using System; using System.Collections; using System.Collections.Generic; using System.Linq; using NUnit.Framework; using UnityEngine; using UnityEngine.Perception.GroundTruth; using UnityEngine.SceneManagement; using UnityEngine.TestTools; namespace GroundTruthTests { [TestFixture] public class KeyPointGroundTruthTests : GroundTruthTestBase, IPrebuildSetup, IPostBuildCleanup { private const string kAnimatedCubeScenePath = "Packages/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCubeScene.unity"; private const double k_Delta = .01; public void Setup() { #if UNITY_EDITOR var scenes = UnityEditor.EditorBuildSettings.scenes.ToList(); scenes.Add(new UnityEditor.EditorBuildSettingsScene(kAnimatedCubeScenePath, true)); UnityEditor.EditorBuildSettings.scenes = scenes.ToArray(); #endif } public void Cleanup() { #if UNITY_EDITOR var scenes = UnityEditor.EditorBuildSettings.scenes; scenes = scenes.Where(s => s.path != kAnimatedCubeScenePath).ToArray(); UnityEditor.EditorBuildSettings.scenes = scenes; #endif } static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action> computeListener, RenderTexture renderTexture = null, KeypointObjectFilter keypointObjectFilter = KeypointObjectFilter.Visible) { var cameraObject = new GameObject(); cameraObject.SetActive(false); var camera = cameraObject.AddComponent(); camera.orthographic = false; camera.fieldOfView = 60; camera.nearClipPlane = 0.3f; camera.farClipPlane = 1000; camera.transform.position = new Vector3(0, 0, -10); if (renderTexture) { camera.targetTexture = renderTexture; } var perceptionCamera = cameraObject.AddComponent(); perceptionCamera.captureRgbImages = false; var keyPointLabeler = new KeypointLabeler(config, template); keyPointLabeler.objectFilter = keypointObjectFilter; if (computeListener != null) keyPointLabeler.KeypointsComputed += computeListener; perceptionCamera.AddLabeler(keyPointLabeler); return cameraObject; } static KeypointTemplate CreateTestTemplate(Guid guid, string label) { var keypoints = new[] { new KeypointDefinition { label = "FrontLowerLeft", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "FrontUpperLeft", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "FrontUpperRight", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "FrontLowerRight", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "BackLowerLeft", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "BackUpperLeft", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "BackUpperRight", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "BackLowerRight", associateToRig = false, color = Color.black }, new KeypointDefinition { label = "Center", associateToRig = false, color = Color.black } }; var skeleton = new[] { new SkeletonDefinition { joint1 = 0, joint2 = 1, color = Color.magenta }, new SkeletonDefinition { joint1 = 1, joint2 = 2, color = Color.magenta }, new SkeletonDefinition { joint1 = 2, joint2 = 3, color = Color.magenta }, new SkeletonDefinition { joint1 = 3, joint2 = 0, color = Color.magenta }, new SkeletonDefinition { joint1 = 4, joint2 = 5, color = Color.blue }, new SkeletonDefinition { joint1 = 5, joint2 = 6, color = Color.blue }, new SkeletonDefinition { joint1 = 6, joint2 = 7, color = Color.blue }, new SkeletonDefinition { joint1 = 7, joint2 = 4, color = Color.blue }, new SkeletonDefinition { joint1 = 0, joint2 = 4, color = Color.green }, new SkeletonDefinition { joint1 = 1, joint2 = 5, color = Color.green }, new SkeletonDefinition { joint1 = 2, joint2 = 6, color = Color.green }, new SkeletonDefinition { joint1 = 3, joint2 = 7, color = Color.green }, }; var template = ScriptableObject.CreateInstance(); template.templateID = guid.ToString(); template.templateName = label; template.jointTexture = null; template.skeletonTexture = null; template.keypoints = keypoints; template.skeleton = skeleton; return template; } [Test] public void KeypointTemplate_CreateTemplateTest() { var guid = Guid.NewGuid(); const string