ForegroundOccluderScaleRandomizerTag.cs

@@ -0,0 +1,9 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [AddComponentMenu("SynthDet/RandomizerTags/MyForegroundOccluderScaleRandomizerTag")]
+    public class ForegroundOccluderScaleRandomizerTag : RandomizerTag { }
+}

SynthDet/Assets/Scripts/CustomRandomizerTags/ForegroundScaleRandomizerTag.cs

@@ -0,0 +1,9 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [AddComponentMenu("SynthDet/RandomizerTags/MyForegroundScaleRandomizerTag")]
+    public class ForegroundScaleRandomizerTag : RandomizerTag { }
+}

SynthDet/Assets/Scripts/CustomRandomizerTags/LightRandomizerTag.cs

@@ -0,0 +1,21 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [RequireComponent(typeof(Light))]
+    [AddComponentMenu("SynthDet/RandomizerTags/MyLightRandomizerTag")]
+    public class LightRandomizerTag : RandomizerTag
+    {
+        public float minIntensity;
+        public float maxIntensity;
+
+        public void SetIntensity(float rawIntensity)
+        {
+            var light = gameObject.GetComponent<Light>();
+            var scaledIntensity = rawIntensity * (maxIntensity - minIntensity) + minIntensity;
+            light.intensity = scaledIntensity;
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizerTags/LightSwitcherTag.cs

@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [RequireComponent(typeof(Light))]
+    [AddComponentMenu("SynthDet/RandomizerTags/MyLightSwitcherTag")]
+    public class LightSwitcherTag : RandomizerTag
+    {
+        public float enabledProbability;
+        public void Act(float rawInput)
+        {
+            var light = gameObject.GetComponent<Light>();
+            light.enabled = rawInput < enabledProbability;
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizerTags/LightingInfoMetricReporterTag.cs

@@ -0,0 +1,10 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    [AddComponentMenu("SynthDet/RandomizerTags/My Lighting Info Metric Reporter Tag")]
+    public class LightingInfoMetricReporterTag : RandomizerTag { }
+}
+

SynthDet/Assets/Scripts/CustomRandomizerTags/UnifiedRotationRandomizerTag.cs

@@ -0,0 +1,13 @@
+using System;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.RandomizerTags
+{
+    /// <summary>
+    /// Used in conjunction with a RotationRandomizer to vary the rotation of GameObjects
+    /// </summary>
+    [AddComponentMenu("SynthDet/RandomizerTags/My Unified Rotation Randomizer Tag")]
+    public class UnifiedRotationRandomizerTag : RandomizerTag { }
+}
+

SynthDet/Assets/Scripts/CustomRandomizers.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 4fd818e10d6b425184aaf98ac2cb7fb7
+timeCreated: 1615928826

SynthDet/Assets/Scripts/CustomRandomizers/BackgroundObjectPlacementRandomizer.cs

@@ -0,0 +1,83 @@
+using System;
+using System.Linq;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Parameters;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Randomizers.Utilities;
+using UnityEngine.Perception.Randomization.Samplers;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Creates multiple layers of evenly distributed but randomly placed objects
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("SynthDet/My Background Object Placement Randomizer")]
+    public class BackgroundObjectPlacementRandomizer : Randomizer
+    {
+        /// <summary>
+        /// The Z offset component applied to all generated background layers
+        /// </summary>
+        public float depth;
+
+        /// <summary>
+        /// The number of background layers to generate
+        /// </summary>
+        public int layerCount = 2;
+
+        /// <summary>
+        /// The minimum distance between placed background objects
+        /// </summary>
+        public float separationDistance = 0.5f;
+
+        /// <summary>
+        /// The 2D size of the generated background layers
+        /// </summary>
+        public Vector2 placementArea = new Vector2(6f, 6f);
+
+        /// <summary>
+        /// A categorical parameter for sampling random prefabs to place
+        /// </summary>
+        public GameObjectParameter prefabs;
+
+        GameObject m_Container;
+        GameObjectOneWayCache m_GameObjectOneWayCache;
+
+        protected override void OnAwake()
+        {
+            m_Container = new GameObject("Background Distractors");
+            m_Container.transform.parent = scenario.transform;
+            m_GameObjectOneWayCache = new GameObjectOneWayCache(m_Container.transform,
+                prefabs.categories.Select((element) => element.Item1).ToArray());
+        }
+
+        /// <summary>
+        /// Generates background layers of objects at the start of each scenario iteration
+        /// </summary>
+        protected override void OnIterationStart()
+        {
+            for (var i = 0; i < layerCount; i++)
+            {
+                var seed = SamplerState.NextRandomState();
+                var placementSamples = PoissonDiskSampling.GenerateSamples(
+                    placementArea.x, placementArea.y, separationDistance, seed);
+                var offset = new Vector3(placementArea.x, placementArea.y, 0f) * -0.5f;
+                foreach (var sample in placementSamples)
+                {
+                    var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
+                    instance.transform.position = new Vector3(sample.x, sample.y, separationDistance * i + depth) + offset;
+                }
+
+                placementSamples.Dispose();
+            }
+        }
+
+        /// <summary>
+        /// Deletes generated background objects after each scenario iteration is complete
+        /// </summary>
+        protected override void OnIterationEnd()
+        {
+            m_GameObjectOneWayCache.ResetAllObjects();
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/CameraPostProcessingMetricReporter.cs

@@ -0,0 +1,74 @@
+using System;
+using System.Collections.Generic;
+using SynthDet.RandomizerTags;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Rendering;
+using UnityEngine.Rendering.Universal;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Reports post processing metrics for object that contain a post-processing volume component and are tagged with <see cref="CameraPostProcessingMetricReporter"/>. 
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("SynthDet/My Camera Post-processing Metric Reporter")]
+    public class CameraPostProcessingMetricReporter : Randomizer
+    {
+        const string k_CameraPostProcessingMetricGuid = "a4b2253c-0eb2-4a90-9b20-6e77f1d13286";
+        MetricDefinition m_CameraPostProcessingMetricDefinition;
+        Dictionary<GameObject, Volume> m_PostProcessingVolumeCache;
+
+        protected override void OnAwake()
+        {
+            m_CameraPostProcessingMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Camera Post Processing Info", $"Reports post-processing effects of cameras (or other objects with a Volume) carrying a {nameof(CameraPostProcessingMetricReporter)} component.", new Guid(k_CameraPostProcessingMetricGuid));
+            m_PostProcessingVolumeCache = new Dictionary<GameObject, Volume>();
+        }
+    
+        protected override void OnUpdate()
+        {
+            var tags = tagManager.Query<CameraPostProcessingMetricReporterTag >();
+            ReportMetrics(tags);
+        }
+
+        void ReportMetrics(IEnumerable<RandomizerTag> tags)
+        {
+            var infos = new List<MyVolumeInfo>();
+            foreach (var tag in tags)
+            {
+                var taggedObject = tag.gameObject;
+                if (!m_PostProcessingVolumeCache.TryGetValue(taggedObject, out var volume))
+                {
+                    volume = taggedObject.GetComponentInChildren<Volume>();
+                    m_PostProcessingVolumeCache.Add(taggedObject, volume);
+                }
+
+                var vignette = (Vignette)volume.profile.components.Find(comp => comp is Vignette);
+                var colorAdjustments = (ColorAdjustments)volume.profile.components.Find(comp => comp is ColorAdjustments);
+                var depthOfField = (DepthOfField)volume.profile.components.Find(comp => comp is DepthOfField);
+                infos.Add(new MyVolumeInfo()
+                {
+                    vignetteIntensity = vignette.intensity.value,
+                    saturation = colorAdjustments.saturation.value,
+                    contrast = colorAdjustments.contrast.value,
+                    gaussianDofStart = depthOfField.gaussianStart.value,
+                    gaussianDofEnd = depthOfField.gaussianEnd.value,
+                    gaussianDofRadius = depthOfField.gaussianMaxRadius.value
+                });
+            }
+
+            DatasetCapture.ReportMetric(m_CameraPostProcessingMetricDefinition, infos.ToArray());
+        }
+    
+        struct MyVolumeInfo
+        {
+            public float vignetteIntensity;
+            public float saturation;
+            public float contrast;
+            public float gaussianDofStart;
+            public float gaussianDofEnd;
+            public float gaussianDofRadius;
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/CameraRandomizer.cs

