Merge pull request #344 from Unity-Technologies/orthographic-camera-metadata-additions

Add camera projection information to metadata

Author: leopoldo-zugasti

com.unity.perception/CHANGELOG.md

@@ -18,6 +18,8 @@ Added random seed field to the Run in Unity Simulation Window
 
 User can now choose the base folder location to store their generated data.
 
+Added 'projection' field in the capture.sensor metadata. Values are either "perspective" or "orthographic"
+
 ### Changed
 Increased color variety in instance segmentation images
 

com.unity.perception/Documentation~/Schema/Synthetic_Dataset_Schema.md

@@ -140,6 +140,7 @@ sensor {
   translation:      <float, float, float> -- Position in meters: (x, y, z) with respect to the ego coordinate system. This is typically fixed during the simulation, but we can allow small variation for domain randomization.
   rotation:         <float, float, float, float> -- Orientation as quaternion: (w, x, y, z) with respect to ego coordinate system. This is typically fixed during the simulation, but we can allow small variation for domain randomization.
   camera_intrinsic: <3x3 float matrix> [optional] -- Intrinsic camera calibration. Empty for sensors that are not cameras.
+  projection:       <string> -- holds the type of projection the camera used for that capture: Options: "perspective" or "orthographic"
   
   # add arbitrary optional key-value pairs for sensor attributes
 }

com.unity.perception/Documentation~/Schema/image_0.png

@@ -67,7 +67,7 @@ public static JToken ToJToken<T>(T value)
                 case double v:
                     return new JValue(v);
                 case string v:
-                    return new JValue($"\"{v}\"");
+                    return new JValue(v);
                 case uint v:
                     return new JValue(v);
             }

com.unity.perception/Runtime/GroundTruth/DatasetJsonUtility.cs

@@ -432,6 +432,9 @@ void CaptureRgbData(Camera cam)
             // Record the camera's projection matrix
             SetPersistentSensorData("camera_intrinsic", ToProjectionMatrix3x3(cam.projectionMatrix));
 
+            // Record the camera's projection type (orthographic or perspective)
+            SetPersistentSensorData("projection", cam.orthographic ? "orthographic" : "perspective");
+
             var captureFilename = $"{Manager.Instance.GetDirectoryFor(rgbDirectory)}/{k_RgbFilePrefix}{Time.frameCount}.png";
             var dxRootPath = $"{rgbDirectory}/{k_RgbFilePrefix}{Time.frameCount}.png";
             SensorHandle.ReportCapture(dxRootPath, SensorSpatialData.FromGameObjects(

com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs

@@ -85,7 +85,7 @@ public void Float3x3ToJToken_ReturnsArrayFormat(float m00, float m01, float m02,
         [TestCase(1u, "1")]
         [TestCase(1.0, "1")]
         [TestCase(1.0f, "1")]
-        [TestCase("string", "\"string\"")]
+        [TestCase("string", "string")]
         public void Primitive_ReturnsValue(object o, string jsonExpected)
         {
             var jsonActual = DatasetJsonUtility.ToJToken(o).ToString();