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1430 行
54 KiB
1430 行
54 KiB
using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using NUnit.Framework;
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using UnityEngine;
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using UnityEngine.Perception.GroundTruth;
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using UnityEngine.SceneManagement;
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using UnityEngine.TestTools;
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namespace GroundTruthTests
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{
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[TestFixture]
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public class KeyPointGroundTruthTests : GroundTruthTestBase, IPrebuildSetup, IPostBuildCleanup
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{
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private const string kAnimatedCubeScenePath = "Packages/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCubeScene.unity";
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private const double k_Delta = .01;
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public void Setup()
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{
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#if UNITY_EDITOR
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var scenes = UnityEditor.EditorBuildSettings.scenes.ToList();
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scenes.Add(new UnityEditor.EditorBuildSettingsScene(kAnimatedCubeScenePath, true));
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UnityEditor.EditorBuildSettings.scenes = scenes.ToArray();
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#endif
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}
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public void Cleanup()
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{
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#if UNITY_EDITOR
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var scenes = UnityEditor.EditorBuildSettings.scenes;
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scenes = scenes.Where(s => s.path != kAnimatedCubeScenePath).ToArray();
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UnityEditor.EditorBuildSettings.scenes = scenes;
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#endif
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}
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static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action<int, List<KeypointLabeler.KeypointEntry>> computeListener, RenderTexture renderTexture = null, KeypointObjectFilter keypointObjectFilter = KeypointObjectFilter.Visible)
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{
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var cameraObject = new GameObject();
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cameraObject.SetActive(false);
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var camera = cameraObject.AddComponent<Camera>();
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camera.orthographic = false;
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camera.fieldOfView = 60;
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camera.nearClipPlane = 0.3f;
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camera.farClipPlane = 1000;
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camera.transform.position = new Vector3(0, 0, -10);
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if (renderTexture)
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{
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camera.targetTexture = renderTexture;
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}
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var perceptionCamera = cameraObject.AddComponent<PerceptionCamera>();
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perceptionCamera.captureRgbImages = false;
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var keyPointLabeler = new KeypointLabeler(config, template);
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keyPointLabeler.objectFilter = keypointObjectFilter;
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if (computeListener != null)
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keyPointLabeler.KeypointsComputed += computeListener;
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perceptionCamera.AddLabeler(keyPointLabeler);
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return cameraObject;
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}
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static KeypointTemplate CreateTestTemplate(Guid guid, string label, float selfOcclusionDistance = 0.15f)
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{
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var keypoints = new[]
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{
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new KeypointDefinition
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{
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label = "FrontLowerLeft",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "FrontUpperLeft",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "FrontUpperRight",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "FrontLowerRight",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "BackLowerLeft",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "BackUpperLeft",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "BackUpperRight",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "BackLowerRight",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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},
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new KeypointDefinition
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{
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label = "Center",
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associateToRig = false,
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color = Color.black,
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selfOcclusionDistance = selfOcclusionDistance
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}
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};
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var skeleton = new[]
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{
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new SkeletonDefinition
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{
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joint1 = 0,
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joint2 = 1,
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color = Color.magenta
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},
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new SkeletonDefinition
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{
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joint1 = 1,
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joint2 = 2,
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color = Color.magenta
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},
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new SkeletonDefinition
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{
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joint1 = 2,
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joint2 = 3,
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color = Color.magenta
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},
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new SkeletonDefinition
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{