label = "TestTemplate"; var template = CreateTestTemplate(guid, label); Assert.AreEqual(template.templateID, guid.ToString()); Assert.AreEqual(template.templateName, label); Assert.IsNull(template.jointTexture); Assert.IsNull(template.skeletonTexture); Assert.IsNotNull(template.keypoints); Assert.IsNotNull(template.skeleton); Assert.AreEqual(template.keypoints.Length, 9); Assert.AreEqual(template.skeleton.Length, 12); var k0 = template.keypoints[0]; Assert.NotNull(k0); Assert.AreEqual(k0.label, "FrontLowerLeft"); Assert.False(k0.associateToRig); Assert.AreEqual(k0.color, Color.black); var s0 = template.skeleton[0]; Assert.NotNull(s0); Assert.AreEqual(s0.joint1, 0); Assert.AreEqual(s0.joint2, 1); Assert.AreEqual(s0.color, Color.magenta); } static IdLabelConfig SetUpLabelConfig() { var cfg = ScriptableObject.CreateInstance(); cfg.Init(new List() { new IdLabelEntry { id = 1, label = "label" } }); return cfg; } static void SetupCubeJoint(GameObject cube, KeypointTemplate template, string label, float x, float y, float z) { var joint = new GameObject(); joint.transform.parent = cube.transform; joint.transform.localPosition = new Vector3(x, y, z); var jointLabel = joint.AddComponent(); jointLabel.templateInformation = new List(); var templateData = new JointLabel.TemplateData { template = template, label = label }; jointLabel.templateInformation.Add(templateData); } static void SetupCubeJoints(GameObject cube, KeypointTemplate template) { const float dim = 0.5f; SetupCubeJoint(cube, template, "FrontLowerLeft", -dim, -dim, -dim); SetupCubeJoint(cube, template, "FrontUpperLeft", -dim, dim, -dim); SetupCubeJoint(cube, template, "FrontUpperRight", dim, dim, -dim); SetupCubeJoint(cube, template, "FrontLowerRight", dim, -dim, -dim); SetupCubeJoint(cube, template, "BackLowerLeft", -dim, -dim, dim); SetupCubeJoint(cube, template, "BackUpperLeft", -dim, dim, dim); SetupCubeJoint(cube, template, "BackUpperRight", dim, dim, dim); SetupCubeJoint(cube, template, "BackLowerRight", dim, -dim, dim); } [UnityTest] public IEnumerator Keypoint_TestStaticLabeledCube() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoints(cube, template); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; //force all async readbacks to complete DestroyTestObject(cam); texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); Assert.AreEqual(t.keypoints[0].x, t.keypoints[1].x); Assert.AreEqual(t.keypoints[2].x, t.keypoints[3].x); Assert.AreEqual(t.keypoints[4].x, t.keypoints[5].x); Assert.AreEqual(t.keypoints[6].x, t.keypoints[7].x); Assert.AreEqual(t.keypoints[0].y, t.keypoints[3].y); Assert.AreEqual(t.keypoints[1].y, t.keypoints[2].y); Assert.AreEqual(t.keypoints[4].y, t.keypoints[7].y); Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y); for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index); for (var i = 0; i < 8; i++) Assert.AreEqual(2, t.keypoints[i].state); Assert.Zero(t.keypoints[8].state); Assert.Zero(t.keypoints[8].x); Assert.Zero(t.keypoints[8].y); } [UnityTest] public IEnumerator Keypoint_TestStaticLabeledCube_WithDisabledLabeling_AndSwitchingLabelingState() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoints(cube, template); var labeling = cube.GetComponent(); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); labeling.enabled = false; yield return null; labeling.enabled = true; yield return null; labeling.enabled = false; yield return null; //force all async readbacks to complete DestroyTestObject(cam); texture.Release(); var testCase = incoming[0]; Assert.AreEqual(0, testCase.Count); testCase = incoming[1]; Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); Assert.AreEqual(t.keypoints[0].x, t.keypoints[1].x); Assert.AreEqual(t.keypoints[2].x, t.keypoints[3].x); Assert.AreEqual(t.keypoints[4].x, t.keypoints[5].x); Assert.AreEqual(t.keypoints[6].x, t.keypoints[7].x); Assert.AreEqual(t.keypoints[0].y, t.keypoints[3].y); Assert.AreEqual(t.keypoints[1].y, t.keypoints[2].y); Assert.AreEqual(t.keypoints[4].y, t.keypoints[7].y); Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y); for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index); for (var i = 0; i < 8; i++) Assert.AreEqual(2, t.keypoints[i].state); Assert.Zero(t.keypoints[8].state); Assert.Zero(t.keypoints[8].x); Assert.Zero(t.keypoints[8].y); testCase = incoming[2]; Assert.AreEqual(0, testCase.Count); } [UnityTest] public IEnumerator Keypoint_TestAllOffScreen() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }); var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoints(cube, template); cube.transform.position = new Vector3(-1000, -1000, 0); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; //force all async readbacks to complete DestroyTestObject(cam); foreach (var i in incoming) { Assert.Zero(i.Count); } } [UnityTest] public IEnumerator Keypoint_TestMovingCube() { var incoming = new List>(); var keypoints = new[] { new KeypointDefinition { label = "Center", associateToRig = false, color = Color.black } }; var template = ScriptableObject.CreateInstance(); template.templateID = Guid.NewGuid().ToString(); template.templateName = "label"; template.jointTexture = null; template.skeletonTexture = null; template.keypoints = keypoints; template.skeleton = new SkeletonDefinition[0]; var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); cam.GetComponent().showVisualizations = false; var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoint(cube, template, "Center", 0, 0, 0); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; cube.transform.localPosition = new Vector3(-1, 0, 0); yield return null; //force all async readbacks to complete DestroyTestObject(cam); texture.Release(); var testCase = incoming[0]; Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(1, t.keypoints.Length); Assert.AreEqual(1024 / 2, t.keypoints[0].x); Assert.AreEqual(768 / 2, t.keypoints[0].y); Assert.AreEqual(0, t.keypoints[0].index); Assert.AreEqual(2, t.keypoints[0].state); var testCase2 = incoming[1]; Assert.AreEqual(1, testCase2.Count); var t2 = testCase2.First(); Assert.AreEqual(445, t2.keypoints[0].x, 1); Assert.AreEqual(768 / 2, t2.keypoints[0].y); } [UnityTest] public IEnumerator Keypoint_TestPartialOffScreen([Values(1,5)] int framesToRunBeforeAsserting) { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoints(cube, template); cube.transform.position += Vector3.right * 13.5f; cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); for (var i = 0; i < framesToRunBeforeAsserting; i++) yield return null; //force all async readbacks to complete DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); Assert.NotZero(t.keypoints[0].state); Assert.NotZero(t.keypoints[1].state); Assert.NotZero(t.keypoints[4].state); Assert.NotZero(t.keypoints[5].state); Assert.Zero(t.keypoints[2].state); Assert.Zero(t.keypoints[3].state); Assert.Zero(t.keypoints[6].state); Assert.Zero(t.keypoints[7].state); for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index); Assert.Zero(t.keypoints[8].state); Assert.Zero(t.keypoints[8].x); Assert.Zero(t.keypoints[8].y); } [UnityTest] public IEnumerator Keypoint_TestAllOnScreen() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoints(cube, template); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; //force all async readbacks to complete DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); Assert.AreEqual(t.keypoints[0].x, t.keypoints[1].x); Assert.AreEqual(t.keypoints[2].x, t.keypoints[3].x); Assert.AreEqual(t.keypoints[4].x, t.keypoints[5].x); Assert.AreEqual(t.keypoints[6].x, t.keypoints[7].x); Assert.AreEqual(t.keypoints[0].y, t.keypoints[3].y); Assert.AreEqual(t.keypoints[1].y, t.keypoints[2].y); Assert.AreEqual(t.keypoints[4].y, t.keypoints[7].y); Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y); for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index); for (var i = 0; i < 