您最多选择25个主题
主题必须以中文或者字母或数字开头，可以包含连字符 (-)，并且长度不得超过35个字符
882 行
32 KiB
882 行
32 KiB
using System;
|
|
using System.Collections;
|
|
using System.Collections.Generic;
|
|
using System.Globalization;
|
|
using System.IO;
|
|
using System.Linq;
|
|
using System.Text.RegularExpressions;
|
|
using Newtonsoft.Json;
|
|
using Newtonsoft.Json.Linq;
|
|
using NUnit.Framework;
|
|
using Unity.Mathematics;
|
|
using UnityEngine;
|
|
using UnityEngine.Perception.GroundTruth;
|
|
using UnityEngine.TestTools;
|
|
// ReSharper disable InconsistentNaming
|
|
// ReSharper disable NotAccessedField.Local
|
|
|
|
namespace GroundTruthTests
|
|
{
|
|
[TestFixture]
|
|
public class DatasetCaptureTests
|
|
{
|
|
[Test]
|
|
public void RegisterSensor_ReportsProperJson()
|
|
{
|
|
var egoDescription = @"the main car driving in simulation";
|
|
var sensorDescription = "Cam (FL2-14S3M-C)";
|
|
var modality = "camera";
|
|
|
|
var egoJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""egos"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""description"": ""{egoDescription}""
|
|
}}
|
|
]
|
|
}}";
|
|
var sensorJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""sensors"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""ego_id"": <guid>,
|
|
""modality"": ""{modality}"",
|
|
""description"": ""{sensorDescription}""
|
|
}}
|
|
]
|
|
}}";
|
|
|
|
var ego = DatasetCapture.RegisterEgo(egoDescription);
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, modality, sensorDescription, 1, 1);
|
|
Assert.IsTrue(sensorHandle.IsValid);
|
|
DatasetCapture.ResetSimulation();
|
|
Assert.IsFalse(sensorHandle.IsValid);
|
|
|
|
var sensorsPath = Path.Combine(DatasetCapture.OutputDirectory, "sensors.json");
|
|
var egosPath = Path.Combine(DatasetCapture.OutputDirectory, "egos.json");
|
|
|
|
FileAssert.Exists(egosPath);
|
|
FileAssert.Exists(sensorsPath);
|
|
|
|
AssertJsonFileEquals(egoJsonExpected, egosPath);
|
|
AssertJsonFileEquals(sensorJsonExpected, sensorsPath);
|
|
}
|
|
|
|
[Test]
|
|
public void ReportCapture_ReportsProperJson()
|
|
{
|
|
var filename = "my/file.png";
|
|
|
|
var egoPosition = new float3(.02f, .03f, .04f);
|
|
var egoRotation = new quaternion(.1f, .2f, .3f, .4f);
|
|
|
|
var egoVelocity = new Vector3(.1f, .2f, .3f);
|
|
|
|
var position = new float3(.2f, 1.1f, .3f);
|
|
var rotation = new quaternion(.3f, .2f, .1f, .5f);
|
|
var intrinsics = new float3x3(.1f, .2f, .3f, 1f, 2f, 3f, 10f, 20f, 30f);
|
|
|
|
|
|
var capturesJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""captures"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""sequence_id"": <guid>,
|
|
""step"": 0,
|
|
""timestamp"": 0.0,
|
|
""sensor"": {{
|
|
""sensor_id"": <guid>,
|
|
""ego_id"": <guid>,
|
|
""modality"": ""camera"",
|
|
""translation"": [
|
|
{Format(position.x)},
|
|
{Format(position.y)},
|
|
{Format(position.z)}
|
|
],
|
|
""rotation"": [
|
|
{Format(rotation.value.x)},
|
|
{Format(rotation.value.y)},
|
|
{Format(rotation.value.z)},
|
|
{Format(rotation.value.w)}
|
|
],
|
|
""camera_intrinsic"": [
|
|
[
|
|
{Format(intrinsics.c0.x)},
|
|
{Format(intrinsics.c0.y)},
|
|
{Format(intrinsics.c0.z)}
|
|
],
|
|
[
|
|
{Format(intrinsics.c1.x)},
|
|
{Format(intrinsics.c1.y)},
|
|
{Format(intrinsics.c1.z)}
|
|
],
|
|
[
|
|
{Format(intrinsics.c2.x)},
|
|
{Format(intrinsics.c2.y)},
|
|
{Format(intrinsics.c2.z)}
|
|
]
|
|
]
|
|
}},
|
|
""ego"": {{
|
|
""ego_id"": <guid>,
|
|
""translation"": [
|
|
{Format(egoPosition.x)},
|
|
{Format(egoPosition.y)},