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joint1 = 3,
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joint2 = 0,
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color = Color.magenta
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},
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new SkeletonDefinition
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{
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joint1 = 4,
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joint2 = 5,
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color = Color.blue
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},
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new SkeletonDefinition
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{
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joint1 = 5,
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joint2 = 6,
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color = Color.blue
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},
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new SkeletonDefinition
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{
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joint1 = 6,
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joint2 = 7,
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color = Color.blue
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},
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new SkeletonDefinition
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{
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joint1 = 7,
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joint2 = 4,
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color = Color.blue
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},
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new SkeletonDefinition
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{
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joint1 = 0,
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joint2 = 4,
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color = Color.green
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},
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new SkeletonDefinition
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{
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joint1 = 1,
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joint2 = 5,
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color = Color.green
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},
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new SkeletonDefinition
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{
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joint1 = 2,
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joint2 = 6,
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color = Color.green
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},
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new SkeletonDefinition
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{
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joint1 = 3,
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joint2 = 7,
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color = Color.green
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},
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};
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var template = ScriptableObject.CreateInstance<KeypointTemplate>();
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template.templateID = guid.ToString();
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template.templateName = label;
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template.jointTexture = null;
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template.skeletonTexture = null;
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template.keypoints = keypoints;
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template.skeleton = skeleton;
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return template;
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}
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[Test]
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public void KeypointTemplate_CreateTemplateTest()
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{
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var guid = Guid.NewGuid();
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const string label = "TestTemplate";
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var template = CreateTestTemplate(guid, label);
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Assert.AreEqual(template.templateID, guid.ToString());
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Assert.AreEqual(template.templateName, label);
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Assert.IsNull(template.jointTexture);
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Assert.IsNull(template.skeletonTexture);
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Assert.IsNotNull(template.keypoints);
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Assert.IsNotNull(template.skeleton);
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Assert.AreEqual(template.keypoints.Length, 9);
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Assert.AreEqual(template.skeleton.Length, 12);
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var k0 = template.keypoints[0];
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Assert.NotNull(k0);
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Assert.AreEqual(k0.label, "FrontLowerLeft");
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Assert.False(k0.associateToRig);
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Assert.AreEqual(k0.color, Color.black);
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var s0 = template.skeleton[0];
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Assert.NotNull(s0);
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Assert.AreEqual(s0.joint1, 0);
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Assert.AreEqual(s0.joint2, 1);
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Assert.AreEqual(s0.color, Color.magenta);
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}
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static IdLabelConfig SetUpLabelConfig()
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{
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var cfg = ScriptableObject.CreateInstance<IdLabelConfig>();
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cfg.Init(new List<IdLabelEntry>()
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{
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new IdLabelEntry
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{
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id = 1,
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label = "label"
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}
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});
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return cfg;
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}
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static void SetupCubeJoint(GameObject cube, string label, float x, float y, float z, float? selfOcclusionDistance = null)
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{
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var joint = new GameObject();
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joint.transform.SetParent(cube.transform, false);
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joint.transform.localPosition = new Vector3(x, y, z);
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var jointLabel = joint.AddComponent<JointLabel>();