@@ -0,0 +1,59 @@
+using System;
+using SynthDet.RandomizerTags;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Samplers;
+using UnityEngine.Rendering;
+using UnityEngine.Rendering.Universal;
+using FloatParameter = UnityEngine.Perception.Randomization.Parameters.FloatParameter;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Randomizes the blur, contract, saturation, and grain properties of the scene's volume profile
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Camera Randomizer")]
+    public class CameraRandomizer : Randomizer
+    {
+        public FloatParameter blurParameter = new FloatParameter { value = new UniformSampler(0f, 4f) };
+        public FloatParameter contrastParameter = new FloatParameter { value = new UniformSampler(-10f, 10f) };
+        public FloatParameter saturationParameter = new FloatParameter { value = new UniformSampler(-10f, 10f) };
+        public FloatParameter grainAmountParameter = new FloatParameter { value = new ConstantSampler(0f) };
+    
+        protected override void OnIterationStart()
+        {
+            var tags = tagManager.Query<CameraRandomizerTag>();
+            foreach (var tag in tags)
+            {
+                var volume = tag.gameObject.GetComponent<Volume>();
+                if (volume && volume.profile)
+                {
+                    var dof = (DepthOfField) volume.profile.components.Find(comp => comp is DepthOfField);
+                    if (dof)
+                    {
+                        var val = blurParameter.Sample();
+                        dof.gaussianStart.value = val;
+                    }
+
+                    var colorAdjust = (ColorAdjustments) volume.profile.components.Find(comp => comp is ColorAdjustments);
+                    if (colorAdjust)
+                    {
+                        var val = contrastParameter.Sample();
+                        colorAdjust.contrast.value = val;
+                    
+                        val = saturationParameter.Sample();
+                        colorAdjust.saturation.value = val;
+                    }
+                
+                    var grain = (FilmGrain) volume.profile.components.Find(comp => comp is FilmGrain);
+                    if (grain)
+                    {
+                        var val = grainAmountParameter.Sample();
+                        grain.intensity.value = Mathf.Clamp(val, 0,1);
+                    }
+                }
+            }
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/DualLayerForegroundObjectPlacementRandomizer.cs

@@ -0,0 +1,115 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Parameters;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Randomizers.Utilities;
+using UnityEngine.Perception.Randomization.Samplers;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Creates a 2D layer of of evenly spaced GameObjects from a given list of prefabs
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Dual Layer Foreground Object Placement Randomizer")]
+    public class DualLayerForegroundObjectPlacementRandomizer : Randomizer
+    {
+        List<GameObject> m_SpawnedObjects;
+        public int maxObjectCount = 100;
+
+        public GameObjectParameter prefabs;
+
+        public bool dualLayer;
+
+        public float layerOneDepth = 3f;
+        public FloatParameter layerOneSeparationDistance = new FloatParameter { value = new UniformSampler(0.7f, 1.2f) };
+        public Vector2 layerOnePlacementArea = new Vector2(5f, 5f);
+
+        public float layerTwoDepth = 6f;
+        public FloatParameter layerTwoSeparationDistance = new FloatParameter { value = new UniformSampler(0f, 1f) };    
+        public Vector2 layerTwoPlacementArea = new Vector2(5f, 5f);
+
+        GameObject m_Container;
+        GameObjectOneWayCache m_GameObjectOneWayCache;
+
+        protected override void OnAwake()
+        {
+            m_SpawnedObjects = new List<GameObject>();
+            m_Container = new GameObject("Foreground Objects");
+            var transform = scenario.transform;
+            m_Container.transform.parent = transform;
+            m_GameObjectOneWayCache = new GameObjectOneWayCache(m_Container.transform, prefabs.categories.Select(element => element.Item1).ToArray());
+        }
+    
+        /// <summary>
+        /// Generates a foreground layer of objects at the start of each scenario iteration
+        /// </summary>
+        protected override void OnIterationStart()
+        {
+            m_SpawnedObjects.Clear();
+        
+            PlaceLayerOneObjects();
+        
+            if (dualLayer)
+                PlaceLayerTwoObjects();
+        
+            TrimObjects();
+        }
+
+
+        void PlaceLayerOneObjects()
+        {
+            var seed = SamplerState.NextRandomState();
+            var placementSamples = PoissonDiskSampling.GenerateSamples(
+                layerOnePlacementArea.x, layerOnePlacementArea.y, layerOneSeparationDistance.Sample(), seed);
+            var offset = new Vector3(layerOnePlacementArea.x, layerOnePlacementArea.y, 0) * -0.5f;
+        
+            foreach (var sample in placementSamples)
+            {
+                var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
+                instance.transform.position = new Vector3(sample.x, sample.y, layerOneDepth) + offset;
+                m_SpawnedObjects.Add(instance);                
+            }
+            placementSamples.Dispose();
+        }
+
+
+        void PlaceLayerTwoObjects()
+        {
+            var seed = SamplerState.NextRandomState();
+            var placementSamples = PoissonDiskSampling.GenerateSamples(
+                layerTwoPlacementArea.x, layerTwoPlacementArea.y, layerTwoSeparationDistance.Sample(), seed);
+            var offset = new Vector3(layerTwoPlacementArea.x, layerTwoPlacementArea.y, 0) * -0.5f;
+        
+            foreach (var sample in placementSamples)
+            {
+                var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
+                instance.transform.position = new Vector3(sample.x, sample.y, layerTwoDepth) + offset;
+                m_SpawnedObjects.Add(instance);
+            }
+            placementSamples.Dispose();
+        }
+
+        void TrimObjects()
+        {
+            var r = new System.Random();
+            while (m_SpawnedObjects.Count > maxObjectCount)
+            {
+                var obj = m_SpawnedObjects.ElementAt(r.Next(0, m_SpawnedObjects.Count));
+                m_SpawnedObjects.Remove(obj);
+                obj.transform.localPosition = new Vector3(10000, 0, 0);
+            }
+        }
+    
+        /// <summary>
+        /// Deletes generated foreground objects after each scenario iteration is complete
+        /// </summary>
+        protected override void OnIterationEnd()
+        {
+            m_GameObjectOneWayCache.ResetAllObjects();
+        }
+    }
+}
+