|
|
{Format(egoPosition.z)}
|
|
],
|
|
""rotation"": [
|
|
{Format(egoRotation.value.x)},
|
|
{Format(egoRotation.value.y)},
|
|
{Format(egoRotation.value.z)},
|
|
{Format(egoRotation.value.w)}
|
|
],
|
|
""velocity"": [
|
|
{Format(egoVelocity.x)},
|
|
{Format(egoVelocity.y)},
|
|
{Format(egoVelocity.z)}
|
|
],
|
|
""acceleration"": null
|
|
}},
|
|
""filename"": ""{filename}"",
|
|
""format"": ""PNG""
|
|
}}
|
|
]
|
|
}}";
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "camera", "", 1, 0);
|
|
var sensorSpatialData = new SensorSpatialData(new Pose(egoPosition, egoRotation), new Pose(position, rotation), egoVelocity, null);
|
|
sensorHandle.ReportCapture(filename, sensorSpatialData, ("camera_intrinsic", intrinsics));
|
|
|
|
DatasetCapture.ResetSimulation();
|
|
Assert.IsFalse(sensorHandle.IsValid);
|
|
|
|
var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
|
|
|
|
FileAssert.Exists(capturesPath);
|
|
|
|
AssertJsonFileEquals(capturesJsonExpected, capturesPath);
|
|
}
|
|
|
|
[UnityTest]
|
|
public IEnumerator StartNewSequence_ProperlyIncrementsSequence()
|
|
{
|
|
var timingsExpected = new(int step, int timestamp, bool expectNewSequence)[]
|
|
{
|
|
(0, 0, true),
|
|
(1, 2, false),
|
|
(0, 0, true),
|
|
(1, 2, false)
|
|
};
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 2, 0);
|
|
var sensorSpatialData = new SensorSpatialData(default, default, null, null);
|
|
Assert.IsTrue(sensorHandle.ShouldCaptureThisFrame);
|
|
sensorHandle.ReportCapture("f", sensorSpatialData);
|
|
yield return null;
|
|
Assert.IsTrue(sensorHandle.ShouldCaptureThisFrame);
|
|
sensorHandle.ReportCapture("f", sensorSpatialData);
|
|
yield return null;
|
|
DatasetCapture.StartNewSequence();
|
|
Assert.IsTrue(sensorHandle.ShouldCaptureThisFrame);
|
|
sensorHandle.ReportCapture("f", sensorSpatialData);
|
|
yield return null;
|
|
Assert.IsTrue(sensorHandle.ShouldCaptureThisFrame);
|
|
sensorHandle.ReportCapture("f", sensorSpatialData);
|
|
|
|
DatasetCapture.ResetSimulation();
|
|
Assert.IsFalse(sensorHandle.IsValid);
|
|
|
|
//read all captures from the output directory
|
|
List<JObject> captures = new List<JObject>();
|
|
foreach (var capturesPath in Directory.EnumerateFiles(DatasetCapture.OutputDirectory, "captures_*.json"))
|
|
{
|
|
var capturesText = File.ReadAllText(capturesPath);
|
|
var jObject = JToken.ReadFrom(new JsonTextReader(new StringReader(capturesText)));
|
|
var captureJArray = (JArray)jObject["captures"];
|
|
captures.AddRange(captureJArray.Cast<JObject>());
|
|
}
|
|
|
|
Assert.AreEqual(timingsExpected.Length, captures.Count);
|
|
|
|
var currentSequenceId = "00";
|
|
for (int i = 0; i < timingsExpected.Length; i++)
|
|
{
|
|
var timingExpected = timingsExpected[i];
|
|
var text = captures[i];
|
|
Assert.AreEqual(timingExpected.step, text["step"].Value<int>());
|
|
Assert.AreEqual(timingExpected.timestamp, text["timestamp"].Value<int>());
|
|
var newSequenceId = text["sequence_id"].ToString();
|
|
|
|
if (timingExpected.expectNewSequence)
|
|
Assert.AreNotEqual(newSequenceId, currentSequenceId, $"Expected new sequence in frame {i}, but was same");
|
|
else
|
|
Assert.AreEqual(newSequenceId, currentSequenceId, $"Expected same sequence in frame {i}, but was new");
|
|
|
|
currentSequenceId = newSequenceId;
|
|
}
|
|
}
|
|
|
|
//Format a float to match Newtonsoft.Json formatting
|
|
string Format(float value)
|
|
{
|
|
var result = value.ToString("R", CultureInfo.InvariantCulture);
|
|
if (!result.Contains("."))