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jointLabel.labels.Add(label);
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if (selfOcclusionDistance.HasValue)
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{
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jointLabel.overrideSelfOcclusionDistance = true;
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jointLabel.selfOcclusionDistance = selfOcclusionDistance.Value;
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}
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else
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jointLabel.overrideSelfOcclusionDistance = false;
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}
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static void SetupCubeJoints(GameObject cube, KeypointTemplate template, float? selfOcclusionDistance = null)
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{
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const float dim = 0.5f;
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SetupCubeJoint(cube, "FrontLowerLeft", -dim, -dim, -dim, selfOcclusionDistance);
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SetupCubeJoint(cube, "FrontUpperLeft", -dim, dim, -dim, selfOcclusionDistance);
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SetupCubeJoint(cube, "FrontUpperRight", dim, dim, -dim, selfOcclusionDistance);
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SetupCubeJoint(cube, "FrontLowerRight", dim, -dim, -dim, selfOcclusionDistance);
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SetupCubeJoint(cube, "BackLowerLeft", -dim, -dim, dim, selfOcclusionDistance);
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SetupCubeJoint(cube, "BackUpperLeft", -dim, dim, dim, selfOcclusionDistance);
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SetupCubeJoint(cube, "BackUpperRight", dim, dim, dim, selfOcclusionDistance);
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SetupCubeJoint(cube, "BackLowerRight", dim, -dim, dim, selfOcclusionDistance);
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}
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[UnityTest]
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public IEnumerator Keypoint_TestStaticLabeledCube()
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{
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var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
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var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
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var texture = new RenderTexture(1024, 768, 16);
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texture.Create();
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var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
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{
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incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
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}, texture);
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var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
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SetupCubeJoints(cube, template);
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cube.SetActive(true);
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cam.SetActive(true);
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AddTestObjectForCleanup(cam);
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AddTestObjectForCleanup(cube);
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yield return null;
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//force all async readbacks to complete
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DestroyTestObject(cam);
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texture.Release();
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var testCase = incoming.Last();
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Assert.AreEqual(1, testCase.Count);
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var t = testCase.First();
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Assert.NotNull(t);
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Assert.AreEqual(1, t.instance_id);
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Assert.AreEqual(1, t.label_id);
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Assert.AreEqual(template.templateID.ToString(), t.template_guid);
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Assert.AreEqual(9, t.keypoints.Length);
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Assert.AreEqual(t.keypoints[0].x, t.keypoints[1].x);
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Assert.AreEqual(t.keypoints[2].x, t.keypoints[3].x);
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Assert.AreEqual(t.keypoints[4].x, t.keypoints[5].x);
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Assert.AreEqual(t.keypoints[6].x, t.keypoints[7].x);
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Assert.AreEqual(t.keypoints[0].y, t.keypoints[3].y);
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Assert.AreEqual(t.keypoints[1].y, t.keypoints[2].y);
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Assert.AreEqual(t.keypoints[4].y, t.keypoints[7].y);
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Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y);
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for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index);
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for (var i = 0; i < 4; i++) Assert.AreEqual(2, t.keypoints[i].state);
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for (var i = 4; i < 8; i++) Assert.AreEqual(1, t.keypoints[i].state);
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Assert.Zero(t.keypoints[8].state);
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Assert.Zero(t.keypoints[8].x);
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Assert.Zero(t.keypoints[8].y);
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}
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[UnityTest]
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public IEnumerator Keypoint_TestStaticLabeledCube_WithDisabledLabeling_AndSwitchingLabelingState()
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{
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var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
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var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
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var texture = new RenderTexture(1024, 768, 16);
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texture.Create();
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var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
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{
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incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
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}, texture);
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var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
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SetupCubeJoints(cube, template);
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var labeling = cube.GetComponent<Labeling>();
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cube.SetActive(true);
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cam.SetActive(true);
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AddTestObjectForCleanup(cam);
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AddTestObjectForCleanup(cube);
