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Adding tests for multi-camera segmentation

/fix_multi_cam
Jon Hogins 3 年前
当前提交
575f924e
共有 1 个文件被更改,包括 54 次插入0 次删除
  1. 54
      com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs

54
com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs


Assert.AreEqual(1, timesSegmentationImageReceived);
}
[UnityTest]
public IEnumerator SegmentationPass_WithMultiplePerceptionCameras_ProducesCorrectValues(
[Values(SegmentationKind.Instance, SegmentationKind.Semantic)] SegmentationKind segmentationKind)
{
int timesSegmentationImageReceived = 0;
var color1 = segmentationKind == SegmentationKind.Instance ?
k_InstanceSegmentationPixelValue :
k_SemanticPixelValue;
var color2 = segmentationKind == SegmentationKind.Instance ?
new Color32(0, 74, Byte.MaxValue, Byte.MaxValue) :
new Color32(0, 0, 0, Byte.MaxValue);
void OnCam1SegmentationImageReceived(NativeArray<Color32> data)
{
CollectionAssert.AreEqual(Enumerable.Repeat(color1, data.Length), data);
timesSegmentationImageReceived++;
}
void OnCam2SegmentationImageReceived(NativeArray<Color32> data)
{
Assert.AreEqual(color1, data[data.Length / 4]);
Assert.AreEqual(color2, data[data.Length * 3 / 4]);
timesSegmentationImageReceived++;
}
GameObject cameraObject;
GameObject cameraObject2;
if (segmentationKind == SegmentationKind.Instance)
{
cameraObject = SetupCameraInstanceSegmentation((frame, data, renderTexture) => OnCam1SegmentationImageReceived(data));
cameraObject2 = SetupCameraInstanceSegmentation((frame, data, renderTexture) => OnCam2SegmentationImageReceived(data));
}
else
{
cameraObject = SetupCameraSemanticSegmentation((args) => OnCam1SegmentationImageReceived(args.data), false);
cameraObject2 = SetupCameraSemanticSegmentation((args) => OnCam2SegmentationImageReceived(args.data), false);
}
//position camera to point straight at the top edge of plane1, such that plane1 takes up the bottom half of
//the image and plane2 takes up the top half
cameraObject2.transform.localPosition = Vector3.up * 2.5f;
var plane1 = TestHelper.CreateLabeledPlane(.5f);
var plane2 = TestHelper.CreateLabeledPlane(.5f, "label2");
plane2.transform.localPosition = plane2.transform.localPosition + Vector3.up * 5f;
AddTestObjectForCleanup(plane1);
AddTestObjectForCleanup(plane2);
yield return null;
//destroy the object to force all pending segmented image readbacks to finish and events to be fired.
DestroyTestObject(cameraObject);
DestroyTestObject(cameraObject2);
Assert.AreEqual(2, timesSegmentationImageReceived);
}
[UnityTest]
public IEnumerator SegmentationPassProducesCorrectValuesEachFrame(
[Values(SegmentationKind.Instance, SegmentationKind.Semantic)] SegmentationKind segmentationKind)

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