|
|
return result + ".0";
|
|
|
|
return result;
|
|
}
|
|
|
|
[Test]
|
|
public void ReportAnnotation_AddsProperJsonToCapture()
|
|
{
|
|
var filename = "my/file.png";
|
|
var annotationDefinitionGuid = Guid.NewGuid();
|
|
|
|
var annotationDefinitionsJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""annotation_definitions"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""name"": ""semantic segmentation"",
|
|
""description"": ""pixel-wise semantic segmentation label"",
|
|
""format"": ""PNG""
|
|
}}
|
|
]
|
|
}}";
|
|
var annotationsJsonExpected =
|
|
$@" ""annotations"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""annotation_definition"": <guid>,
|
|
""filename"": ""annotations/semantic_segmentation_000.png""
|
|
}}
|
|
]";
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
sensorHandle.ReportCapture(filename, default);
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("semantic segmentation", "pixel-wise semantic segmentation label", "PNG", annotationDefinitionGuid);
|
|
sensorHandle.ReportAnnotationFile(annotationDefinition, "annotations/semantic_segmentation_000.png");
|
|
|
|
DatasetCapture.ResetSimulation();
|
|
Assert.IsFalse(sensorHandle.IsValid);
|
|
|
|
var annotationDefinitionsPath = Path.Combine(DatasetCapture.OutputDirectory, "annotation_definitions.json");
|
|
var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
|
|
|
|
|
|
AssertJsonFileEquals(annotationDefinitionsJsonExpected, annotationDefinitionsPath);
|
|
|
|
FileAssert.Exists(capturesPath);
|
|
StringAssert.Contains(TestHelper.NormalizeJson(annotationsJsonExpected), EscapeGuids(File.ReadAllText(capturesPath)));
|
|
}
|
|
|
|
[Test]
|
|
public void ReportAnnotationValues_ReportsProperJson()
|
|
{
|
|
var values = new[]
|
|
{
|
|
new TestValues()
|
|
{
|
|
a = "a string",
|
|
b = 10
|
|
},
|
|
new TestValues()
|
|
{
|
|
a = "a second string",
|
|
b = 20
|
|
},
|
|
};
|
|
|
|
var expectedAnnotation = $@" ""annotations"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""annotation_definition"": <guid>,
|
|
""values"": [
|
|
{{
|
|
""a"": ""a string"",
|
|
""b"": 10
|
|
}},
|
|
{{
|
|
""a"": ""a second string"",
|
|
""b"": 20
|
|
}}
|
|
]
|
|
}}
|
|
]";
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
|
|
sensorHandle.ReportAnnotationValues(annotationDefinition, values);
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
|
|
|
|
FileAssert.Exists(capturesPath);
|
|
StringAssert.Contains(TestHelper.NormalizeJson(expectedAnnotation), EscapeGuids(File.ReadAllText(capturesPath)));
|
|
}
|
|
|
|
[Test]
|
|
public void ReportAnnotationFile_WhenCaptureNotExpected_Throws()
|
|
{
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 100);
|
|
Assert.Throws<InvalidOperationException>(() => sensorHandle.ReportAnnotationFile(annotationDefinition, ""));
|
|
}
|
|
|
|
[Test]
|
|
public void ReportAnnotationValues_WhenCaptureNotExpected_Throws()
|
|
{
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 100);
|
|
Assert.Throws<InvalidOperationException>(() => sensorHandle.ReportAnnotationValues(annotationDefinition, new int[0]));
|
|
}
|
|
|
|
[Test]
|
|
public void ReportAnnotationAsync_WhenCaptureNotExpected_Throws()
|
|
{
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 100);
|
|
Assert.Throws<InvalidOperationException>(() => sensorHandle.ReportAnnotationAsync(annotationDefinition));