SynthDet/Assets/Scripts/CustomRandomizers/ForegroundObjectMetricReporter.cs

@@ -0,0 +1,78 @@
+using System;
+using System.Collections.Generic;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using SynthDet.RandomizerTags;
+using Unity.Mathematics;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+using UnityEngine.Perception.Randomization.Randomizers;
+using Object = UnityEngine.Object;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Reports metrics for rotation, world position, scale, and label id of objects that are tagged with <see cref="ForegroundObjectMetricReporterTag"/>.
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Foreground Object Metric Reporter")]
+    public class ForegroundObjectMetricReporter : Randomizer
+    {
+        const string k_LayerOneForegroundObjectPlacementInfoMetricGuid = "061E08CC-4428-4926-9933-A6732524B52B";
+        MetricDefinition m_ForegroundObjectPlacementMetricDefinition;
+        public IdLabelConfig labelConfigForObjectPlacementMetrics;
+        Dictionary<GameObject, Labeling> m_LabelingComponentsCache;
+
+        protected override void OnAwake()
+        {
+            m_ForegroundObjectPlacementMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Foreground Object Placement Info", $"Reports the world position, scale, rotation, and label id of objects carrying a {nameof(ForegroundObjectMetricReporterTag)} component.", new Guid(k_LayerOneForegroundObjectPlacementInfoMetricGuid));
+            m_LabelingComponentsCache = new Dictionary<GameObject, Labeling>();
+            if (labelConfigForObjectPlacementMetrics == null)
+            {
+                var perceptionCamera = Object.FindObjectOfType<PerceptionCamera>();
+                if (perceptionCamera && perceptionCamera.labelers.Count > 0 && perceptionCamera.labelers[0] is BoundingBox2DLabeler boundingBox2DLabeler)
+                {
+                    labelConfigForObjectPlacementMetrics = boundingBox2DLabeler.idLabelConfig;
+                }
+            }
+        }
+    
+        protected override void OnUpdate()
+        {
+            var tags = tagManager.Query<ForegroundObjectMetricReporterTag>();
+            ReportMetrics(tags);
+        }
+
+        void ReportMetrics(IEnumerable<RandomizerTag> tags)
+        {
+            var objectStates = new JArray();
+            foreach (var tag in tags)
+            {
+                var taggedObject = tag.gameObject;
+                if (!m_LabelingComponentsCache.TryGetValue(taggedObject, out var labeling))
+                {
+                    labeling = taggedObject.GetComponentInChildren<Labeling>();
+                    m_LabelingComponentsCache.Add(taggedObject, labeling);
+                }
+            
+                int labelId = -1;
+                if (labelConfigForObjectPlacementMetrics.TryGetMatchingConfigurationEntry(labeling, out IdLabelEntry labelEntry))
+                {
+                    labelId = labelEntry.id;
+                }
+            
+                var jObject = new JObject();
+                jObject["label_id"] = labelId;
+                var rotationEulerAngles = (float3)taggedObject.transform.rotation.eulerAngles;
+                jObject["rotation"] = new JRaw($"[{rotationEulerAngles.x}, {rotationEulerAngles.y}, {rotationEulerAngles.z}]");
+                var position = (float3)taggedObject.transform.position;
+                jObject["position"] = new JRaw($"[{position.x}, {position.y}, {position.z}]");
+                var scale = (float3)taggedObject.transform.localScale;
+                jObject["scale"] = new JRaw($"[{scale.x}, {scale.y}, {scale.z}]");
+                objectStates.Add(jObject);
+            }
+        
+            DatasetCapture.ReportMetric(m_ForegroundObjectPlacementMetricDefinition, objectStates.ToString(Formatting.Indented));
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/ForegroundOccluderPlacementRandomizer.cs

@@ -0,0 +1,77 @@
+using System;
+using System.Linq;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Parameters;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Randomizers.Utilities;
+using UnityEngine.Perception.Randomization.Samplers;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Creates a 2D layer of of evenly spaced GameObjects from a given list of prefabs
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("Perception/MyForeground Occluder Placement Randomizer")]
+    public class ForegroundOccluderPlacementRandomizer : Randomizer
+    {
+        /// <summary>
+        /// The Z offset component applied to the generated layer of GameObjects
+        /// </summary>
+        public float depth = 5;
+
+        /// <summary>
+        /// The minimum distance between all placed objects
+        /// </summary>
+        public FloatParameter occluderSeparationDistance = new FloatParameter { value = new UniformSampler(2f, 2f) };
+
+        /// <summary>
+        /// The size of the 2D area designated for object placement
+        /// </summary>
+        public Vector2 placementArea = new Vector2(6f, 6f);
+
+        /// <summary>
+        /// The list of prefabs sample and randomly place
+        /// </summary>
+        public GameObjectParameter prefabs;
+
+        GameObject m_Container;
+        GameObjectOneWayCache m_GameObjectOneWayCache;
+    
+        protected override void OnAwake()
+        {
+            m_Container = new GameObject("Foreground Occluders");
+            var transform = scenario.transform;
+            m_Container.transform.parent = transform;
+            m_GameObjectOneWayCache = new GameObjectOneWayCache(m_Container.transform, prefabs.categories.Select(element => element.Item1).ToArray());
+        }
+    
+    
+        /// <summary>
+        /// Generates a foreground layer of objects at the start of each scenario iteration
+        /// </summary>
+        protected override void OnIterationStart()
+        {
+            var seed = SamplerState.NextRandomState();
+            var placementSamples = PoissonDiskSampling.GenerateSamples(
+                placementArea.x, placementArea.y, occluderSeparationDistance.Sample(), seed);
+            var offset = new Vector3(placementArea.x, placementArea.y, 0f) * -0.5f;
+        
+            foreach (var sample in placementSamples)
+            {
+                var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
+                instance.transform.position = new Vector3(sample.x, sample.y, depth) + offset;
+            }
+            placementSamples.Dispose();
+        }
+
+        /// <summary>
+        /// Deletes generated foreground objects after each scenario iteration is complete
+        /// </summary>
+        protected override void OnIterationEnd()
+        {
+            m_GameObjectOneWayCache.ResetAllObjects();
+        }
+    }
+}
+

SynthDet/Assets/Scripts/CustomRandomizers/ForegroundOccluderScaleRandomizer.cs

@@ -0,0 +1,25 @@
+using System;
+using SynthDet.RandomizerTags;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Parameters;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Samplers;
+
+namespace SynthDet.Randomizers
+{
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Foreground Occluder Scale Randomizer")]
+    public class ForegroundOccluderScaleRandomizer : Randomizer
+    {
+        public FloatParameter scale = new FloatParameter { value = new UniformSampler(0.5f, 6f) };
+
+        protected override void OnIterationStart()
+        {
+            var tags = tagManager.Query<ForegroundOccluderScaleRandomizerTag>();
+            foreach (var tag in tags)
+            {
+                tag.transform.localScale = Vector3.one * scale.Sample();
+            }
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/ForegroundScaleRandomizer.cs