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labeling.enabled = false;
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yield return null;
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labeling.enabled = true;
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yield return null;
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labeling.enabled = false;
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yield return null;
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//force all async readbacks to complete
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DestroyTestObject(cam);
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texture.Release();
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var testCase = incoming[0];
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Assert.AreEqual(0, testCase.Count);
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testCase = incoming[1];
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Assert.AreEqual(1, testCase.Count);
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var t = testCase.First();
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Assert.NotNull(t);
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Assert.AreEqual(1, t.instance_id);
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Assert.AreEqual(1, t.label_id);
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Assert.AreEqual(template.templateID.ToString(), t.template_guid);
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Assert.AreEqual(9, t.keypoints.Length);
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Assert.AreEqual(t.keypoints[0].x, t.keypoints[1].x);
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Assert.AreEqual(t.keypoints[2].x, t.keypoints[3].x);
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Assert.AreEqual(t.keypoints[4].x, t.keypoints[5].x);
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Assert.AreEqual(t.keypoints[6].x, t.keypoints[7].x);
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Assert.AreEqual(t.keypoints[0].y, t.keypoints[3].y);
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Assert.AreEqual(t.keypoints[1].y, t.keypoints[2].y);
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Assert.AreEqual(t.keypoints[4].y, t.keypoints[7].y);
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Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y);
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for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index);
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for (var i = 0; i < 4; i++) Assert.AreEqual(2, t.keypoints[i].state);
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for (var i = 4; i < 8; i++) Assert.AreEqual(1, t.keypoints[i].state);
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Assert.Zero(t.keypoints[8].state);
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Assert.Zero(t.keypoints[8].x);
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Assert.Zero(t.keypoints[8].y);
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testCase = incoming[2];
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Assert.AreEqual(0, testCase.Count);
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}
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[UnityTest]
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public IEnumerator Keypoint_TestAllOffScreen()
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{
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var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
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var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
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var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
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{
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incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
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});
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var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
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SetupCubeJoints(cube, template);
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cube.transform.position = new Vector3(-1000, -1000, 0);
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cube.SetActive(true);
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cam.SetActive(true);
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AddTestObjectForCleanup(cam);
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AddTestObjectForCleanup(cube);
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yield return null;
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//force all async readbacks to complete
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DestroyTestObject(cam);
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foreach (var i in incoming)
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{
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Assert.Zero(i.Count);
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}
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}
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[UnityTest]
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public IEnumerator Keypoint_TestMovingCube()
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{
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var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
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var keypoints = new[]
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{
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new KeypointDefinition
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{
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label = "Center",
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associateToRig = false,
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color = Color.black
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}
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};
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var template = ScriptableObject.CreateInstance<KeypointTemplate>();
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template.templateID = Guid.NewGuid().ToString();
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template.templateName = "label";
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template.jointTexture = null;
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template.skeletonTexture = null;
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template.keypoints = keypoints;
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template.skeleton = new SkeletonDefinition[0];
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var texture = new RenderTexture(1024, 768, 16);
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texture.Create();
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var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
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{
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incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
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}, texture);
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cam.GetComponent<PerceptionCamera>().showVisualizations = false;
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var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
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SetupCubeJoint(cube, "Center", 0, 0, -.5f);
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cube.SetActive(true);
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cam.SetActive(true);
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AddTestObjectForCleanup(cam);