|
|
}
|
|
|
|
[Test]
|
|
public void ResetSimulation_WithUnreportedAnnotationAsync_LogsError()
|
|
{
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
sensorHandle.ReportAnnotationAsync(annotationDefinition);
|
|
DatasetCapture.ResetSimulation();
|
|
LogAssert.Expect(LogType.Error, new Regex("Simulation ended with pending .*"));
|
|
}
|
|
|
|
[Test]
|
|
public void ResetSimulation_CallsSimulationEnding()
|
|
{
|
|
int timesCalled = 0;
|
|
DatasetCapture.SimulationEnding += () => timesCalled++;
|
|
DatasetCapture.ResetSimulation();
|
|
DatasetCapture.ResetSimulation();
|
|
Assert.AreEqual(2, timesCalled);
|
|
}
|
|
|
|
[Test]
|
|
public void AnnotationAsyncIsValid_ReturnsProperValue()
|
|
{
|
|
LogAssert.ignoreFailingMessages = true; //we aren't worried about "Simulation ended with pending..."
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
var asyncAnnotation = sensorHandle.ReportAnnotationAsync(annotationDefinition);
|
|
|
|
Assert.IsTrue(asyncAnnotation.IsValid);
|
|
DatasetCapture.ResetSimulation();
|
|
Assert.IsFalse(asyncAnnotation.IsValid);
|
|
}
|
|
|
|
[Test]
|
|
public void AnnotationAsyncReportFile_ReportsProperJson()
|
|
{
|
|
var expectedAnnotation = $@" ""annotations"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""annotation_definition"": <guid>,
|
|
""filename"": ""annotations/output.png""
|
|
}}
|
|
]";
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
var asyncAnnotation = sensorHandle.ReportAnnotationAsync(annotationDefinition);
|
|
|
|
Assert.IsTrue(asyncAnnotation.IsPending);
|
|
asyncAnnotation.ReportFile("annotations/output.png");
|
|
Assert.IsFalse(asyncAnnotation.IsPending);
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
|
|
|
|
FileAssert.Exists(capturesPath);
|
|
StringAssert.Contains(TestHelper.NormalizeJson(expectedAnnotation), EscapeGuids(File.ReadAllText(capturesPath)));
|
|
}
|
|
|
|
public struct TestValues
|
|
{
|
|
public string a;
|
|
public int b;
|
|
}
|
|
|
|
[Test]
|
|
public void AnnotationAsyncReportValues_ReportsProperJson()
|
|
{
|
|
var values = new[]
|
|
{
|
|
new TestValues()
|
|
{
|
|
a = "a string",
|
|
b = 10
|
|
},
|
|
new TestValues()
|
|
{
|
|
a = "a second string",
|
|
b = 20
|
|
},
|
|
};
|
|
|
|
var expectedAnnotation = $@" ""annotations"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""annotation_definition"": <guid>,
|
|
""values"": [
|
|
{{
|
|
""a"": ""a string"",
|
|
""b"": 10
|
|
}},
|
|
{{
|
|
""a"": ""a second string"",
|
|
""b"": 20
|
|
}}
|
|
]
|
|
}}
|
|
]";
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
var asyncAnnotation = sensorHandle.ReportAnnotationAsync(annotationDefinition);
|
|
|
|
Assert.IsTrue(asyncAnnotation.IsPending);
|
|
asyncAnnotation.ReportValues(values);
|
|
Assert.IsFalse(asyncAnnotation.IsPending);
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
|
|
|
|
FileAssert.Exists(capturesPath);
|
|
StringAssert.Contains(TestHelper.NormalizeJson(expectedAnnotation), EscapeGuids(File.ReadAllText(capturesPath)));
|
|
}
|
|
|
|
[Test]
|
|
public void CreateAnnotation_MultipleTimes_WritesProperTypeOnce()
|
|
{
|
|
var annotationDefinitionGuid = new Guid(10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
|
|
|
var annotationDefinitionsJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""annotation_definitions"": [
|
|
{{
|
|
""id"": ""{annotationDefinitionGuid}"",
