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

using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using NUnit.Framework;
using Unity.Collections;
using UnityEngine;
using UnityEngine.Perception.GroundTruth;
using UnityEngine.TestTools;
using Object = UnityEngine.Object;

namespace GroundTruthTests
{
    [TestFixture]
    public class RenderedObjectInfoTests : GroundTruthTestBase
    {
        public class ProducesCorrectObjectInfoData
        {
            public RenderedObjectInfo[] renderedObjectInfosExpected;
            public Color32[] data;
            public BoundingBoxOrigin boundingBoxOrigin;
            public int stride;
            public string name;
            public ProducesCorrectObjectInfoData(Color32[] data, RenderedObjectInfo[] renderedObjectInfosExpected, int stride, BoundingBoxOrigin boundingBoxOrigin, string name)
            {
                this.data = data;
                this.renderedObjectInfosExpected = renderedObjectInfosExpected;
                this.stride = stride;
                this.name = name;
                this.boundingBoxOrigin = boundingBoxOrigin;
            }

            public override string ToString()
            {
                return name;
            }
        }
        public static IEnumerable ProducesCorrectBoundingBoxesTestCases()
        {
            InstanceIdToColorMapping.TryGetColorFromInstanceId(1, out var color1);
            InstanceIdToColorMapping.TryGetColorFromInstanceId(2, out var color2);
            var empty = Color.black;

            yield return new ProducesCorrectObjectInfoData(
                new Color32[]
                {
                    color1, color1,
                    color1, color1
                }, new[]
                {
                    new RenderedObjectInfo()
                    {
                        boundingBox = new Rect(0, 0, 2, 2),
                        instanceId = 1,
                        pixelCount = 4,
                        instanceColor = color1

                    }
                },
                2,
                BoundingBoxOrigin.BottomLeft,
                "SimpleBox");
            yield return new ProducesCorrectObjectInfoData(
                new Color32[]
                {
                    color1, empty, color2,
                    color1, empty, empty
                }, new[]
                {
                    new RenderedObjectInfo()
                    {
                        boundingBox = new Rect(2, 0, 1, 1),
                        instanceId = 2,
                        pixelCount = 1,
                        instanceColor = color2
                    },
                    new RenderedObjectInfo()
                    {
                        boundingBox = new Rect(0, 0, 1, 2),
                        instanceId = 1,
                        pixelCount = 2,
                        instanceColor = color1
                    }
                },
                3,
                BoundingBoxOrigin.BottomLeft,
                "WithGaps");
            yield return new ProducesCorrectObjectInfoData(
                new Color32[]
                {
                    color1, color2, color1,
                    color1, color2, color1
                }, new[]
                {
                    new RenderedObjectInfo()
                    {
                        boundingBox = new Rect(1, 0, 1, 2),
                        instanceId = 2,
                        pixelCount = 2,
                        instanceColor = color2
                    },
                    new RenderedObjectInfo()
                    {
                        boundingBox = new Rect(0, 0, 3, 2),
                        instanceId = 1,
                        pixelCount = 4,
                        instanceColor = color1
                    }
                },
                3,
                BoundingBoxOrigin.BottomLeft,
                "Interleaved");
            yield return new ProducesCorrectObjectInfoData(
                new Color32[]
                {
                    empty, empty,
                    empty, empty,
                    empty, color1
                }, new[]
                {
                    new RenderedObjectInfo()
                    {
                        boundingBox = new Rect(1, 0, 1, 1),
                        instanceId = 1,
                        pixelCount = 1,
                        instanceColor = color1
                    },
                },
                2,
                BoundingBoxOrigin.TopLeft,
                "TopLeft");
        }

        [UnityTest]
        public IEnumerator ProducesCorrectBoundingBoxes([ValueSource(nameof(ProducesCorrectBoundingBoxesTestCases))] ProducesCorrectObjectInfoData producesCorrectObjectInfoData)
        {
            var label = "label";
            var label2 = "label2";
            var labelingConfiguration = ScriptableObject.CreateInstance<IdLabelConfig>();

            labelingConfiguration.Init(new List<IdLabelEntry>
            {
                new IdLabelEntry
                {
                    id = 1,
                    label = label
                },
                new IdLabelEntry
                {
                    id = 2,
                    label = label2
                }
            });

            var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator();

