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501 行
17 KiB
501 行
17 KiB
using System;
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using System.Collections;
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using System.Collections.Generic;
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using Newtonsoft.Json;
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using NUnit.Framework;
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using Unity.Collections;
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using UnityEngine;
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using UnityEngine.Perception.Analytics;
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using UnityEngine.Perception.Randomization.Randomizers.SampleRandomizers;
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using UnityEngine.Perception.Randomization.Samplers;
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using UnityEngine.Perception.GroundTruth;
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using UnityEngine.Perception.Randomization.Randomizers;
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using UnityEngine.Perception.Randomization.Scenarios;
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using UnityEngine.Perception.RandomizationTests.ScenarioTests;
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using UnityEngine.TestTools;
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using Object = UnityEngine.Object;
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namespace RandomizationTests.ScenarioTests
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{
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[TestFixture]
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public class ScenarioTests
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{
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GameObject m_TestObject;
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TestFixedLengthScenario m_Scenario;
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static string RemoveWhitespace(string str) =>
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string.Join("", str.Split(default(string[]), StringSplitOptions.RemoveEmptyEntries));
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[SetUp]
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public void Setup()
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{
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m_TestObject = new GameObject();
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}
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[TearDown]
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public void TearDown()
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{
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Object.DestroyImmediate(m_TestObject);
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}
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// TODO: update this function once the perception camera doesn't skip the first frame
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IEnumerator CreateNewScenario(int totalIterations, int framesPerIteration, Randomizer[] randomizers = null)
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{
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m_Scenario = m_TestObject.AddComponent<TestFixedLengthScenario>();
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m_Scenario.constants.totalIterations = totalIterations;
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m_Scenario.constants.framesPerIteration = framesPerIteration;
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if (randomizers != null)
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{
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foreach (var rnd in randomizers)
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{
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m_Scenario.AddRandomizer(rnd);
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}
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}
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if (PerceptionCamera.captureFrameCount < 0)
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{
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yield return null;
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}
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}
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[Test]
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public void ScenarioConfigurationSerializesProperly()
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{
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m_TestObject = new GameObject();
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m_Scenario = m_TestObject.AddComponent<TestFixedLengthScenario>();
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m_Scenario.AddRandomizer(new RotationRandomizer());
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var expectedConfigAsset = (TextAsset)Resources.Load("SampleScenarioConfiguration");
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var expectedText = RemoveWhitespace(expectedConfigAsset.text);
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var scenarioJson = RemoveWhitespace(m_Scenario.SerializeToJson());
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Assert.AreEqual(expectedText, scenarioJson);
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}
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[Test]
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public void ScenarioConfigurationOverwrittenDuringDeserialization()
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{
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m_TestObject = new GameObject();
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m_Scenario = m_TestObject.AddComponent<TestFixedLengthScenario>();
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var constants = new FixedLengthScenario.Constants
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{
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framesPerIteration = 2,
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totalIterations = 2
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};
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var changedConstants = new FixedLengthScenario.Constants
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{
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framesPerIteration = 0,
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totalIterations = 0
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};
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// Serialize some values
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m_Scenario.constants = constants;
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m_Scenario.configuration = new TextAsset(m_Scenario.SerializeToJson());
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// Change the values
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m_Scenario.constants = changedConstants;
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m_Scenario.DeserializeConfigurationInternal();
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// Check if the values reverted correctly
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Assert.AreEqual(m_Scenario.constants.framesPerIteration, constants.framesPerIteration);
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Assert.AreEqual(m_Scenario.constants.totalIterations, constants.totalIterations);
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}
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[UnityTest]
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public IEnumerator IterationsCanLastMultipleFrames()
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{
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const int frameCount = 5;
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yield return CreateNewScenario(1, frameCount);
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for (var i = 0; i < frameCount; i++)
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{
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Assert.AreEqual(0, m_Scenario.currentIteration);
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yield return null;
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}
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Assert.AreEqual(1, m_Scenario.currentIteration);
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}
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[UnityTest]
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public IEnumerator FinishesWhenIsScenarioCompleteIsTrue()
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{
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const int iterationCount = 5;
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yield return CreateNewScenario(iterationCount, 1);
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for (var i = 0; i < iterationCount; i++)
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{
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Assert.True(m_Scenario.state == ScenarioBase.State.Playing);
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yield return null;
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}
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Assert.True(m_Scenario.state == ScenarioBase.State.Idle);
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}
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[UnityTest]
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public IEnumerator StartNewDatasetSequenceEveryIteration()
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{
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var perceptionCamera = SetupPerceptionCamera();
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yield return CreateNewScenario(2, 2);
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Assert.AreEqual(DatasetCapture.SimulationState.SequenceTime, 0);
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// Second frame, first iteration
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yield return null;
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Assert.AreEqual(DatasetCapture.SimulationState.SequenceTime, perceptionCamera.simulationDeltaTime);
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// Third frame, second iteration, SequenceTime has been reset
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yield return null;
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Assert.AreEqual(DatasetCapture.SimulationState.SequenceTime, 0);
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}
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[UnityTest]
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public IEnumerator GeneratedRandomSeedsChangeWithScenarioIteration()
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{