|
|
""name"": ""name"",
|
|
""format"": ""json""
|
|
}}
|
|
]
|
|
}}";
|
|
var annotationDefinition1 = DatasetCapture.RegisterAnnotationDefinition("name", id: annotationDefinitionGuid);
|
|
var annotationDefinition2 = DatasetCapture.RegisterAnnotationDefinition("name", id: annotationDefinitionGuid);
|
|
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var annotationDefinitionsPath = Path.Combine(DatasetCapture.OutputDirectory, "annotation_definitions.json");
|
|
|
|
Assert.AreEqual(annotationDefinition1, annotationDefinition2);
|
|
Assert.AreEqual(annotationDefinitionGuid, annotationDefinition1.Id);
|
|
Assert.AreEqual(annotationDefinitionGuid, annotationDefinition2.Id);
|
|
AssertJsonFileEquals(annotationDefinitionsJsonExpected, annotationDefinitionsPath, false);
|
|
}
|
|
|
|
[Test]
|
|
public void CreateAnnotation_MultipleTimesWithDifferentParameters_WritesProperTypes()
|
|
{
|
|
var annotationDefinitionGuid = new Guid(10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
|
|
|
var annotationDefinitionsJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""annotation_definitions"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""name"": ""name"",
|
|
""format"": ""json""
|
|
}},
|
|
{{
|
|
""id"": <guid>,
|
|
""name"": ""name2"",
|
|
""description"": ""description"",
|
|
""format"": ""json""
|
|
}}
|
|
]
|
|
}}";
|
|
var annotationDefinition1 = DatasetCapture.RegisterAnnotationDefinition("name", id: annotationDefinitionGuid);
|
|
var annotationDefinition2 = DatasetCapture.RegisterAnnotationDefinition("name2", description: "description");
|
|
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var annotationDefinitionsPath = Path.Combine(DatasetCapture.OutputDirectory, "annotation_definitions.json");
|
|
|
|
Assert.AreEqual(annotationDefinitionGuid, annotationDefinition1.Id);
|
|
Assert.AreNotEqual(default(Guid), annotationDefinition2.Id);
|
|
|
|
AssertJsonFileEquals(annotationDefinitionsJsonExpected, annotationDefinitionsPath);
|
|
}
|
|
|
|
[Test]
|
|
public void ReportMetricValues_WhenCaptureNotExpected_Throws()
|
|
{
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var metricDefinition = DatasetCapture.RegisterMetricDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 100);
|
|
Assert.Throws<InvalidOperationException>(() => sensorHandle.ReportMetric(metricDefinition, new int[0]));
|
|
}
|
|
|
|
[Test]
|
|
public void ReportMetricAsync_WhenCaptureNotExpected_Throws()
|
|
{
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var metricDefinition = DatasetCapture.RegisterMetricDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 100);
|
|
Assert.Throws<InvalidOperationException>(() => sensorHandle.ReportMetricAsync(metricDefinition));
|
|
}
|
|
|
|
[Test]
|
|
public void ResetSimulation_WithUnreportedMetricAsync_LogsError()
|
|
{
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var metricDefinition = DatasetCapture.RegisterMetricDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
sensorHandle.ReportMetricAsync(metricDefinition);
|
|
DatasetCapture.ResetSimulation();
|
|
LogAssert.Expect(LogType.Error, new Regex("Simulation ended with pending .*"));
|
|
}
|
|
|
|
[Test]
|
|
public void MetricAsyncIsValid_ReturnsProperValue()
|
|
{
|
|
LogAssert.ignoreFailingMessages = true; //we aren't worried about "Simulation ended with pending..."