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AddTestObjectForCleanup(cube);
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yield return null;
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cube.transform.localPosition = new Vector3(-1, 0, 0);
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yield return null;
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//force all async readbacks to complete
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DestroyTestObject(cam);
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texture.Release();
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var testCase = incoming[0];
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Assert.AreEqual(1, testCase.Count);
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var t = testCase.First();
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Assert.NotNull(t);
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Assert.AreEqual(1, t.instance_id);
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Assert.AreEqual(1, t.label_id);
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Assert.AreEqual(template.templateID.ToString(), t.template_guid);
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Assert.AreEqual(1, t.keypoints.Length);
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Assert.AreEqual(1024 / 2, t.keypoints[0].x);
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Assert.AreEqual(768 / 2, t.keypoints[0].y);
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Assert.AreEqual(0, t.keypoints[0].index);
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Assert.AreEqual(2, t.keypoints[0].state);
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var testCase2 = incoming[1];
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Assert.AreEqual(1, testCase2.Count);
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var t2 = testCase2.First();
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Assert.AreEqual(416, t2.keypoints[0].x, 1);
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Assert.AreEqual(768 / 2, t2.keypoints[0].y);
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}
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[UnityTest]
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public IEnumerator Keypoint_TestPartialOffScreen([Values(1,5)] int framesToRunBeforeAsserting)
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{
|
|
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
|
|
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<KeypointLabeler.KeypointEntry>(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<List<KeypointLabeler.KeypointEntry>>();
|
|
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<KeypointLabeler.KeypointEntry>(data));
|
|
}, texture);
|
|
|
|
var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
|
|
SetupCubeJoints(cube, template);
|
|
|
|
cube.SetActive(true);
|
|
cam.SetActive(true);
|
|
|
|
AddTestObjectForCleanup(cam);
|
|
AddTestObjectForCleanup(cube);
|
|
|
|
//for (int i = 0; i < 10000; 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.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 < 4; i++) Assert.AreEqual(2, t.keypoints[i].state);
|
|
for (var i = 4; i < 8; i++) Assert.AreEqual(1, 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<List<KeypointLabeler.KeypointEntry>>();
|
|
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<KeypointLabeler.KeypointEntry>(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<List<KeypointLabeler.KeypointEntry>>();
|
|
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<List<KeypointLabeler.KeypointEntry>>();
|
|
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<List<KeypointLabeler.KeypointEntry>>();
|
|
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<List<KeypointLabeler.KeypointEntry>>();
|
|
var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
|
|
var texture = new RenderTexture(1024, 768, 16);
|
|
var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
|
|
{
|
|
incoming.Add(new List<KeypointLabeler.KeypointEntry>(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(1, t.keypoints[4].state);
|
|
Assert.AreEqual(1, 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<List<KeypointLabeler.KeypointEntry>>();
|
|
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<KeypointLabeler.KeypointEntry>(data));
|
|
}, texture);
|
|
|
|
var cameraComponent = cam.GetComponent<Camera>();
|
|
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>();
|
|
labeling.labels.Add("label");
|
|
|
|
SetupCubeJoint(cube, "Center",0f, 0f, -.5f);
|
|
|
|
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 expectedStateFront, int expectedStateBack, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight)> Keypoint_OnBox_ReportsProperCoordinates_TestCases()
|
|
{
|
|
yield return (
|
|
1,
|
|
true,
|
|
2,
|
|
1,
|
|
KeypointObjectFilter.Visible,
|
|
new Vector2(0, 0),
|
|
new Vector2(1023.99f, 1023.99f));
|
|
yield return (
|
|
1.001f,
|
|
true,
|
|
0,
|
|
0,
|
|
KeypointObjectFilter.Visible,
|
|
new Vector2(0, 0),
|
|
new Vector2(0, 0));
|
|
yield return (
|
|
1.2f,
|
|
true,
|
|
0,
|
|
0,
|
|
KeypointObjectFilter.Visible,
|
|
new Vector2(0, 0),
|
|
new Vector2(0, 0));
|
|
yield return (
|
|
0f,
|
|
false,
|
|
1,
|
|
1,
|
|
KeypointObjectFilter.Visible,
|
|
new Vector2(512, 512),
|
|
new Vector2(512, 512));
|
|
yield return (
|
|
0f,
|
|
true,
|
|
1,
|
|
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 expectedStateFront, int expectedStateBack, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight) args)
|
|
{
|
|
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
|
|
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<Camera>();
|
|
camComponent.orthographic = true;
|
|
camComponent.orthographicSize = .5f;
|
|
|
|
|
|
//For some reason the back of this cube is being resolved to 7.5 away from the camera, but on the CPU side it is being recorded as 18.34375
|
|
var cube = TestHelper.CreateLabeledCube(scale: args.scale, z: 0);
|
|
SetupCubeJoints(cube, template);
|
|
|
|
cube.SetActive(true);
|
|
cam.SetActive(true);
|
|
|
|
AddTestObjectForCleanup(cam);
|
|
AddTestObjectForCleanup(cube);
|
|
|
|
//for (int i = 0; i < 10000; i++)
|
|
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.expectedStateFront, 4),
|
|
t.keypoints.Take(4).Select(k => k.state),
|
|
"State mismatch on front");
|
|
CollectionAssert.AreEqual(Enumerable.Repeat(args.expectedStateBack, 4),
|
|
t.keypoints.Skip(4).Take(4).Select(k => k.state),
|
|
"State mismatch on front");
|
|
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);
|
|
}
|
|
|
|
public enum CheckDistanceType
|
|
{
|
|
Global,
|
|
JointLabel
|
|
}
|
|
public enum ProjectionKind
|
|
{
|
|
Orthographic,
|
|
Projection
|
|
}
|
|
|
|
public static IEnumerable<(CheckDistanceType checkDistanceType, Vector3 origin, Vector3 objectScale, Quaternion rotation,
|
|
float checkDistance, float pointDistance, float cameraFieldOfView, bool expectOccluded)>
|
|
Keypoint_InsideBox_RespectsThreshold_TestCases()
|
|
{
|
|
foreach (var checkDistanceType in new[] {CheckDistanceType.Global, CheckDistanceType.JointLabel})
|
|
{
|
|
yield return (
|
|
checkDistanceType,
|
|
Vector3.zero,
|
|
Vector3.one,
|
|
Quaternion.identity,
|
|
0.1f,
|
|
0.2f,
|
|
60f,
|
|
true);
|
|
yield return (
|
|
checkDistanceType,
|
|
Vector3.zero,
|
|
Vector3.one,
|
|
Quaternion.identity,
|
|
0.2f,
|
|
0.005f,
|
|
60f,
|
|
false);
|
|
yield return (
|
|
checkDistanceType,
|
|
Vector3.zero,
|
|
Vector3.one,
|
|
Quaternion.identity,
|
|
0.1f,
|
|
0.05f,
|
|
60f,
|
|
false);
|
|
yield return (
|
|
checkDistanceType,
|
|
new Vector3(0, 0, 88),
|
|
Vector3.one,
|
|
Quaternion.identity,
|
|
0.1f,
|
|
0.05f,
|
|
1f,
|
|
false);
|
|
//larger value here for the occluded check due to lack of depth precision close to far plane.
