com.unity.perception/com.unity.perception/Tests/Runtime/GroundTruthTests/PerceptionCameraIntegrationTests.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.Perception.GroundTruth;
using UnityEngine.Perception.GroundTruth.DataModel;
using UnityEngine.TestTools;

#if MOQ_PRESENT
using Moq;
#endif

namespace GroundTruthTests
{
#if HDRP_PRESENT
    [Ignore("Ignoring in HDRP because of a rendering issue in the first frame. See issue AISV-455.")]
#endif
    public class PerceptionCameraIntegrationTests : GroundTruthTestBase
    {
        [UnityTest]
        [UnityPlatform(RuntimePlatform.LinuxPlayer, RuntimePlatform.WindowsPlayer)]
        public IEnumerator EnableBoundingBoxes_GeneratesCorrectDataset()
        {
            //set resolution to ensure we don't have rounding in rendering leading to bounding boxes to change height/width
            Screen.SetResolution(400, 400, false);
            //give the screen a chance to resize
            yield return null;

          //   var jsonExpected = $@"[
          //   {{
          //     ""label_id"": 100,
          //     ""label_name"": ""label"",
          //     ""instance_id"": 1,
          //     ""x"": 0.0,
          //     ""y"": {Screen.height / 4:F1},
          //     ""width"": {Screen.width:F1},
          //     ""height"": {Screen.height / 2:F1}
          //   }}
          // ]";

            var labelingConfiguration = CreateLabelingConfiguration();
            SetupCamera(pc =>
            {
                pc.AddLabeler(new BoundingBox2DLabeler(labelingConfiguration));
            });

            var plane = TestHelper.CreateLabeledPlane();
            AddTestObjectForCleanup(plane);
            //a plane is 10x10 by default, so scale it down to be 10x1 to cover the center half of the image
            plane.transform.localScale = new Vector3(10f, -1f, .1f);
            plane.transform.localPosition = new Vector3(0, 0, 10);

            var plane2 = TestHelper.CreateLabeledPlane(label: "nonmatching");
            AddTestObjectForCleanup(plane2);
            //place a smaller plane in front to test non-matching objects
            plane2.transform.localScale = new Vector3(.1f, -1f, .1f);
            plane2.transform.localPosition = new Vector3(0, 0, 5);
            yield return null;

            var collector = ScriptableObject.CreateInstance<CollectEndpoint>();
            DatasetCapture.Instance.OverrideEndpoint(collector);

            DatasetCapture.Instance.ResetSimulation();

            var dcWatcher = new DatasetCapture.WaitUntilComplete();
            yield return dcWatcher;

            // TODO what do I check here
            Assert.NotZero(0);


            // var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
            // var capturesJson = File.ReadAllText(capturesPath);
            // StringAssert.Contains(TestHelper.NormalizeJson(jsonExpected, true), TestHelper.NormalizeJson(capturesJson, true));
        }

        [UnityTest]
        public IEnumerator EnableSemanticSegmentation_GeneratesCorrectDataset([Values(true, false)] bool enabled)
        {
            SimulationState.TimeOutFrameCount = 50;

            var collector = ScriptableObject.CreateInstance<CollectEndpoint>();
            DatasetCapture.Instance.OverrideEndpoint(collector);

            SemanticSegmentationLabeler semanticSegmentationLabeler = null;
            SetupCamera(pc =>
            {
                semanticSegmentationLabeler = new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig());
                pc.AddLabeler(semanticSegmentationLabeler);
            }, enabled);

            AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
            yield return null;
            DatasetCapture.Instance.ResetSimulation();

            var dcWatcher = new DatasetCapture.WaitUntilComplete();
            yield return dcWatcher;

            if (enabled)
            {
                Assert.NotNull(collector.currentRun);
                Assert.AreEqual(1, collector.currentRun.frames.Count);
                Assert.AreEqual(1, collector.currentRun.frames[0].sensors.Count());
                var rgb = collector.currentRun.frames[0].sensors.First() as RgbSensor;
                Assert.NotNull(rgb);
                Assert.AreEqual(1, rgb.annotations.Count());
                var ann = rgb.annotations.First() as SemanticSegmentationLabeler.SemanticSegmentation;
                Assert.NotNull(ann);
                Assert.NotZero(ann.buffer.Length);
            }
            else
            {
                Assert.Null(collector.currentRun.frames);
            }
        }

        [UnityTest]
        public IEnumerator Disabled_GeneratesCorrectDataset()
        {
            var collector = ScriptableObject.CreateInstance<CollectEndpoint>();
            DatasetCapture.Instance.OverrideEndpoint(collector);

            SemanticSegmentationLabeler semanticSegmentationLabeler = null;
            SetupCamera(pc =>
            {
                semanticSegmentationLabeler = new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig());
                pc.AddLabeler(semanticSegmentationLabeler);
            });

            AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
            yield return null;
            DatasetCapture.Instance.ResetSimulation();

            var dcWatcher = new DatasetCapture.WaitUntilComplete();
            yield return dcWatcher;

            Assert.NotNull(collector.currentRun);
            Assert.AreEqual(1, collector.currentRun.frames.Count);
            Assert.AreEqual(1, collector.currentRun.frames[0].sensors.Count());
            var rgb = collector.currentRun.frames[0].sensors.First() as RgbSensor;
            Assert.NotNull(rgb);
            Assert.AreEqual(1, rgb.annotations.Count());
            var ann = rgb.annotations.First() as SemanticSegmentationLabeler.SemanticSegmentation;
            Assert.NotNull(ann);
            Assert.NotZero(ann.buffer.Length);
        }

        static IdLabelConfig CreateLabelingConfiguration()
        {
            var label = "label";
            var labelConfig = ScriptableObject.CreateInstance<IdLabelConfig>();

            labelConfig.Init(new List<IdLabelEntry>
            {
                new IdLabelEntry
                {
                    id = 100,
                    label = label
                }
            });
            return labelConfig;
        }
        static SemanticSegmentationLabelConfig CreateSemanticSegmentationLabelConfig()
        {
            var label = "label";
            var labelingConfiguration = ScriptableObject.CreateInstance<SemanticSegmentationLabelConfig>();

            labelingConfiguration.Init(new List<SemanticSegmentationLabelEntry>
            {
                new SemanticSegmentationLabelEntry()
                {
                    label = label,
                    color = Color.blue
                }
            });
            return labelingConfiguration;
        }
    }
}