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yield return CreateNewScenario(3, 1);
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var seeds = new uint[3];
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for (var i = 0; i < 3; i++)
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seeds[i] = SamplerState.NextRandomState();
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yield return null;
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for (var i = 0; i < 3; i++)
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Assert.AreNotEqual(seeds[i], SamplerState.NextRandomState());
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}
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[UnityTest]
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public IEnumerator IterationCorrectlyDelays()
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{
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yield return CreateNewScenario(5, 1, new Randomizer[]
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{
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// Delays every other iteration
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new ExampleDelayRandomizer(2)
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});
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// State: currentIteration = 0
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Assert.AreEqual(0, m_Scenario.currentIteration);
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yield return null;
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// State: currentIteration = 1
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Assert.AreEqual(1, m_Scenario.currentIteration);
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yield return null;
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// State: currentIteration = 2
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// Action: ExampleDelayRandomizer will delay the iteration
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Assert.AreEqual(2, m_Scenario.currentIteration);
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yield return null;
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// State: currentIteration = 2
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Assert.AreEqual(2, m_Scenario.currentIteration);
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yield return null;
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// State: currentIteration = 3;
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Assert.AreEqual(3, m_Scenario.currentIteration);
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yield return null;
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// State: currentIteration = 4
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// Action: ExampleDelayRandomizer will delay the iteration
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Assert.AreEqual(4, m_Scenario.currentIteration);
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yield return null;
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// State: currentIteration = 4
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Assert.AreEqual(4, m_Scenario.currentIteration);
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yield return null;
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// State: currentIteration = 5
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Assert.AreEqual(5, m_Scenario.currentIteration);
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}
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[UnityTest]
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public IEnumerator ScenarioCompletedAnalyticsSerializesCorrectly()
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{
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// Perception Camera Serialization
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var perceptionCamera = m_TestObject.AddComponent<PerceptionCamera>();
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perceptionCamera.captureTriggerMode = CaptureTriggerMode.Scheduled;
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perceptionCamera.firstCaptureFrame = 2;
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perceptionCamera.framesBetweenCaptures = 10;
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// Labeler serialization
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var sampleIdLabelConfig = Resources.Load<IdLabelConfig>("sampleIdLabelConfig");
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var sampleAnimationPoseConfig = Resources.Load<AnimationPoseConfig>("sampleAnimationPoseConfig");
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var emptyKeypointTemplate = ScriptableObject.CreateInstance<KeypointTemplate>();
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emptyKeypointTemplate.keypoints = new KeypointDefinition[] { };
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emptyKeypointTemplate.skeleton = new SkeletonDefinition[] { };
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perceptionCamera.AddLabeler(new BoundingBox2DLabeler(sampleIdLabelConfig));
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perceptionCamera.AddLabeler(new RenderedObjectInfoLabeler(sampleIdLabelConfig));
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perceptionCamera.AddLabeler(new KeypointLabeler()
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{
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idLabelConfig = sampleIdLabelConfig,
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objectFilter = KeypointObjectFilter.Visible,
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activeTemplate = emptyKeypointTemplate,
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animationPoseConfigs = new List<AnimationPoseConfig>()
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{
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sampleAnimationPoseConfig, sampleAnimationPoseConfig
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}
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});
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// Randomizer Serialization
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var randomizers = new List<Randomizer>();
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var testRandomizer = new AllMembersAndParametersTestRandomizer();
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testRandomizer.colorRgbCategoricalParam.SetOptions(new (Color, float)[]
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{
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(Color.black, 0.4f),
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(Color.blue, 0.93f),
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(Color.red, 0.23f)
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});
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randomizers.Add(testRandomizer);
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yield return null;
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// Scenario Completed Serialization
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var scenarioCompletedData = ScenarioCompletedData.FromCameraAndRandomizers(perceptionCamera, randomizers);
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#region expectedRandomizerJson
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var expectedRandomizerJson = RemoveWhitespace($@"
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{{
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""platform"": ""{Application.platform}"",
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""perceptionCamera"": {{
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""captureTriggerMode"": ""Scheduled"",
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""startAtFrame"": 2,
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""framesBetweenCaptures"": 10
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}},
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""labelers"": [
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{{ ""name"": ""BoundingBox2DLabeler"", ""labelConfigCount"": 3, ""objectFilter"": """", ""animationPoseCount"": 0 }},
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{{ ""name"": ""RenderedObjectInfoLabeler"", ""labelConfigCount"": 3, ""objectFilter"": """", ""animationPoseCount"": 0 }},
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{{ ""name"": ""KeypointLabeler"", ""labelConfigCount"": 3, ""objectFilter"": ""Visible"", ""animationPoseCount"": 2 }}
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],
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""randomizers"": [
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{{
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""name"": ""AllMembersAndParametersTestRandomizer"",
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""members"": [
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{{
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""name"": ""booleanMember"",
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""value"": ""False"",
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""type"": ""System.Boolean""
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}},
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{{
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""name"": ""intMember"",
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""value"": ""4"",
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""type"": ""System.Int32""
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}},
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{{
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""name"": ""uintMember"",
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""value"": ""2"",
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""type"": ""System.UInt32""
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}},
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{{
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""name"": ""floatMember"",
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""value"": ""5"",
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""type"": ""System.Single""
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}},
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{{
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""name"": ""vector2Member"",
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""value"": ""(4.0, 7.0)"",
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""type"": ""UnityEngine.Vector2""
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}},
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{{
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""name"": ""unsupportedMember"",
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""value"": ""UnityEngine.Perception.Randomization.Samplers.UniformSampler"",