|
|
|
|
var ego = DatasetCapture.RegisterEgo("");
|
|
var metricDefinition = DatasetCapture.RegisterMetricDefinition("");
|
|
var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
|
|
var asyncMetric = sensorHandle.ReportMetricAsync(metricDefinition);
|
|
|
|
Assert.IsTrue(asyncMetric.IsValid);
|
|
DatasetCapture.ResetSimulation();
|
|
Assert.IsFalse(asyncMetric.IsValid);
|
|
}
|
|
|
|
public enum MetricTarget
|
|
{
|
|
Global,
|
|
Capture,
|
|
Annotation
|
|
}
|
|
|
|
[UnityTest]
|
|
public IEnumerator MetricReportValues_WithNoReportsInFrames_DoesNotIncrementStep()
|
|
{
|
|
var values = new[] { 1 };
|
|
|
|
var expectedLine = @"""step"": 0";
|
|
|
|
var metricDefinition = DatasetCapture.RegisterMetricDefinition("");
|
|
DatasetCapture.RegisterSensor(DatasetCapture.RegisterEgo(""), "", "", 1, 0);
|
|
|
|
yield return null;
|
|
yield return null;
|
|
yield return null;
|
|
DatasetCapture.ReportMetric(metricDefinition, values);
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var text = File.ReadAllText(Path.Combine(DatasetCapture.OutputDirectory, "metrics_000.json"));
|
|
StringAssert.Contains(expectedLine, text);
|
|
}
|
|
|
|
[UnityTest]
|
|
public IEnumerator SensorHandleReportMetric_BeforeReportCapture_ReportsProperJson()
|
|
{
|
|
var values = new[] { 1 };
|
|
|
|
var expectedLine = @"""step"": 0";
|
|
|
|
var metricDefinition = DatasetCapture.RegisterMetricDefinition("");
|
|
var sensor = DatasetCapture.RegisterSensor(DatasetCapture.RegisterEgo(""), "", "", 1, 0);
|
|
|
|
yield return null;
|
|
sensor.ReportMetric(metricDefinition, values);
|
|
sensor.ReportCapture("file", new SensorSpatialData(Pose.identity, Pose.identity, null, null));
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var metricsTest = File.ReadAllText(Path.Combine(DatasetCapture.OutputDirectory, "metrics_000.json"));
|
|
var captures = File.ReadAllText(Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json"));
|
|
StringAssert.Contains(expectedLine, metricsTest);
|
|
StringAssert.Contains(expectedLine, captures);
|
|
}
|
|
|
|
[Test]
|
|
public void MetricAsyncReportValues_ReportsProperJson(
|
|
[Values(MetricTarget.Global, MetricTarget.Capture, MetricTarget.Annotation)] MetricTarget metricTarget,
|
|
[Values(true, false)] bool async,
|
|
[Values(true, false)] bool asStringJsonArray)
|
|
{
|
|
var values = new[]
|
|
{
|
|
new TestValues()
|
|
{
|
|
a = "a string",
|
|
b = 10
|
|
},
|
|
new TestValues()
|
|
{
|
|
a = "a second string",
|
|
b = 20
|
|
},
|
|
};
|
|
|
|
var expectedMetric = $@"{{
|
|
""version"": ""0.0.1"",
|
|
""metrics"": [
|
|
{{
|
|
""capture_id"": {(metricTarget == MetricTarget.Annotation || metricTarget == MetricTarget.Capture ? "<guid>" : "null")},
|
|
""annotation_id"": {(metricTarget == MetricTarget.Annotation ? "<guid>" : "null")},
|
|
""sequence_id"": <guid>,
|
|
""step"": 0,
|
|
""metric_definition"": <guid>,
|
|
""values"": [
|
|
{{
|
|
""a"": ""a string"",
|
|
""b"": 10
|
|
}},
|
|
{{
|
|
""a"": ""a second string"",
|
|
""b"": 20
|
|
}}