@@ -0,0 +1,25 @@
+using System;
+using SynthDet.RandomizerTags;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Parameters;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Samplers;
+
+namespace SynthDet.Randomizers
+{
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Foreground Scale Randomizer")]
+    public class ForegroundScaleRandomizer : Randomizer
+    {
+        public FloatParameter scale = new FloatParameter { value = new UniformSampler(4f, 8f) };
+
+        protected override void OnIterationStart()
+        {
+            var tags = tagManager.Query<ForegroundScaleRandomizerTag>();
+            foreach (var tag in tags)
+            {
+                tag.transform.localScale = Vector3.one * scale.Sample();
+            }
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/LightRandomizer.cs

@@ -0,0 +1,41 @@
+using System;
+using SynthDet.RandomizerTags;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Parameters;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Samplers;
+
+namespace SynthDet.Randomizers
+{
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Light Randomizer")]
+    public class LightRandomizer : Randomizer
+    {
+        public FloatParameter lightIntensityParameter = new FloatParameter { value = new UniformSampler(0f, 1f) };
+        public ColorRgbParameter lightColorParameter = new ColorRgbParameter
+        {
+            red = new UniformSampler(0.4f, 1f),
+            green = new UniformSampler(0.4f, 1f),
+            blue = new UniformSampler(0.4f, 1f),
+            alpha = new ConstantSampler(1f),
+        };
+        public FloatParameter auxParameter = new FloatParameter { value = new UniformSampler(0f, 1f) };
+    
+        protected override void OnIterationStart()
+        {
+            var randomizerTags = tagManager.Query<LightRandomizerTag>();
+            foreach (var tag in randomizerTags)
+            {
+                var light = tag.GetComponent<Light>();
+                light.color = lightColorParameter.Sample();
+                tag.SetIntensity(lightIntensityParameter.Sample());
+            }
+        
+            var switcherTags = tagManager.Query<LightSwitcherTag>();
+            foreach (var tag in switcherTags)
+            {
+                tag.Act(auxParameter.Sample());
+            }
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/LightingInfoMetricReporter.cs

@@ -0,0 +1,67 @@
+using System;
+using System.Collections.Generic;
+using SynthDet.RandomizerTags;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+using UnityEngine.Perception.Randomization.Randomizers;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Reports metrics for light intensity, light colour, and rotation for objects that contain a light component and are tagged with <see cref="LightingInfoMetricReporterTag"/>.
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Lighting Info Metric Reporter")]
+    public class LightingInfoMetricReporter : Randomizer
+    {
+        const string k_LightingInfoMetricGuid = "939248EE-668A-4E98-8E79-E7909F034A47";
+        MetricDefinition m_LightingInfoMetricDefinition;
+
+        protected override void OnAwake()
+        {
+            m_LightingInfoMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Lighting Info", $"Reports the enabled state, intensity, colour, and rotation of lights carrying a {nameof(LightingInfoMetricReporterTag)} component.", new Guid(k_LightingInfoMetricGuid));
+        }
+    
+        protected override void OnUpdate()
+        {
+            var tags = tagManager.Query<LightingInfoMetricReporterTag>();
+            ReportMetrics(tags);
+        }
+
+        void ReportMetrics(IEnumerable<RandomizerTag> tags)
+        {
+            var infos = new List<MyLightInfo>();
+            foreach (var tag in tags)
+            {
+                var light = tag.gameObject.GetComponent<Light>();
+                var rotation = tag.transform.rotation;
+                infos.Add(new MyLightInfo()
+                {
+                    lightName = tag.name,
+                    intensity = light.intensity,
+                    color = light.color,
+                    x_rotation = rotation.eulerAngles.x,
+                    y_rotation = rotation.eulerAngles.y,
+                    z_rotation = rotation.eulerAngles.z,
+                    enabled = light.enabled
+                });
+            }
+
+            DatasetCapture.ReportMetric(m_LightingInfoMetricDefinition, infos.ToArray());
+        }
+    
+        struct MyLightInfo
+        {
+            public string lightName;
+            public bool enabled;
+            public float intensity;
+            public Color color;
+            // ReSharper disable InconsistentNaming
+            public float x_rotation;
+            // ReSharper disable InconsistentNaming
+            public float y_rotation;
+            // ReSharper disable InconsistentNaming
+            public float z_rotation;
+        }
+    }
+}

SynthDet/Assets/Scripts/CustomRandomizers/UnifiedRotationRandomizer.cs

@@ -0,0 +1,39 @@
+using System;
+using SynthDet.RandomizerTags;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Parameters;
+using UnityEngine.Perception.Randomization.Randomizers;
+using UnityEngine.Perception.Randomization.Samplers;
+
+namespace SynthDet.Randomizers
+{
+    /// <summary>
+    /// Randomizes the rotation of objects tagged with a RotationRandomizerTag
+    /// </summary>
+    [Serializable]
+    [AddRandomizerMenu("Perception/My Unified Rotation Randomizer")]
+    public class UnifiedRotationRandomizer : Randomizer
+    {
+        /// <summary>
+        /// Defines the range of random rotations that can be assigned to tagged objects
+        /// </summary>
+        public Vector3Parameter rotation = new Vector3Parameter
+        {
+            x = new UniformSampler(0, 360),
+            y = new UniformSampler(0, 360),
+            z = new UniformSampler(0, 360)
+        };
+
+        /// <summary>
+        /// Randomizes the rotation of tagged objects at the start of each scenario iteration
+        /// </summary>
+        protected override void OnIterationStart()
+        {
+            var tags = tagManager.Query<UnifiedRotationRandomizerTag>();
+            var rotationSample = Quaternion.Euler(rotation.Sample());
+            foreach (var tag in tags)
+                tag.transform.rotation = rotationSample;
+        }
+    }
+}
+

SynthDet/Assets/Scripts/MyBackgroundObjectPlacementRandomizer.cs

@@ -1,80 +0,0 @@
-using System;
-using System.Linq;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Parameters;
-using UnityEngine.Perception.Randomization.Randomizers;
-using UnityEngine.Perception.Randomization.Randomizers.Utilities;
-using UnityEngine.Perception.Randomization.Samplers;
-
-/// <summary>
-/// Creates multiple layers of evenly distributed but randomly placed objects
-/// </summary>
-[Serializable]
-[AddRandomizerMenu("Perception/My Background Object Placement Randomizer")]
-public class MyBackgroundObjectPlacementRandomizer : Randomizer
-{
-    /// <summary>
-    /// The Z offset component applied to all generated background layers
-    /// </summary>
-    public float depth;
-
-    /// <summary>
-    /// The number of background layers to generate
-    /// </summary>
-    public int layerCount = 2;
-
-    /// <summary>
-    /// The minimum distance between placed background objects
-    /// </summary>
-    public float separationDistance = 2f;
-
-    /// <summary>
-    /// The 2D size of the generated background layers
-    /// </summary>
-    public Vector2 placementArea;
-
-    /// <summary>
-    /// A categorical parameter for sampling random prefabs to place
-    /// </summary>
-    public GameObjectParameter prefabs;
-
-    GameObject m_Container;
-    GameObjectOneWayCache m_GameObjectOneWayCache;
-
-    protected override void OnAwake()
-    {
-        m_Container = new GameObject("Background Distractors");
-        m_Container.transform.parent = scenario.transform;
-        m_GameObjectOneWayCache = new GameObjectOneWayCache(m_Container.transform,
-            prefabs.categories.Select((element) => element.Item1).ToArray());
-    }
-
-    /// <summary>
-    /// Generates background layers of objects at the start of each scenario iteration
-    /// </summary>
-    protected override void OnIterationStart()
-    {
-        for (var i = 0; i < layerCount; i++)
-        {
-            var seed = SamplerState.NextRandomState();
-            var placementSamples = PoissonDiskSampling.GenerateSamples(
-                placementArea.x, placementArea.y, separationDistance, seed);
-            var offset = new Vector3(placementArea.x, placementArea.y, 0f) * -0.5f;
-            foreach (var sample in placementSamples)
-            {
-                var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
-                instance.transform.position = new Vector3(sample.x, sample.y, separationDistance * i + depth) + offset;
-            }
-
-            placementSamples.Dispose();
-        }
-    }
-
-    /// <summary>
-    /// Deletes generated background objects after each scenario iteration is complete
-    /// </summary>
-    protected override void OnIterationEnd()
-    {
-        m_GameObjectOneWayCache.ResetAllObjects();
-    }
-}