|
|
//We choose to mark points not occluded when the point depth and geometry depth are the same in the depth buffer
|
|
yield return (
|
|
checkDistanceType,
|
|
new Vector3(0, 0, 88),
|
|
Vector3.one,
|
|
Quaternion.identity,
|
|
1f,
|
|
2f,
|
|
1f,
|
|
true);
|
|
}
|
|
yield return (
|
|
CheckDistanceType.Global,
|
|
Vector3.zero,
|
|
Vector3.one * .5f,
|
|
Quaternion.identity,
|
|
0.2f,
|
|
0.3f,
|
|
60f,
|
|
true);
|
|
yield return (
|
|
CheckDistanceType.Global,
|
|
Vector3.zero,
|
|
new Vector3(1f, 1f, .5f),
|
|
Quaternion.identity,
|
|
0.2f,
|
|
0.3f,
|
|
60f,
|
|
true);
|
|
yield return (
|
|
CheckDistanceType.JointLabel,
|
|
Vector3.zero,
|
|
new Vector3(1f, 1f, .5f),
|
|
Quaternion.identity,
|
|
0.2f,
|
|
0.3f,
|
|
60f,
|
|
true);
|
|
yield return (
|
|
CheckDistanceType.JointLabel,
|
|
Vector3.zero,
|
|
Vector3.one * .5f,
|
|
Quaternion.identity,
|
|
0.2f,
|
|
0.3f,
|
|
60f,
|
|
true);
|
|
yield return (
|
|
CheckDistanceType.JointLabel,
|
|
Vector3.zero,
|
|
new Vector3(1f, 1f, .05f),
|
|
Quaternion.AngleAxis(45, Vector3.right),
|
|
0.2f,
|
|
0.21f,
|
|
60f,
|
|
true);
|
|
}
|
|
|
|
[UnityTest]
|
|
public IEnumerator Keypoint_InsideBox_RespectsThreshold(
|
|
[ValueSource(nameof(Keypoint_InsideBox_RespectsThreshold_TestCases))]
|
|
(CheckDistanceType checkDistanceType, Vector3 origin, Vector3 objectScale, Quaternion rotation,
|
|
float checkDistance, float pointDistance, float cameraFieldOfView, bool expectOccluded) args,
|
|
[Values(ProjectionKind.Orthographic, ProjectionKind.Projection)] ProjectionKind projectionKind)
|
|
{
|
|
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
|
|
var labelerSelfOcclusionDistance =
|
|
args.checkDistanceType == CheckDistanceType.Global ? args.checkDistance : 0.5f;
|
|
var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", selfOcclusionDistance: labelerSelfOcclusionDistance);
|
|
var frameSize = 1024;
|
|
var texture = new RenderTexture(frameSize, frameSize, 16);
|
|
var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
|
|
{
|
|
incoming.Add(data);
|
|
}, texture);
|
|
var camComponent = cam.GetComponent<Camera>();
|
|
camComponent.fieldOfView = args.cameraFieldOfView;
|
|
camComponent.farClipPlane = 100f;
|
|
|
|
if (projectionKind == ProjectionKind.Orthographic)
|
|
{
|
|
camComponent.orthographic = true;
|
|
camComponent.orthographicSize = .5f;
|
|
}
|
|
|
|
var cube = TestHelper.CreateLabeledCube(scale: 1f, x: args.origin.x, y: args.origin.y, z: args.origin.z);
|
|
cube.transform.localScale = args.objectScale;
|
|
cube.transform.localRotation = args.rotation;
|
|
var localSelfOcclusionDistance = args.checkDistanceType == CheckDistanceType.JointLabel ? (float?)args.checkDistance : null;
|
|
SetupCubeJoint(cube, "Center", 0f, 0f, -.5f + args.pointDistance, localSelfOcclusionDistance);
|
|
|
|
cube.SetActive(true);
|
|
cam.SetActive(true);
|
|
|
|
AddTestObjectForCleanup(cam);
|
|
AddTestObjectForCleanup(cube);
|
|
|
|
//for (int i = 0; i < 10000; i++)
|
|
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.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
|
|
}
|
|
|
|
|
|
public static IEnumerable<(Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, bool expectOccluded)>
|
|
Keypoint_OnCorner_OfRotatedScaledBox_RespectsThreshold_TestCases()
|
|
{
|
|
yield return (
|
|
new Vector3(90f, 90f, 10f),
|
|
Quaternion.identity,
|
|
.11f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
false);
|
|
yield return (
|
|
new Vector3(90f, 90f, 1f),