|
|
]
|
|
}}
|
|
]
|
|
}}";
|
|
|
|
var metricDefinition = DatasetCapture.RegisterMetricDefinition("");
|
|
var sensor = DatasetCapture.RegisterSensor(DatasetCapture.RegisterEgo(""), "", "", 1, 0);
|
|
var annotation = sensor.ReportAnnotationFile(DatasetCapture.RegisterAnnotationDefinition(""), "");
|
|
var valuesJsonArray = JArray.FromObject(values).ToString(Formatting.Indented);
|
|
if (async)
|
|
{
|
|
AsyncMetric asyncMetric;
|
|
switch (metricTarget)
|
|
{
|
|
case MetricTarget.Global:
|
|
asyncMetric = DatasetCapture.ReportMetricAsync(metricDefinition);
|
|
break;
|
|
case MetricTarget.Capture:
|
|
asyncMetric = sensor.ReportMetricAsync(metricDefinition);
|
|
break;
|
|
case MetricTarget.Annotation:
|
|
asyncMetric = annotation.ReportMetricAsync(metricDefinition);
|
|
break;
|
|
default:
|
|
throw new Exception("unsupported");
|
|
}
|
|
|
|
Assert.IsTrue(asyncMetric.IsPending);
|
|
if (asStringJsonArray)
|
|
asyncMetric.ReportValues(valuesJsonArray);
|
|
else
|
|
asyncMetric.ReportValues(values);
|
|
|
|
Assert.IsFalse(asyncMetric.IsPending);
|
|
}
|
|
else
|
|
{
|
|
switch (metricTarget)
|
|
{
|
|
case MetricTarget.Global:
|
|
if (asStringJsonArray)
|
|
DatasetCapture.ReportMetric(metricDefinition, valuesJsonArray);
|
|
else
|
|
DatasetCapture.ReportMetric(metricDefinition, values);
|
|
break;
|
|
case MetricTarget.Capture:
|
|
if (asStringJsonArray)
|
|
sensor.ReportMetric(metricDefinition, valuesJsonArray);
|
|
else
|
|
sensor.ReportMetric(metricDefinition, values);
|
|
break;
|
|
case MetricTarget.Annotation:
|
|
if (asStringJsonArray)
|
|
annotation.ReportMetric(metricDefinition, valuesJsonArray);
|
|
else
|
|
annotation.ReportMetric(metricDefinition, values);
|
|
break;
|
|
default:
|
|
throw new Exception("unsupported");
|
|
}
|
|
}
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
AssertJsonFileEquals(expectedMetric, Path.Combine(DatasetCapture.OutputDirectory, "metrics_000.json"), escapeGuids: true, ignoreFormatting: true);
|
|
}
|
|
|
|
[Test]
|
|
public void CreateMetric_MultipleTimesWithDifferentParameters_WritesProperTypes()
|
|
{
|
|
var metricDefinitionGuid = new Guid(10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
|
|
|
var metricDefinitionsJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""metric_definitions"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""name"": ""name""
|
|
}},
|
|
{{
|
|
""id"": <guid>,
|
|
""name"": ""name2"",
|
|
""description"": ""description""
|
|
}}
|
|
]
|
|
}}";
|
|
var metricDefinition1 = DatasetCapture.RegisterMetricDefinition("name", id: metricDefinitionGuid);
|
|
var metricDefinition2 = DatasetCapture.RegisterMetricDefinition("name2", description: "description");
|
|
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var metricDefinitionsPath = Path.Combine(DatasetCapture.OutputDirectory, "metric_definitions.json");
|
|
|
|
Assert.AreEqual(metricDefinitionGuid, metricDefinition1.Id);
|
|
Assert.AreNotEqual(default(Guid), metricDefinition2.Id);
|
|
|
|