SynthDet/Assets/Scripts/MyCameraPostProcessingMetricReporter.cs

@@ -1,71 +0,0 @@
-using System;
-using System.Collections.Generic;
-using UnityEngine;
-using UnityEngine.Perception.GroundTruth;
-using UnityEngine.Perception.Randomization.Randomizers;
-using UnityEngine.Rendering;
-using UnityEngine.Rendering.Universal;
-
-/// <summary>
-/// Reports post processing metrics for object that contain a post-processing volume component and are tagged with <see cref="MyCameraPostProcessingMetricReporter"/>. 
-/// </summary>
-[Serializable]
-[AddRandomizerMenu("Perception/My Camera Post-processing Metric Reporter")]
-public class MyCameraPostProcessingMetricReporter : Randomizer
-{
-
-    const string k_CameraPostProcessingMetricGuid = "a4b2253c-0eb2-4a90-9b20-6e77f1d13286";
-    MetricDefinition m_CameraPostProcessingMetricDefinition;
-    Dictionary<GameObject, Volume> m_PostProcessingVolumeCache;
-
-    protected override void OnAwake()
-    {
-        m_CameraPostProcessingMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Camera Post Processing Info", $"Reports post-processing effects of cameras (or other objects with a Volume) carrying a {nameof(MyCameraPostProcessingMetricReporter)} component.", new Guid(k_CameraPostProcessingMetricGuid));
-        m_PostProcessingVolumeCache = new Dictionary<GameObject, Volume>();
-    }
-    
-    protected override void OnUpdate()
-    {
-        var tags = tagManager.Query<MyCameraPostProcessingMetricReporterTag >();
-        ReportMetrics(tags);
-    }
-
-    void ReportMetrics(IEnumerable<RandomizerTag> tags)
-    {
-        var infos = new List<MyVolumeInfo>();
-        foreach (var tag in tags)
-        {
-            var taggedObject = tag.gameObject;
-            if (!m_PostProcessingVolumeCache.TryGetValue(taggedObject, out var volume))
-            {
-                volume = taggedObject.GetComponentInChildren<Volume>();
-                m_PostProcessingVolumeCache.Add(taggedObject, volume);
-            }
-
-            var vignette = (Vignette)volume.profile.components.Find(comp => comp is Vignette);
-            var colorAdjustments = (ColorAdjustments)volume.profile.components.Find(comp => comp is ColorAdjustments);
-            var depthOfField = (DepthOfField)volume.profile.components.Find(comp => comp is DepthOfField);
-            infos.Add(new MyVolumeInfo()
-            {
-                vignetteIntensity = vignette.intensity.value,
-                saturation = colorAdjustments.saturation.value,
-                contrast = colorAdjustments.contrast.value,
-                gaussianDofStart = depthOfField.gaussianStart.value,
-                gaussianDofEnd = depthOfField.gaussianEnd.value,
-                gaussianDofRadius = depthOfField.gaussianMaxRadius.value
-            });
-        }
-
-        DatasetCapture.ReportMetric(m_CameraPostProcessingMetricDefinition, infos.ToArray());
-    }
-    
-    struct MyVolumeInfo
-    {
-        public float vignetteIntensity;
-        public float saturation;
-        public float contrast;
-        public float gaussianDofStart;
-        public float gaussianDofEnd;
-        public float gaussianDofRadius;
-    }
-}

SynthDet/Assets/Scripts/MyCameraPostProcessingMetricReporterTag.cs

@@ -1,6 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[AddComponentMenu("Perception/RandomizerTags/My Camera Post-processing Metric Reporter Tag")]
-public class MyCameraPostProcessingMetricReporterTag : RandomizerTag { }
-

SynthDet/Assets/Scripts/MyCameraRandomizer.cs

@@ -1,52 +0,0 @@
-using System;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-using UnityEngine.Rendering;
-using UnityEngine.Rendering.Universal;
-using FloatParameter = UnityEngine.Perception.Randomization.Parameters.FloatParameter;
-
-[Serializable]
-
-[AddRandomizerMenu("Perception/My Camera Randomizer")]
-public class MyCameraRandomizer : Randomizer
-{
-    public FloatParameter blurParameter;
-    public FloatParameter contrastParameter;
-    public FloatParameter saturationParameter;
-    public FloatParameter grainAmountParameter;
-    
-    protected override void OnIterationStart()
-    {
-        var tags = tagManager.Query<MyCameraRandomizerTag>();
-        foreach (var tag in tags)
-        {
-            var volume = tag.gameObject.GetComponent<Volume>();
-            if (volume && volume.profile)
-            {
-                var dof = (DepthOfField) volume.profile.components.Find(comp => comp is DepthOfField);
-                if (dof)
-                {
-                    var val = blurParameter.Sample();
-                    dof.gaussianStart.value = val;
-                }
-
-                var colorAdjust = (ColorAdjustments) volume.profile.components.Find(comp => comp is ColorAdjustments);
-                if (colorAdjust)
-                {
-                    var val = contrastParameter.Sample();
-                    colorAdjust.contrast.value = val;
-                    
-                    val = saturationParameter.Sample();
-                    colorAdjust.saturation.value = val;
-                }
-                
-                var grain = (FilmGrain) volume.profile.components.Find(comp => comp is FilmGrain);
-                if (grain)
-                {
-                    var val = grainAmountParameter.Sample();
-                    grain.intensity.value = Mathf.Clamp(val, 0,1);
-                }
-            }
-        }
-    }
-}

SynthDet/Assets/Scripts/MyCameraRandomizerTag.cs

@@ -1,6 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[RequireComponent(typeof(Camera))]
-[AddComponentMenu("Perception/RandomizerTags/My Camera Randomizer Tag")]
-public class MyCameraRandomizerTag : RandomizerTag { }