            //Put a plane in front of the camera
            AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label));
            AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label2));
            yield return null;

            var dataNativeArray = new NativeArray<Color32>(producesCorrectObjectInfoData.data, Allocator.Persistent);

            var cache = labelingConfiguration.CreateLabelEntryMatchCache(Allocator.Persistent);
            renderedObjectInfoGenerator.Compute(dataNativeArray, producesCorrectObjectInfoData.stride, producesCorrectObjectInfoData.boundingBoxOrigin, out var boundingBoxes, Allocator.Temp);

            CollectionAssert.AreEqual(producesCorrectObjectInfoData.renderedObjectInfosExpected, boundingBoxes.ToArray());

            dataNativeArray.Dispose();
            boundingBoxes.Dispose();
            cache.Dispose();
        }


        [UnityTest]
        public IEnumerator LabelsCorrectWhenIdsReset()
        {
            int timesInfoReceived = 0;
            Dictionary<int, int> expectedLabelIdAtFrame = null;

            //TestHelper.LoadAndStartRenderDocCapture(out var gameView);

            void OnBoundingBoxesReceived(BoundingBox2DLabeler.BoundingBoxesCalculatedEventArgs eventArgs)
            {
                if (expectedLabelIdAtFrame == null || !expectedLabelIdAtFrame.ContainsKey(eventArgs.frameCount)) return;

                timesInfoReceived++;

                Debug.Log($"Bounding boxes received. FrameCount: {eventArgs.frameCount}");

                Assert.AreEqual(1, eventArgs.data.Count());
                Assert.AreEqual(expectedLabelIdAtFrame[eventArgs.frameCount], eventArgs.data.First().label_id);
            }

            var idLabelConfig = ScriptableObject.CreateInstance<IdLabelConfig>();
            idLabelConfig.Init(new []
            {
                new IdLabelEntry()
                {
                    id = 1,
                    label = "label1"
                },
                new IdLabelEntry()
                {
                    id = 2,
                    label = "label2"
                },
                new IdLabelEntry()
                {
                    id = 3,
                    label = "label3"
                },
            });
            AddTestObjectForCleanup(idLabelConfig);

            var cameraObject = SetupCameraBoundingBox2D(OnBoundingBoxesReceived, idLabelConfig);

            expectedLabelIdAtFrame = new Dictionary<int, int>
            {
                {Time.frameCount    , 1},
                {Time.frameCount + 1, 2},
                {Time.frameCount + 2, 3}
            };
            GameObject planeObject;

            //Put a plane in front of the camera
            planeObject = TestHelper.CreateLabeledPlane(label: "label1");
            yield return null;

            //UnityEditorInternal.RenderDoc.EndCaptureRenderDoc(gameView);
            Object.DestroyImmediate(planeObject);
            planeObject = TestHelper.CreateLabeledPlane(label: "label2");

            //TestHelper.LoadAndStartRenderDocCapture(out gameView);
            yield return null;

            //UnityEditorInternal.RenderDoc.EndCaptureRenderDoc(gameView);
            Object.DestroyImmediate(planeObject);
            planeObject = TestHelper.CreateLabeledPlane(label: "label3");
            yield return null;
            Object.DestroyImmediate(planeObject);
            yield return null;

            //destroy the object to force all pending segmented image readbacks to finish and events to be fired.
            DestroyTestObject(cameraObject);

            Assert.AreEqual(3, timesInfoReceived);
        }

        private GameObject SetupCameraBoundingBox2D(Action<BoundingBox2DLabeler.BoundingBoxesCalculatedEventArgs> onBoundingBoxesCalculated, IdLabelConfig idLabelConfig)
        {
            var cameraObject = SetupCamera(camera =>
            {
                camera.showVisualizations = false;
                var boundingBox2DLabeler = new BoundingBox2DLabeler(idLabelConfig);
                boundingBox2DLabeler.boundingBoxesCalculated += onBoundingBoxesCalculated;
                camera.AddLabeler(boundingBox2DLabeler);
            });
            return cameraObject;
        }
    }
}