AssertJsonFileEquals(metricDefinitionsJsonExpected, metricDefinitionsPath);
|
|
}
|
|
|
|
struct TestSpec
|
|
{
|
|
public int label_id;
|
|
public string label_name;
|
|
public int[] pixel_value;
|
|
}
|
|
|
|
public enum AdditionalInfoKind
|
|
{
|
|
Annotation,
|
|
Metric
|
|
}
|
|
|
|
[Test]
|
|
public void CreateAnnotationOrMetric_WithSpecValues_WritesProperTypes(
|
|
[Values(AdditionalInfoKind.Annotation, AdditionalInfoKind.Metric)] AdditionalInfoKind additionalInfoKind)
|
|
{
|
|
var specValues = new[]
|
|
{
|
|
new TestSpec
|
|
{
|
|
label_id = 1,
|
|
label_name = "sky",
|
|
pixel_value = new[] { 1, 2, 3}
|
|
},
|
|
new TestSpec
|
|
{
|
|
label_id = 2,
|
|
label_name = "sidewalk",
|
|
pixel_value = new[] { 4, 5, 6}
|
|
}
|
|
};
|
|
|
|
string filename;
|
|
string jsonContainerName;
|
|
if (additionalInfoKind == AdditionalInfoKind.Annotation)
|
|
{
|
|
DatasetCapture.RegisterAnnotationDefinition("name", specValues);
|
|
filename = "annotation_definitions.json";
|
|
jsonContainerName = "annotation_definitions";
|
|
}
|
|
else
|
|
{
|
|
DatasetCapture.RegisterMetricDefinition("name", specValues);
|
|
filename = "metric_definitions.json";
|
|
jsonContainerName = "metric_definitions";
|
|
}
|
|
var additionalInfoString = (additionalInfoKind == AdditionalInfoKind.Annotation ? @"
|
|
""format"": ""json""," : null);
|
|
|
|
var annotationDefinitionsJsonExpected =
|
|
$@"{{
|
|
""version"": ""{DatasetCapture.SchemaVersion}"",
|
|
""{jsonContainerName}"": [
|
|
{{
|
|
""id"": <guid>,
|
|
""name"": ""name"",{additionalInfoString}
|
|
""spec"": [
|
|
{{
|
|
""label_id"": 1,
|
|
""label_name"": ""sky"",
|
|
""pixel_value"": [
|
|
1,
|
|
2,
|
|
3
|
|
]
|
|
}},
|
|
{{
|
|
""label_id"": 2,
|
|
""label_name"": ""sidewalk"",
|
|
""pixel_value"": [
|
|
4,
|
|
5,
|
|
6
|
|
]
|
|
}}
|
|
]
|
|
}}
|
|
]
|
|
}}";
|
|
DatasetCapture.ResetSimulation();
|
|
|
|
var annotationDefinitionsPath = Path.Combine(DatasetCapture.OutputDirectory, filename);
|
|
|
|
AssertJsonFileEquals(annotationDefinitionsJsonExpected, annotationDefinitionsPath);
|
|
}
|
|
|
|
static void AssertJsonFileEquals(string jsonExpected, string jsonPath, bool escapeGuids = true, bool ignoreFormatting = false)
|
|
{
|
|
FileAssert.Exists(jsonPath);
|
|
var jsonActual = File.ReadAllText(jsonPath);
|
|
if (escapeGuids)
|
|
jsonActual = EscapeGuids(jsonActual);
|
|
|
|
if (ignoreFormatting)
|
|
{
|
|
jsonActual = Regex.Replace(jsonActual, "^\\s*", "", RegexOptions.Multiline);
|
|
jsonExpected = Regex.Replace(jsonExpected, "^\\s*", "", RegexOptions.Multiline);
|
|
}
|
|
|
|
jsonActual = TestHelper.NormalizeJson(jsonActual);
|
|
jsonExpected = TestHelper.NormalizeJson(jsonExpected);
|
|
|
|
Assert.AreEqual(jsonExpected, jsonActual, $"Expected:\n{jsonExpected}\nActual:\n{jsonActual}");
|
|
}
|
|
|
|
static string EscapeGuids(string text)
|
|
{
|
|
var result = Regex.Replace(text, @"""[a-z0-9]*-[a-z0-9]*-[a-z0-9]*-[a-z0-9]*-[a-z0-9]*""", "<guid>");
|
|
result = TestHelper.NormalizeJson(result);
|
|
return result;
|
|
}
|
|
}
|
|
}
|