SynthDet/Assets/Scripts/MyDualLayerForegroundObjectPlacementRandomizer.cs

@@ -1,113 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Parameters;
-using UnityEngine.Perception.Randomization.Randomizers;
-using UnityEngine.Perception.Randomization.Randomizers.Utilities;
-using UnityEngine.Perception.Randomization.Samplers;
-
-
-/// <summary>
-/// Creates a 2D layer of of evenly spaced GameObjects from a given list of prefabs
-/// </summary>
-[Serializable]
-[AddRandomizerMenu("Perception/My Dual Layer Foreground Object Placement Randomizer")]
-public class MyDualLayerForegroundObjectPlacementRandomizer : Randomizer
-{
-    List<GameObject> m_SpawnedObjects;
-    public int maxObjectCount;
-
-    public GameObjectParameter prefabs;
-
-    public bool dualLayer;
-
-    public float layerOneDepth;
-    public FloatParameter layerOneSeparationDistance;
-    public Vector2 layerOnePlacementArea;
-
-    public float layerTwoDepth;
-    public FloatParameter layerTwoSeparationDistance;    
-    public Vector2 layerTwoPlacementArea;
-
-    GameObject m_Container;
-    GameObjectOneWayCache m_GameObjectOneWayCache;
-
-    protected override void OnAwake()
-    {
-        m_SpawnedObjects = new List<GameObject>();
-        m_Container = new GameObject("Foreground Objects");
-        var transform = scenario.transform;
-        m_Container.transform.parent = transform;
-        m_GameObjectOneWayCache = new GameObjectOneWayCache(m_Container.transform, prefabs.categories.Select(element => element.Item1).ToArray());
-    }
-    
-    /// <summary>
-    /// Generates a foreground layer of objects at the start of each scenario iteration
-    /// </summary>
-    protected override void OnIterationStart()
-    {
-        m_SpawnedObjects.Clear();
-        
-        PlaceLayerOneObjects();
-        
-        if (dualLayer)
-            PlaceLayerTwoObjects();
-        
-        TrimObjects();
-    }
-
-
-    void PlaceLayerOneObjects()
-    {
-        var seed = SamplerState.NextRandomState();
-        var placementSamples = PoissonDiskSampling.GenerateSamples(
-            layerOnePlacementArea.x, layerOnePlacementArea.y, layerOneSeparationDistance.Sample(), seed);
-        var offset = new Vector3(layerOnePlacementArea.x, layerOnePlacementArea.y, 0) * -0.5f;
-        
-        foreach (var sample in placementSamples)
-        {
-            var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
-            instance.transform.position = new Vector3(sample.x, sample.y, layerOneDepth) + offset;
-            m_SpawnedObjects.Add(instance);                
-        }
-        placementSamples.Dispose();
-    }
-
-
-    void PlaceLayerTwoObjects()
-    {
-        var seed = SamplerState.NextRandomState();
-        var placementSamples = PoissonDiskSampling.GenerateSamples(
-            layerTwoPlacementArea.x, layerTwoPlacementArea.y, layerTwoSeparationDistance.Sample(), seed);
-        var offset = new Vector3(layerTwoPlacementArea.x, layerTwoPlacementArea.y, 0) * -0.5f;
-        
-        foreach (var sample in placementSamples)
-        {
-            var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
-            instance.transform.position = new Vector3(sample.x, sample.y, layerTwoDepth) + offset;
-            m_SpawnedObjects.Add(instance);
-        }
-        placementSamples.Dispose();
-    }
-
-    void TrimObjects()
-    {
-        var r = new System.Random();
-        while (m_SpawnedObjects.Count > maxObjectCount)
-        {
-            var obj = m_SpawnedObjects.ElementAt(r.Next(0, m_SpawnedObjects.Count));
-            m_SpawnedObjects.Remove(obj);
-            obj.transform.localPosition = new Vector3(10000, 0, 0);
-        }
-    }
-    
-    /// <summary>
-    /// Deletes generated foreground objects after each scenario iteration is complete
-    /// </summary>
-    protected override void OnIterationEnd()
-    {
-        m_GameObjectOneWayCache.ResetAllObjects();
-    }
-}
-

SynthDet/Assets/Scripts/MyForegroundObjectMetricReporter.cs

@@ -1,75 +0,0 @@
-using System;
-using System.Collections.Generic;
-using Newtonsoft.Json;
-using Newtonsoft.Json.Linq;
-using Unity.Mathematics;
-using UnityEngine;
-using UnityEngine.Perception.GroundTruth;
-using UnityEngine.Perception.Randomization.Randomizers;
-using Object = UnityEngine.Object;
-
-/// <summary>
-/// Reports metrics for rotation, world position, scale, and label id of objects that are tagged with <see cref="MyForegroundObjectMetricReporterTag"/>.
-/// </summary>
-[Serializable]
-[AddRandomizerMenu("Perception/My Foreground Object Metric Reporter")]
-public class MyForegroundObjectMetricReporter : Randomizer
-{
-    
-    const string k_LayerOneForegroundObjectPlacementInfoMetricGuid = "061E08CC-4428-4926-9933-A6732524B52B";
-    MetricDefinition m_ForegroundObjectPlacementMetricDefinition;
-    public IdLabelConfig labelConfigForObjectPlacementMetrics;
-    Dictionary<GameObject, Labeling> m_LabelingComponentsCache;
-
-    protected override void OnAwake()
-    {
-        m_ForegroundObjectPlacementMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Foreground Object Placement Info", $"Reports the world position, scale, rotation, and label id of objects carrying a {nameof(MyForegroundObjectMetricReporterTag)} component.", new Guid(k_LayerOneForegroundObjectPlacementInfoMetricGuid));
-        m_LabelingComponentsCache = new Dictionary<GameObject, Labeling>();
-        if (labelConfigForObjectPlacementMetrics == null)
-        {
-            var perceptionCamera = Object.FindObjectOfType<PerceptionCamera>();
-            if (perceptionCamera && perceptionCamera.labelers.Count > 0 && perceptionCamera.labelers[0] is BoundingBox2DLabeler boundingBox2DLabeler)
-            {
-                labelConfigForObjectPlacementMetrics = boundingBox2DLabeler.idLabelConfig;
-            }
-        }
-    }
-    
-    protected override void OnUpdate()
-    {
-        var tags = tagManager.Query<MyForegroundObjectMetricReporterTag>();
-        ReportMetrics(tags);
-    }
-
-    void ReportMetrics(IEnumerable<RandomizerTag> tags)
-    {
-        var objectStates = new JArray();
-        foreach (var tag in tags)
-        {
-            var taggedObject = tag.gameObject;
-            if (!m_LabelingComponentsCache.TryGetValue(taggedObject, out var labeling))
-            {
-                labeling = taggedObject.GetComponentInChildren<Labeling>();
-                m_LabelingComponentsCache.Add(taggedObject, labeling);
-            }
-            
-            int labelId = -1;
-            if (labelConfigForObjectPlacementMetrics.TryGetMatchingConfigurationEntry(labeling, out IdLabelEntry labelEntry))
-            {
-                labelId = labelEntry.id;
-            }
-            
-            var jObject = new JObject();
-            jObject["label_id"] = labelId;
-            var rotationEulerAngles = (float3)taggedObject.transform.rotation.eulerAngles;
-            jObject["rotation"] = new JRaw($"[{rotationEulerAngles.x}, {rotationEulerAngles.y}, {rotationEulerAngles.z}]");
-            var position = (float3)taggedObject.transform.position;
-            jObject["position"] = new JRaw($"[{position.x}, {position.y}, {position.z}]");
-            var scale = (float3)taggedObject.transform.localScale;
-            jObject["scale"] = new JRaw($"[{scale.x}, {scale.y}, {scale.z}]");
-            objectStates.Add(jObject);
-        }
-        
-        DatasetCapture.ReportMetric(m_ForegroundObjectPlacementMetricDefinition, objectStates.ToString(Formatting.Indented));
-    }
-}