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""type"": ""UnityEngine.Perception.Randomization.Samplers.UniformSampler""
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}}
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],
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""parameters"": [
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{{
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""name"": ""booleanParam"",
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""type"": ""BooleanParameter"",
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""fields"": [
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{{
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""name"": ""value"",
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""distribution"": ""Constant"",
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""value"": 1.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}}
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]
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}},
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{{
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""name"": ""floatParam"",
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""type"": ""FloatParameter"",
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""fields"": [
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{{
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""name"": ""value"",
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""distribution"": ""AnimationCurve"",
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""value"": 0.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}}
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]
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}},
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{{
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""name"": ""integerParam"",
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""type"": ""IntegerParameter"",
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""fields"": [
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{{
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""name"": ""value"",
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""distribution"": ""Uniform"",
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""value"": 0.0,
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""rangeMinimum"": -3.0,
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""rangeMaximum"": 7.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}}
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]
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}},
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{{
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""name"": ""vector2Param"",
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""type"": ""Vector2Parameter"",
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""fields"": [
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{{
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""name"": ""x"",
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""distribution"": ""Constant"",
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""value"": 2.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}},
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{{
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""name"": ""y"",
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""distribution"": ""Uniform"",
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""value"": 0.0,
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""rangeMinimum"": -4.0,
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""rangeMaximum"": 8.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}}
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]
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}},
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{{
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""name"": ""vector3Param"",
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""type"": ""Vector3Parameter"",
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""fields"": [
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{{
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""name"": ""x"",
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""distribution"": ""Normal"",
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""value"": 0.0,
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""rangeMinimum"": -5.0,
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""rangeMaximum"": 9.0,
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""mean"": 4.0,
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""stdDev"": 2.0,
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""categoricalParameterCount"": 0
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}},
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{{
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""name"": ""y"",
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""distribution"": ""Constant"",
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""value"": 3.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}},
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{{
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""name"": ""z"",
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""distribution"": ""AnimationCurve"",
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""value"": 0.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}}
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]
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}},
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{{
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""name"": ""vector4Param"",
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""type"": ""Vector4Parameter"",
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""fields"": [
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{{
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""name"": ""x"",
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""distribution"": ""Normal"",
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""value"": 0.0,
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""rangeMinimum"": -5.0,
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""rangeMaximum"": 9.0,
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""mean"": 4.0,
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""stdDev"": 2.0,
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""categoricalParameterCount"": 0
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}},
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{{
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""name"": ""y"",
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""distribution"": ""Constant"",
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""value"": 3.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}},
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{{
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""name"": ""z"",
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""distribution"": ""AnimationCurve"",
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""value"": 0.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}},
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{{
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""name"": ""w"",
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""distribution"": ""Uniform"",
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""value"": 0.0,
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""rangeMinimum"": -12.0,
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""rangeMaximum"": 42.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 0
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}}
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]
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}},
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{{
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""name"": ""colorRgbCategoricalParam"",
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""type"": ""ColorRgbCategoricalParameter"",
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""fields"": [
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{{
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""name"": ""values"",
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""distribution"": ""Categorical"",
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""value"": 0.0,
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""rangeMinimum"": 0.0,
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""rangeMaximum"": 0.0,
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""mean"": 0.0,
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""stdDev"": 0.0,
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""categoricalParameterCount"": 3
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}}
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]
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}}
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]
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}}
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]
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}}
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");
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#endregion
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var actualRandomizerJson = RemoveWhitespace(JsonConvert.SerializeObject(scenarioCompletedData));
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Assert.AreEqual(expectedRandomizerJson, actualRandomizerJson);
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Object.DestroyImmediate(emptyKeypointTemplate);
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}
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PerceptionCamera SetupPerceptionCamera()
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{
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m_TestObject.SetActive(false);
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var camera = m_TestObject.AddComponent<Camera>();
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camera.orthographic = true;
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camera.orthographicSize = 1;
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var perceptionCamera = m_TestObject.AddComponent<PerceptionCamera>();
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perceptionCamera.captureRgbImages = false;
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m_TestObject.SetActive(true);
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return perceptionCamera;
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}
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}
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}
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