Unity-Technologies
/
SynthDet
зеркало из https://github.com/Unity-Technologies/SynthDet.git
1
0
Форкнуть 0
Код Задачи Пакеты Проекты Релизы Вики Активность

Migrating to a newer version of perception

This commit is contained in:
Jon Hogins 2020-07-16 09:09:11 -07:00
Родитель d6ddbf7fcf
Коммит f641fea15a
10 изменённых файлов: 34 добавлений и 26 удалений
Показать статистику Скачать Patch файл Скачать Diff файл Показать все файлы Свернуть все файлы

3
SynthDet/Assets/Resources/IdLabelConfig.asset Normal file
Просмотреть файл

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c049de042030bd7f7ef0ecd9b4d425397c7c0d646076ba773284dd16b377af45
size 3380

2
SynthDet/Assets/Resources/LabelingConfiguration.asset.meta → SynthDet/Assets/Resources/IdLabelConfig.asset.meta
Просмотреть файл

@ -1,5 +1,5 @@
fileFormatVersion: 2
guid: 55105c2d431c7164aa94083b57830489
guid: d20af9ee69954464e8d7cc8643ff2135
NativeFormatImporter:
externalObjects: {}
mainObjectFileID: 0

3
SynthDet/Assets/Resources/LabelingConfiguration.asset
Просмотреть файл

@ -1,3 +0,0 @@
version https://git-lfs.github.com/spec/v1
oid sha256:f1d8bce512404b5b9bcb8b70652a30accaf54349ad559692f532ed87010966f9
size 4205

4
SynthDet/Assets/Scenes/MainScene.unity
Просмотреть файл

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5d4937a6364496402454f077bce9c6483cab84c4a710da9094fbc6b807f46441
size 11287
oid sha256:4bb16d8b0263adba7d68540f1bf551a33e5446355dd7e14487e92c1c340e7bd4
size 11671

4
SynthDet/Assets/Scripts/BackgroundGenerator.cs
Просмотреть файл

@ -121,7 +121,7 @@ public class BackgroundGenerator : JobComponentSystem
backgroundHueMaxOffset = init.AppParameters.BackgroundHueMaxOffset;
initialized = true;
m_ScaleRangeMetric = SimulationManager.RegisterMetricDefinition("background scale range", "The range of scale factors used to place background objects each frame", k_BackgroundScaleMetricId);
m_ScaleRangeMetric = DatasetCapture.RegisterMetricDefinition("background scale range", "The range of scale factors used to place background objects each frame", k_BackgroundScaleMetricId);
}
protected override void OnCreate()
@ -194,7 +194,7 @@ public class BackgroundGenerator : JobComponentSystem
var placementOrigin = new Vector3(placementRegion.x, placementRegion.y,
k_PlacementDistance + cameraTf.position.z);
SimulationManager.ReportMetric(m_ScaleRangeMetric, $@"[ {{ ""scaleMin"": {scaleMin}, ""scaleMax"": {scaleMax} }}]");
DatasetCapture.ReportMetric(m_ScaleRangeMetric, $@"[ {{ ""scaleMin"": {scaleMin}, ""scaleMax"": {scaleMax} }}]");
var meshesToDraw = new NativeArray<MeshDrawInfo>(numCellsHorizontal * numCellsVertical * numFillPasses, Allocator.TempJob);
using (s_PlaceBackgroundObjects.Auto())