8; i++) Assert.AreEqual(2, t.keypoints[i].state); Assert.Zero(t.keypoints[8].state); Assert.Zero(t.keypoints[8].x); Assert.Zero(t.keypoints[8].y); } [UnityTest] public IEnumerator Keypoint_FullyOccluded_DoesNotReport() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); CreateFullyOccludedScene(template, cam); yield return null; //force all async readbacks to complete DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(0, testCase.Count); } [UnityTest] public IEnumerator Keypoint_FullyOccluded_WithIncludeOccluded_ReportsProperly( [Values(KeypointObjectFilter.VisibleAndOccluded, KeypointObjectFilter.All)] KeypointObjectFilter keypointObjectFilter) { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(data); }, texture, keypointObjectFilter); CreateFullyOccludedScene(template, cam); yield return null; //force all async readbacks to complete DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); for (var i = 0; i < 8; i++) Assert.AreEqual(1, t.keypoints[i].state); for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index); Assert.Zero(t.keypoints[8].state); Assert.Zero(t.keypoints[8].x); Assert.Zero(t.keypoints[8].y); } private void CreateFullyOccludedScene(KeypointTemplate template, GameObject cam) { var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoints(cube, template); var blocker = GameObject.CreatePrimitive(PrimitiveType.Cube); blocker.transform.position = new Vector3(0, 0, 5); blocker.transform.localScale = new Vector3(7, 7, 7); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); AddTestObjectForCleanup(blocker); } [UnityTest] public IEnumerator Keypoint_Offscreen_DoesNotReport( [Values(KeypointObjectFilter.VisibleAndOccluded, KeypointObjectFilter.Visible)] KeypointObjectFilter keypointObjectFilter) { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(data); }, texture, keypointObjectFilter); var cube = TestHelper.CreateLabeledCube(scale: 6, z: -100); SetupCubeJoints(cube, template); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; //force all async readbacks to complete DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(0, testCase.Count); } [UnityTest] public IEnumerator Keypoint_Offscreen_WithIncludeAll_ReportsProperly() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(data); }, texture, KeypointObjectFilter.All); var cube = TestHelper.CreateLabeledCube(scale: 6, z: -20); SetupCubeJoints(cube, template); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; //force all async readbacks to complete DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); for (var i = 0; i < 9; i++) { Assert.Zero(t.keypoints[i].state); Assert.Zero(t.keypoints[i].x); Assert.Zero(t.keypoints[i].y); } } [UnityTest] public IEnumerator Keypoint_TestPartiallyBlockedByOther() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8); SetupCubeJoints(cube, template); var blocker = GameObject.CreatePrimitive(PrimitiveType.Cube); blocker.transform.position = new Vector3(3, 0, 5); blocker.transform.localScale = new Vector3(7, 7, 7); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); AddTestObjectForCleanup(blocker); yield return null; //force all async readbacks to complete DestroyTestObject(cam); texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); Assert.AreEqual(2, t.keypoints[0].state); Assert.AreEqual(2, t.keypoints[1].state); Assert.AreEqual(2, t.keypoints[4].state); Assert.AreEqual(2, t.keypoints[5].state); Assert.AreEqual(1, t.keypoints[2].state); Assert.AreEqual(1, t.keypoints[3].state); Assert.AreEqual(1, t.keypoints[6].state); Assert.AreEqual(1, t.keypoints[7].state); for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index); Assert.Zero(t.keypoints[8].state); Assert.Zero(t.keypoints[8].x); Assert.Zero(t.keypoints[8].y); } [UnityTest] public IEnumerator Keypoint_AnimatedCube_PositionsCaptured() { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var texture = new RenderTexture(1024, 768, 16); texture.Create(); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(new