SynthDet/Assets/Scripts/MyForegroundObjectMetricReporterTag.cs

@@ -1,6 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[AddComponentMenu("Perception/RandomizerTags/My Foreground Object Metric Reporter Tag")]
-public class MyForegroundObjectMetricReporterTag : RandomizerTag { }
-

SynthDet/Assets/Scripts/MyForegroundOccluderPlacementRandomizer.cs

@@ -1,74 +0,0 @@
-using System;
-using System.Linq;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Parameters;
-using UnityEngine.Perception.Randomization.Randomizers;
-using UnityEngine.Perception.Randomization.Randomizers.Utilities;
-using UnityEngine.Perception.Randomization.Samplers;
-
-/// <summary>
-/// Creates a 2D layer of of evenly spaced GameObjects from a given list of prefabs
-/// </summary>
-[Serializable]
-[AddRandomizerMenu("Perception/MyForeground Occluder Placement Randomizer")]
-public class MyForegroundOccluderPlacementRandomizer : Randomizer
-{
-    /// <summary>
-    /// The Z offset component applied to the generated layer of GameObjects
-    /// </summary>
-    public float depth;
-
-    /// <summary>
-    /// The minimum distance between all placed objects
-    /// </summary>
-    public FloatParameter occluderSeparationDistance;
-
-    /// <summary>
-    /// The size of the 2D area designated for object placement
-    /// </summary>
-    public Vector2 placementArea;
-
-    /// <summary>
-    /// The list of prefabs sample and randomly place
-    /// </summary>
-    public GameObjectParameter prefabs;
-
-    GameObject m_Container;
-    GameObjectOneWayCache m_GameObjectOneWayCache;
-    
-    protected override void OnAwake()
-    {
-        m_Container = new GameObject("Foreground Occluders");
-        var transform = scenario.transform;
-        m_Container.transform.parent = transform;
-        m_GameObjectOneWayCache = new GameObjectOneWayCache(m_Container.transform, prefabs.categories.Select(element => element.Item1).ToArray());
-    }
-    
-    
-    /// <summary>
-    /// Generates a foreground layer of objects at the start of each scenario iteration
-    /// </summary>
-    protected override void OnIterationStart()
-    {
-        var seed = SamplerState.NextRandomState();
-        var placementSamples = PoissonDiskSampling.GenerateSamples(
-            placementArea.x, placementArea.y, occluderSeparationDistance.Sample(), seed);
-        var offset = new Vector3(placementArea.x, placementArea.y, 0f) * -0.5f;
-        
-        foreach (var sample in placementSamples)
-        {
-            var instance = m_GameObjectOneWayCache.GetOrInstantiate(prefabs.Sample());
-            instance.transform.position = new Vector3(sample.x, sample.y, depth) + offset;
-        }
-        placementSamples.Dispose();
-    }
-
-    /// <summary>
-    /// Deletes generated foreground objects after each scenario iteration is complete
-    /// </summary>
-    protected override void OnIterationEnd()
-    {
-        m_GameObjectOneWayCache.ResetAllObjects();
-    }
-}
-

SynthDet/Assets/Scripts/MyForegroundOccluderScaleRandomizer.cs

@@ -1,20 +0,0 @@
-using System;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Parameters;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[Serializable]
-[AddRandomizerMenu("Perception/My Foreground Occluder Scale Randomizer")]
-public class MyForegroundOccluderScaleRandomizer : Randomizer
-{
-    public FloatParameter scale;
-
-    protected override void OnIterationStart()
-    {
-        var tags = tagManager.Query<MyForegroundOccluderScaleRandomizerTag>();
-        foreach (var tag in tags)
-        {
-            tag.transform.localScale = Vector3.one * scale.Sample();
-        }
-    }
-}

SynthDet/Assets/Scripts/MyForegroundOccluderScaleRandomizerTag.cs

@@ -1,5 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[AddComponentMenu("Perception/RandomizerTags/MyForegroundOccluderScaleRandomizerTag")]
-public class MyForegroundOccluderScaleRandomizerTag : RandomizerTag { }

SynthDet/Assets/Scripts/MyForegroundScaleRandomizer.cs

@@ -1,20 +0,0 @@
-using System;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Parameters;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[Serializable]
-[AddRandomizerMenu("Perception/My Foreground Scale Randomizer")]
-public class MyForegroundScaleRandomizer : Randomizer
-{
-    public FloatParameter scale;
-
-    protected override void OnIterationStart()
-    {
-        var tags = tagManager.Query<MyForegroundScaleRandomizerTag>();
-        foreach (var tag in tags)
-        {
-            tag.transform.localScale = Vector3.one * scale.Sample();
-        }
-    }
-}

SynthDet/Assets/Scripts/MyForegroundScaleRandomizerTag.cs

@@ -1,5 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[AddComponentMenu("Perception/RandomizerTags/MyForegroundScaleRandomizerTag")]
-public class MyForegroundScaleRandomizerTag : RandomizerTag { }

SynthDet/Assets/Scripts/MyLightRandomizer.cs

@@ -1,31 +0,0 @@
-using System;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Parameters;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[Serializable]
-
-[AddRandomizerMenu("Perception/My Light Randomizer")]
-public class MyLightRandomizer : Randomizer
-{
-    public FloatParameter lightIntensityParameter;
-    public ColorRgbParameter lightColorParameter;
-    public FloatParameter auxParameter;
-    
-    protected override void OnIterationStart()
-    {
-        var randomizerTags = tagManager.Query<MyLightRandomizerTag>();
-        foreach (var tag in randomizerTags)
-        {
-            var light = tag.GetComponent<Light>();
-            light.color = lightColorParameter.Sample();
-            tag.SetIntensity(lightIntensityParameter.Sample());
-        }
-        
-        var switcherTags = tagManager.Query<MyLightSwitcherTag>();
-        foreach (var tag in switcherTags)
-        {
-            tag.Act(auxParameter.Sample());
-        }
-    }
-}

SynthDet/Assets/Scripts/MyLightRandomizerTag.cs

@@ -1,17 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[RequireComponent(typeof(Light))]
-[AddComponentMenu("Perception/RandomizerTags/MyLightRandomizerTag")]
-public class MyLightRandomizerTag : RandomizerTag
-{
-    public float minIntensity;
-    public float maxIntensity;
-
-    public void SetIntensity(float rawIntensity)
-    {
-        var light = gameObject.GetComponent<Light>();
-        var scaledIntensity = rawIntensity * (maxIntensity - minIntensity) + minIntensity;
-        light.intensity = scaledIntensity;
-    }
-}

SynthDet/Assets/Scripts/MyLightSwitcherTag.cs

@@ -1,14 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[RequireComponent(typeof(Light))]
-[AddComponentMenu("Perception/RandomizerTags/MyLightSwitcherTag")]
-public class MyLightSwitcherTag : RandomizerTag
-{
-    public float enabledProbability;
-    public void Act(float rawInput)
-    {
-        var light = gameObject.GetComponent<Light>();
-        light.enabled = rawInput < enabledProbability;
-    }
-}