11
SynthDet/Assets/Scripts/ForegroundObjectPlacer.cs
Просмотреть файл

@ -64,7 +64,7 @@ unsafe public class ForegroundObjectPlacer : JobComponentSystem
m_ResourceDirectoriesQuery = EntityManager.CreateEntityQuery(typeof(ResourceDirectories));
m_CurriculumQuery = EntityManager.CreateEntityQuery(typeof(CurriculumState));
m_ForegroundPlacementInfoDefinition = SimulationManager.RegisterMetricDefinition("foreground placement info", description: "Info about each object placed in the foreground layer. Currently only includes label and orientation.",id: new Guid(k_ForegroundPlacementInfoMetricGuid));
m_ForegroundPlacementInfoDefinition = DatasetCapture.RegisterMetricDefinition("foreground placement info", description: "Info about each object placed in the foreground layer. Currently only includes label and orientation.",id: new Guid(k_ForegroundPlacementInfoMetricGuid));
}
#if UNITY_EDITOR
public void LoadAndStartRenderDocCapture(out UnityEditor.EditorWindow gameView)
@ -138,7 +138,7 @@ unsafe public class ForegroundObjectPlacer : JobComponentSystem
using (s_PlaceObjects.Auto())
placedObjectBoundingBoxes = PlaceObjects(camera, statics, occludingObjectBounds, ref curriculumState);
ReportObjectStats(placedObjectBoundingBoxes, m_CameraContainer);
ReportObjectStats(statics, placedObjectBoundingBoxes, m_CameraContainer);
using (s_PlaceOccludingObjects.Auto())
{
@ -152,16 +152,15 @@ unsafe public class ForegroundObjectPlacer : JobComponentSystem
return inputDeps;
}
void ReportObjectStats(NativeList<PlacedObject> placedObjectBoundingBoxes, GameObject cameraObject)
void ReportObjectStats(PlacementStatics placementStatics, NativeList<PlacedObject> placedObjectBoundingBoxes, GameObject cameraObject)
{
var perceptionCamera = cameraObject.GetComponent<PerceptionCamera>();
var objectStates = new JArray();
for (int i = 0; i < placedObjectBoundingBoxes.Length; i++)
{
var placedObject = placedObjectBoundingBoxes[i];
var labeling = m_ParentForeground.transform.GetChild(placedObject.PrefabIndex).gameObject.GetComponent<Labeling>();
int labelId;
if (perceptionCamera.LabelingConfiguration.TryGetMatchingConfigurationEntry(labeling, out LabelEntry labelEntry))
if (placementStatics.IdLabelConfig.TryGetMatchingConfigurationEntry(labeling, out IdLabelEntry labelEntry))
labelId = labelEntry.id;
else
labelId = -1;
@ -172,7 +171,7 @@ unsafe public class ForegroundObjectPlacer : JobComponentSystem
jObject["rotation"] = new JRaw($"[{rotationEulerAngles.x}, {rotationEulerAngles.y}, {rotationEulerAngles.z}]");
objectStates.Add(jObject);
}
SimulationManager.ReportMetric(m_ForegroundPlacementInfoDefinition, objectStates.ToString(Formatting.Indented));
DatasetCapture.ReportMetric(m_ForegroundPlacementInfoDefinition, objectStates.ToString(Formatting.Indented));
}
struct PlacedObject : IEquatable<PlacedObject>

4
SynthDet/Assets/Scripts/LightingRandomizer.cs
Просмотреть файл

@ -26,7 +26,7 @@ public class LightingRandomizerSystem : JobComponentSystem
if (light == null)
return;
m_LightingInfoDefinition = SimulationManager.RegisterMetricDefinition("lighting info", "Per-frame light color and orientation", id: k_LightingInfoGuid);
m_LightingInfoDefinition = DatasetCapture.RegisterMetricDefinition("lighting info", "Per-frame light color and orientation", id: k_LightingInfoGuid);
m_Light = light.GetComponent<Light>();
// To simulate phong shading we turn off shadows
m_Light.shadows = LightShadows.None;
@ -73,7 +73,7 @@ public class LightingRandomizerSystem : JobComponentSystem
0f
);
SimulationManager.ReportMetric(m_LightingInfoDefinition, new[]
DatasetCapture.ReportMetric(m_LightingInfoDefinition, new[]
{
new LightInfo()
{

5
SynthDet/Assets/Scripts/ObjectPlacementUtilities.cs
Просмотреть файл

@ -5,6 +5,7 @@ using Unity.Entities;
using UnityEngine;
using Unity.Mathematics;
using UnityEngine.Assertions;
using UnityEngine.Perception.GroundTruth;
using Random = Unity.Mathematics.Random;
public struct CurriculumState : IComponentData
@ -29,8 +30,9 @@ public class PlacementStatics : Component
public readonly NativeArray<Quaternion> InPlaneRotations;
public readonly NativeArray<Quaternion> OutOfPlaneRotations;
public readonly NativeArray<float> ScaleFactors;
public readonly IdLabelConfig IdLabelConfig;
public PlacementStatics(int maxFrames, int maxForegroundObjectsPerFrame, float scalingMin, float scalingSize, float occludingHueMaxOffset, float backgroundObjectInForegroundChance, GameObject[] foreground, GameObject[] backgroundPrefabs, Texture2D[] backgroundImages, NativeArray<Quaternion> inPlaneRot, NativeArray<Quaternion> outPlaneRot, NativeArray<float> scaleFactors)
public PlacementStatics(int maxFrames, int maxForegroundObjectsPerFrame, float scalingMin, float scalingSize, float occludingHueMaxOffset, float backgroundObjectInForegroundChance, GameObject[] foreground, GameObject[] backgroundPrefabs, Texture2D[] backgroundImages, NativeArray<Quaternion> inPlaneRot, NativeArray<Quaternion> outPlaneRot, NativeArray<float> scaleFactors, IdLabelConfig idLabelConfig)
{
MaxFrames = maxFrames;
ForegroundPrefabs = foreground;
@ -38,6 +40,7 @@ public class PlacementStatics : Component
InPlaneRotations = inPlaneRot;
OutOfPlaneRotations = outPlaneRot;
ScaleFactors = scaleFactors;
IdLabelConfig = idLabelConfig;
ScalingMin = scalingMin;
ScalingSize = scalingSize;
OccludingHueMaxOffset = occludingHueMaxOffset;