List(data)); }, texture); var cameraComponent = cam.GetComponent(); cameraComponent.orthographic = true; cameraComponent.orthographicSize = 2; var screenPointCenterExpected = cameraComponent.WorldToScreenPoint( new Vector3(-1.0f, -1.0f * -1 /*flip y for image-space*/, -1.0f)); cam.transform.position = new Vector3(0, 0, -10); // ReSharper disable once Unity.LoadSceneUnknownSceneName SceneManager.LoadScene("AnimatedCubeScene", LoadSceneMode.Additive); AddSceneForCleanup("AnimatedCubeScene"); //scenes are loaded at the end of the frame yield return null; var cube = GameObject.Find("AnimatedCube"); cube.SetActive(false); var labeling = cube.AddComponent(); labeling.labels.Add("label"); SetupCubeJoint(cube, template, "Center",0f, 0f, 0f); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; //force all async readbacks to complete DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); //large delta because the animation will already have taken it some distance from the starting location Assert.AreEqual(screenPointCenterExpected.x, t.keypoints[8].x, Screen.width * .1); Assert.AreEqual(screenPointCenterExpected.y, t.keypoints[8].y, Screen.height * .1); Assert.AreEqual(8, t.keypoints[8].index); Assert.AreEqual(2, t.keypoints[8].state); } static IEnumerable<(float scale, bool expectObject, int expectedState, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight)> Keypoint_OnBox_ReportsProperCoordinates_TestCases() { yield return ( 1, true, 2, KeypointObjectFilter.Visible, new Vector2(0, 0), new Vector2(1023.99f, 1023.99f)); yield return ( 1.001f, true, 0, KeypointObjectFilter.Visible, new Vector2(0, 0), new Vector2(0, 0)); yield return ( 1.2f, true, 0, KeypointObjectFilter.Visible, new Vector2(0, 0), new Vector2(0, 0)); yield return ( 0f, false, 1, KeypointObjectFilter.Visible, new Vector2(512, 512), new Vector2(512, 512)); yield return ( 0f, true, 1, KeypointObjectFilter.VisibleAndOccluded, new Vector2(512, 512), new Vector2(512, 512)); } [UnityTest] public IEnumerator Keypoint_OnBox_ReportsProperCoordinates( [ValueSource(nameof(Keypoint_OnBox_ReportsProperCoordinates_TestCases))] (float scale, bool expectObject, int expectedState, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight) args) { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); var frameSize = 1024; var texture = new RenderTexture(frameSize, frameSize, 16); var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) => { incoming.Add(data); }, texture, args.keypointFilter); var camComponent = cam.GetComponent(); camComponent.orthographic = true; camComponent.orthographicSize = .5f; var cube = TestHelper.CreateLabeledCube(scale: args.scale, z: 8); SetupCubeJoints(cube, template); cube.SetActive(true); cam.SetActive(true); AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); yield return null; //force all async readbacks to complete DestroyTestObject(cam); texture.Release(); var testCase = incoming.Last(); if (!args.expectObject) { Assert.AreEqual(0, testCase.Count); yield break; } Assert.AreEqual(1, testCase.Count); var t = testCase.First(); Assert.NotNull(t); Assert.AreEqual(1, t.instance_id); Assert.AreEqual(1, t.label_id); Assert.AreEqual(template.templateID.ToString(), t.template_guid); Assert.AreEqual(9, t.keypoints.Length); CollectionAssert.AreEqual(Enumerable.Repeat(args.expectedState, 8), t.keypoints.Take(8).Select(k => k.state), "State mismatch"); Assert.AreEqual(args.expectedTopLeft.x, t.keypoints[0].x, k_Delta); Assert.AreEqual(args.expectedBottomRight.y, t.keypoints[0].y, k_Delta); Assert.AreEqual(args.expectedTopLeft.x, t.keypoints[1].x, k_Delta); Assert.AreEqual(args.expectedTopLeft.y, t.keypoints[1].y, k_Delta); Assert.AreEqual(args.expectedBottomRight.x, t.keypoints[2].x, k_Delta); Assert.AreEqual(args.expectedTopLeft.y, t.keypoints[2].y, k_Delta); Assert.AreEqual(args.expectedBottomRight.x, t.keypoints[3].x, k_Delta); Assert.AreEqual(args.expectedBottomRight.y, t.keypoints[3].y, k_Delta); } } }