|
|
Quaternion.identity,
|
|
.5f,
|
|
new Vector3(-.4f, -.4f, .4f),
|
|
true);
|
|
yield return (
|
|
new Vector3(90, 90, 9),
|
|
Quaternion.AngleAxis(90, Vector3.right),
|
|
.11f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
false);
|
|
yield return (
|
|
new Vector3(90, 90, 90),
|
|
Quaternion.AngleAxis(90, Vector3.right),
|
|
.11f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
false);
|
|
yield return (
|
|
new Vector3(90, 60, 90),
|
|
Quaternion.AngleAxis(45, Vector3.right),
|
|
.11f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
true);
|
|
}
|
|
|
|
[UnityTest]
|
|
public IEnumerator Keypoint_OnCorner_OfRotatedScaledBox_RespectsThreshold(
|
|
[ValueSource(nameof(Keypoint_OnCorner_OfRotatedScaledBox_RespectsThreshold_TestCases))]
|
|
(Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, bool expectOccluded) args)
|
|
{
|
|
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
|
|
var labelerSelfOcclusionDistance = 0.5f;
|
|
var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", labelerSelfOcclusionDistance);
|
|
var frameSize = 1024;
|
|
var texture = new RenderTexture(frameSize, frameSize, 16);
|
|
var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
|
|
{
|
|
incoming.Add(data);
|
|
}, texture);
|
|
var camComponent = cam.GetComponent<Camera>();
|
|
camComponent.orthographic = true;
|
|
camComponent.orthographicSize = 100f;
|
|
cam.transform.localPosition = new Vector3(0, 0, -95f);
|
|
|
|
var cube = TestHelper.CreateLabeledCube(scale: 1f);
|
|
cube.transform.localScale = args.objectScale;
|
|
cube.transform.localRotation = args.rotation;
|
|
SetupCubeJoint(cube, "Center", args.pointLocalPosition.x, args.pointLocalPosition.y, args.pointLocalPosition.z, args.checkDistance);
|
|
|
|
cube.SetActive(true);
|
|
cam.SetActive(true);
|
|
|
|
AddTestObjectForCleanup(cam);
|
|
AddTestObjectForCleanup(cube);
|
|
|
|
//for (int i = 0; i < 10000; i++)
|
|
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.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
|
|
}
|
|
|
|
public static IEnumerable<(Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, float overrideScalar, bool expectOccluded)>
|
|
Keypoint_OnCorner_OfRotatedScaledBox_RespectsModelOverrideThreshold_TestCases()
|
|
{
|
|
yield return (
|
|
new Vector3(90f, 90f, 10f),
|
|
Quaternion.identity,
|
|
.11f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
1f,
|
|
false);
|
|
yield return (
|
|
new Vector3(90f, 90f, 1f),
|
|
Quaternion.identity,
|
|
.5f,
|
|
new Vector3(-.4f, -.4f, .4f),
|
|
.5f,
|
|
true);
|
|
yield return (
|
|
new Vector3(90, 90, 9),
|
|
Quaternion.AngleAxis(90, Vector3.right),
|
|
.11f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
1f,
|
|
false);
|
|
yield return (
|
|
new Vector3(90, 90, 90),
|
|
Quaternion.AngleAxis(90, Vector3.right),
|
|
.11f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
.5f,
|
|
true);
|
|
yield return (
|
|
new Vector3(90, 90, 90),
|
|
Quaternion.AngleAxis(90, Vector3.right),
|
|
.055f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
1f,
|
|
true);
|
|
yield return (
|
|
new Vector3(90, 90, 90),
|
|
Quaternion.AngleAxis(90, Vector3.right),
|
|
.055f,
|
|
new Vector3(-.4f, -.4f, -.4f),
|
|
2f,
|
|
false);
|
|
}
|
|
|
|
[UnityTest]
|
|
public IEnumerator Keypoint_OnCorner_OfRotatedScaledBox_RespectsModelOverrideThreshold(
|
|
[ValueSource(nameof(Keypoint_OnCorner_OfRotatedScaledBox_RespectsModelOverrideThreshold_TestCases))]
|
|
(Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, float overrideScalar, bool expectOccluded) args)
|
|
{
|
|
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
|
|
var labelerSelfOcclusionDistance = 0.5f;
|
|
var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", labelerSelfOcclusionDistance);
|
|
var frameSize = 1024;
|
|
var texture = new RenderTexture(frameSize, frameSize, 16);
|
|
var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
|
|
{
|
|
incoming.Add(data);
|
|
}, texture);
|
|
var camComponent = cam.GetComponent<Camera>();
|
|
camComponent.orthographic = true;
|
|
camComponent.orthographicSize = 100f;
|
|
cam.transform.localPosition = new Vector3(0, 0, -95f);
|
|
|
|
var cube = TestHelper.CreateLabeledCube(scale: 1f);
|
|
cube.transform.localScale = args.objectScale;
|
|
cube.transform.localRotation = args.rotation;
|
|
SetupCubeJoint(cube, "Center", args.pointLocalPosition.x, args.pointLocalPosition.y, args.pointLocalPosition.z, args.checkDistance);
|
|
|
|
var kpOc = cube.AddComponent<KeypointOcclusionOverrides>();
|
|
kpOc.distanceScale = args.overrideScalar;
|
|
|
|
cube.SetActive(true);
|
|
cam.SetActive(true);
|
|
|
|
AddTestObjectForCleanup(cam);
|
|
AddTestObjectForCleanup(cube);
|
|
|
|
//for (int i = 0; i < 10000; i++)
|
|
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.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
|
|
}
|
|
|
|
[UnityTest]
|
|
public IEnumerator ManyObjects_LabelsCorrectly()
|
|
{
|
|
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
|
|
var labelerSelfOcclusionDistance = 0.5f;
|
|
var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", selfOcclusionDistance: labelerSelfOcclusionDistance);
|
|
var frameSize = 1024;
|
|
var texture = new RenderTexture(frameSize, frameSize, 16);
|
|
var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
|
|
{
|
|
incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
|
|
}, texture);
|
|
|
|
void PlaceObjects(Rect rect, float z, Vector2Int count)
|
|
{
|
|
for (int x = 0; x < count.x; x++)
|
|
{
|
|
for (int y = 0; y < count.y; y++)
|
|
{
|
|
var cube = TestHelper.CreateLabeledCube(
|
|
scale: rect.width / count.x - .001f,
|
|
x: rect.width / count.x * x + rect.xMin,
|
|
y: rect.height / count.y * y + rect.yMin,
|
|
z: z);
|
|
SetupCubeJoints(cube, template, .1f);
|
|
cube.SetActive(true);
|
|
AddTestObjectForCleanup(cube);
|
|
}
|
|
}
|
|
}
|
|
|
|
PlaceObjects(new Rect(-2, -2, 2, 2), 0, new Vector2Int(10, 10));
|
|
cam.SetActive(true);
|
|
|
|
AddTestObjectForCleanup(cam);
|
|
|
|
//TestHelper.LoadAndStartRenderDocCapture();
|
|
yield return null;
|
|
|
|
PlaceObjects(new Rect(0, 0, 4, 4), 0, new Vector2Int(25, 25));
|
|
|
|
yield return null;
|
|
|
|
//force all async readbacks to complete
|
|
DestroyTestObject(cam);
|
|
texture.Release();
|
|
|
|
//TestHelper.EndCaptureRenderDoc();
|
|
|
|
Assert.AreEqual(2, incoming.Count);
|
|
|
|
Assert.AreEqual(10 * 10, incoming[0].Count);
|
|
Assert.AreEqual(10 * 10 + 25 * 25, incoming[1].Count);
|
|
var idx = 0;
|
|
foreach (var entry in incoming[0].Concat(incoming[1]))
|
|
{
|
|
Assert.AreEqual(9, entry.keypoints.Length);
|
|
|
|
CollectionAssert.AreEqual(Enumerable.Repeat(2, 4),
|
|
entry.keypoints.Take(4).Select(k => k.state),
|
|
$"State mismatch on front in entry {idx}");
|
|
CollectionAssert.AreEqual(Enumerable.Repeat(1, 4),
|
|
entry.keypoints.Skip(4).Take(4).Select(k => k.state),
|
|
$"State mismatch on back in entry {idx}");
|
|
idx++;
|
|
}
|
|
}
|
|
}
|
|
}
|