SynthDet/Assets/Scripts/MyLightingInfoMetricReporter.cs

@@ -1,63 +0,0 @@
-using System;
-using System.Collections.Generic;
-using UnityEngine;
-using UnityEngine.Perception.GroundTruth;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-/// <summary>
-/// Reports metrics for light intensity, light colour, and rotation for objects that contain a light component and are tagged with <see cref="MyLightingInfoMetricReporterTag"/>.
-/// </summary>
-[Serializable]
-[AddRandomizerMenu("Perception/My Lighting Info Metric Reporter")]
-public class MyLightingInfoMetricReporter : Randomizer
-{
-    const string k_LightingInfoMetricGuid = "939248EE-668A-4E98-8E79-E7909F034A47";
-    MetricDefinition m_LightingInfoMetricDefinition;
-
-    protected override void OnAwake()
-    {
-        m_LightingInfoMetricDefinition = DatasetCapture.RegisterMetricDefinition("Per Frame Lighting Info", $"Reports the enabled state, intensity, colour, and rotation of lights carrying a {nameof(MyLightingInfoMetricReporterTag)} component.", new Guid(k_LightingInfoMetricGuid));
-    }
-    
-    protected override void OnUpdate()
-    {
-        var tags = tagManager.Query<MyLightingInfoMetricReporterTag>();
-        ReportMetrics(tags);
-    }
-
-    void ReportMetrics(IEnumerable<RandomizerTag> tags)
-    {
-        var infos = new List<MyLightInfo>();
-        foreach (var tag in tags)
-        {
-            var light = tag.gameObject.GetComponent<Light>();
-            var rotation = tag.transform.rotation;
-            infos.Add(new MyLightInfo()
-            {
-                lightName = tag.name,
-                intensity = light.intensity,
-                color = light.color,
-                x_rotation = rotation.eulerAngles.x,
-                y_rotation = rotation.eulerAngles.y,
-                z_rotation = rotation.eulerAngles.z,
-                enabled = light.enabled
-            });
-        }
-
-        DatasetCapture.ReportMetric(m_LightingInfoMetricDefinition, infos.ToArray());
-    }
-    
-    struct MyLightInfo
-    {
-        public string lightName;
-        public bool enabled;
-        public float intensity;
-        public Color color;
-        // ReSharper disable InconsistentNaming
-        public float x_rotation;
-        // ReSharper disable InconsistentNaming
-        public float y_rotation;
-        // ReSharper disable InconsistentNaming
-        public float z_rotation;
-    }
-}

SynthDet/Assets/Scripts/MyLightingInfoMetricReporterTag.cs

@@ -1,6 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-[AddComponentMenu("Perception/RandomizerTags/My Lighting Info Metric Reporter Tag")]
-public class MyLightingInfoMetricReporterTag : RandomizerTag { }
-

SynthDet/Assets/Scripts/MyUnifiedRotationRandomizer.cs

@@ -1,35 +0,0 @@
-using System;
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Parameters;
-using UnityEngine.Perception.Randomization.Randomizers;
-using UnityEngine.Perception.Randomization.Samplers;
-
-/// <summary>
-/// Randomizes the rotation of objects tagged with a RotationRandomizerTag
-/// </summary>
-[Serializable]
-[AddRandomizerMenu("Perception/My Unified Rotation Randomizer")]
-public class MyUnifiedRotationRandomizer : Randomizer
-{
-    /// <summary>
-    /// Defines the range of random rotations that can be assigned to tagged objects
-    /// </summary>
-    public Vector3Parameter rotation = new Vector3Parameter
-    {
-        x = new UniformSampler(0, 360),
-        y = new UniformSampler(0, 360),
-        z = new UniformSampler(0, 360)
-    };
-
-    /// <summary>
-    /// Randomizes the rotation of tagged objects at the start of each scenario iteration
-    /// </summary>
-    protected override void OnIterationStart()
-    {
-        var tags = tagManager.Query<MyUnifiedRotationRandomizerTag>();
-        var rotationSample = Quaternion.Euler(rotation.Sample());
-        foreach (var tag in tags)
-            tag.transform.rotation = rotationSample;
-    }
-}
-

SynthDet/Assets/Scripts/MyUnifiedRotationRandomizerTag.cs

@@ -1,9 +0,0 @@
-using UnityEngine;
-using UnityEngine.Perception.Randomization.Randomizers;
-
-/// <summary>
-/// Used in conjunction with a RotationRandomizer to vary the rotation of GameObjects
-/// </summary>
-[AddComponentMenu("Perception/RandomizerTags/My Unified Rotation Randomizer Tag")]
-public class MyUnifiedRotationRandomizerTag : RandomizerTag { }
-

SynthDet/Assets/Scripts/SynthDetCreateScenarioMenuItem.cs

@@ -0,0 +1,38 @@
+using SynthDet.Randomizers;
+using UnityEditor;
+using UnityEngine;
+using UnityEngine.Perception.Randomization.Randomizers.SampleRandomizers;
+using UnityEngine.Perception.Randomization.Scenarios;
+using BackgroundObjectPlacementRandomizer = SynthDet.Randomizers.BackgroundObjectPlacementRandomizer;
+
+namespace SynthDet.MenuItems
+{
+    public static class SynthDetCreateScenarioMenuItem
+    {
+        [MenuItem("SynthDet/Create Scenario")]
+        static void CreateScenario()
+        {
+            var scenarioObj = new GameObject("Scenario");
+
+            var scenario = scenarioObj.AddComponent<FixedLengthScenario>();
+            scenario.constants.totalIterations = 1000;
+            
+            scenario.AddRandomizer(new BackgroundObjectPlacementRandomizer());
+            scenario.AddRandomizer(new ForegroundOccluderPlacementRandomizer());
+            scenario.AddRandomizer(new ForegroundOccluderScaleRandomizer());
+            scenario.AddRandomizer(new TextureRandomizer());
+            scenario.AddRandomizer(new HueOffsetRandomizer());
+            scenario.AddRandomizer(new DualLayerForegroundObjectPlacementRandomizer());
+            scenario.AddRandomizer(new RotationRandomizer());
+            scenario.AddRandomizer(new LightRandomizer());
+            scenario.AddRandomizer(new ForegroundScaleRandomizer());
+            scenario.AddRandomizer(new CameraRandomizer());
+            scenario.AddRandomizer(new UnifiedRotationRandomizer());
+            scenario.AddRandomizer(new ForegroundObjectMetricReporter());
+            scenario.AddRandomizer(new LightingInfoMetricReporter());
+            scenario.AddRandomizer(new CameraPostProcessingMetricReporter());
+
+            Selection.activeGameObject = scenarioObj;
+        }
+    }
+}

SynthDet/Assets/Scripts/SynthDetCreateScenarioMenuItem.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: c4ed0e3512ad499184e92f4c444c4f9d
+timeCreated: 1615930149

SynthDet/UserSettings/EditorUserSettings.asset

@@ -1,3 +1,3 @@
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-size 420
+oid sha256:0481362f1f0938e7e1288ff92e39b64931a29d823a7ca7f8a18b67d310aa9645
+size 599