20
SynthDet/Assets/Scripts/ProjectInitialization.cs
Просмотреть файл

@ -39,6 +39,7 @@ public class ProjectInitialization : MonoBehaviour
public AppParams AppParameters = AppParamDefaults;
public bool EnableProfileLog;
public PerceptionCamera PerceptionCamera;
public IdLabelConfig idLabelconfig;
Entity m_ResourceDirectoriesEntity;
Entity m_CurriculumStateEntity;
string m_ProfileLogPath;
@ -92,10 +93,11 @@ public class ProjectInitialization : MonoBehaviour
backgroundImages,
ObjectPlacementUtilities.GenerateInPlaneRotationCurriculum(Allocator.Persistent),
ObjectPlacementUtilities.GenerateOutOfPlaneRotationCurriculum(Allocator.Persistent),
new NativeArray<float>(AppParameters.ScaleFactors, Allocator.Persistent));
var appParamsMetricDefinition = SimulationManager.RegisterMetricDefinition(
new NativeArray<float>(AppParameters.ScaleFactors, Allocator.Persistent),
idLabelconfig);
var appParamsMetricDefinition = DatasetCapture.RegisterMetricDefinition(
"app-params", description:"The values from the app-params used in the simulation. Only triggered once per simulation.", id: k_AppParamsMetricGuid);
SimulationManager.ReportMetric(appParamsMetricDefinition, new[] {AppParameters});
DatasetCapture.ReportMetric(appParamsMetricDefinition, new[] {AppParameters});
m_CurriculumStateEntity = World.DefaultGameObjectInjectionWorld.EntityManager.CreateEntity();
World.DefaultGameObjectInjectionWorld.EntityManager.AddComponentData(
m_CurriculumStateEntity, new CurriculumState());
@ -151,13 +153,17 @@ public class ProjectInitialization : MonoBehaviour
void ValidateForegroundLabeling(GameObject[] foregroundObjects, PerceptionCamera perceptionCamera)
{
if (perceptionCamera.LabelingConfiguration == null)
var boundingBox2DLabeler = (BoundingBox2DLabeler)perceptionCamera.labelers.First(l => l is BoundingBox2DLabeler);
if (boundingBox2DLabeler == null)
return;
var labelConfig = boundingBox2DLabeler.idLabelConfig;
if (labelConfig == null)
{
Debug.LogError("PerceptionCamera does not have a labeling configuration. This will likely cause the program to fail.");
return;
}
var labelingConfiguration = perceptionCamera.LabelingConfiguration;
var regex = new Regex(".*_[0-9][0-9]");
var foregroundNames = foregroundObjects.Select(f =>
{
@ -166,8 +172,8 @@ public class ProjectInitialization : MonoBehaviour
foregroundName = foregroundName.Substring(0, foregroundName.Length - 3);
return foregroundName;
}).ToList();
var foregroundObjectsMissingFromConfig = foregroundNames.Where(f => labelingConfiguration.LabelEntries.All(l => l.label != f)).ToList();
var configurationsMissingModel = labelingConfiguration.LabelEntries.Skip(1).Select(l => l.label).Where(l => !foregroundNames.Any(f => f == l)).ToList();
var foregroundObjectsMissingFromConfig = foregroundNames.Where(f => labelConfig.labelEntries.All(l => l.label != f)).ToList();
var configurationsMissingModel = labelConfig.labelEntries.Skip(1).Select(l => l.label).Where(l => !foregroundNames.Any(f => f == l)).ToList();
if (foregroundObjectsMissingFromConfig.Count > 0)
{

4
SynthDet/Assets/Scripts/RandomizedPostProcessingFeature.cs
Просмотреть файл

@ -42,7 +42,7 @@ public class RandomizedPostProcessingFeature : ScriptableRendererFeature
m_RenderPass = new RandomizedPostProcessingPass();
if (Application.isPlaying)
{
m_PostProcessValuesMetric = SimulationManager.RegisterMetricDefinition(
m_PostProcessValuesMetric = DatasetCapture.RegisterMetricDefinition(
"random post processing",
description: "Some post-processing parameters are randomized each frame. These are the per-frame values used.",
id: k_PostProcessValuesMetricId);
@ -122,7 +122,7 @@ public class RandomizedPostProcessingFeature : ScriptableRendererFeature
blur_std_dev_uv = stdDev,
noise_strength = noiseStrength
};
SimulationManager.ReportMetric(m_PostProcessValuesMetric, new[] { metric });
DatasetCapture.ReportMetric(m_PostProcessValuesMetric, new[] { metric });
}
m_RenderPass.Update(m_BlurMaterial, m_NoiseMaterial, RenderEvent,