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Mohsen Kamalzadeh 4 年前
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  1. 11
      com.unity.perception/Tests/Runtime/GroundTruthTests/KeyPointGroundTruthTests.cs.meta
  2. 307
      com.unity.perception/Tests/Runtime/GroundTruthTests/KeyPointGroundTruthTests.cs

11
com.unity.perception/Tests/Runtime/GroundTruthTests/KeyPointGroundTruthTests.cs.meta
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307
com.unity.perception/Tests/Runtime/GroundTruthTests/KeyPointGroundTruthTests.cs
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using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.Perception.GroundTruth;
using UnityEngine.TestTools;
namespace GroundTruthTests
{
[TestFixture]
public class KeyPointGroundTruthTests : GroundTruthTestBase
{
static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action<List<KeypointLabeler.KeypointEntry>> computeListener)
{
var cameraObject = new GameObject();
cameraObject.SetActive(false);
var camera = cameraObject.AddComponent<Camera>();
camera.orthographic = false;
camera.fieldOfView = 60;
camera.nearClipPlane = 0.3f;
camera.farClipPlane = 1000;
camera.transform.position = new Vector3(0, 0, -10);
var perceptionCamera = cameraObject.AddComponent<PerceptionCamera>();
perceptionCamera.captureRgbImages = false;
var keyPointLabeler = new KeypointLabeler(config, template);
if (computeListener != null)
keyPointLabeler.KeypointsComputed += computeListener;
perceptionCamera.AddLabeler(keyPointLabeler);
return cameraObject;
}
static KeypointTemplate CreateTestTemplate(Guid guid, string label)
{
var keypoints = new[]
{
new KeypointDefinition
{
label = "FrontLowerLeft",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "FrontUpperLeft",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "FrontUpperRight",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "FrontLowerRight",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "BackLowerLeft",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "BackUpperLeft",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "BackUpperRight",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "BackLowerRight",
associateToRig = false,
color = Color.black
},
new KeypointDefinition
{
label = "Center",
associateToRig = false,
color = Color.black
}
};
var skeleton = new[]
{
new SkeletonDefinition
{
joint1 = 0,
joint2 = 1,
color = Color.magenta
},
new SkeletonDefinition
{
joint1 = 1,
joint2 = 2,
color = Color.magenta
},
new SkeletonDefinition
{
joint1 = 2,
joint2 = 3,
color = Color.magenta
},
new SkeletonDefinition
{
joint1 = 3,
joint2 = 0,
color = Color.magenta
},
new SkeletonDefinition
{
joint1 = 4,
joint2 = 5,
color = Color.blue
},
new SkeletonDefinition
{
joint1 = 5,
joint2 = 6,
color = Color.blue
},
new SkeletonDefinition
{
joint1 = 6,
joint2 = 7,
color = Color.blue
},
new SkeletonDefinition
{
joint1 = 7,
joint2 = 4,
color = Color.blue
},
new SkeletonDefinition
{
joint1 = 0,
joint2 = 4,
color = Color.green
},
new SkeletonDefinition
{
joint1 = 1,
joint2 = 5,
color = Color.green
},
new SkeletonDefinition
{
joint1 = 2,
joint2 = 6,
color = Color.green
},
new SkeletonDefinition
{
joint1 = 3,
joint2 = 7,
color = Color.green
},
};
var template = ScriptableObject.CreateInstance<KeypointTemplate>();
template.templateID = guid.ToString();
template.templateName = label;
template.jointTexture = null;
template.skeletonTexture = null;
template.keypoints = keypoints;
template.skeleton = skeleton;
return template;
}
[Test]
public void KeypointTemplate_CreateTemplateTest()
{
var guid = Guid.NewGuid();
const string label = "TestTemplate";
var template = CreateTestTemplate(guid, label);
Assert.AreEqual(template.templateID, guid.ToString());
Assert.AreEqual(template.templateName, label);
Assert.IsNull(template.jointTexture);
Assert.IsNull(template.skeletonTexture);
Assert.IsNotNull(template.keypoints);
Assert.IsNotNull(template.skeleton);
Assert.AreEqual(template.keypoints.Length, 9);
Assert.AreEqual(template.skeleton.Length, 12);
var k0 = template.keypoints[0];
Assert.NotNull(k0);
Assert.AreEqual(k0.label, "FrontLowerLeft");
Assert.False(k0.associateToRig);
Assert.AreEqual(k0.color, Color.black);
var s0 = template.skeleton[0];
Assert.NotNull(s0);
Assert.AreEqual(s0.joint1, 0);
Assert.AreEqual(s0.joint2, 1);
Assert.AreEqual(s0.color, Color.magenta);
}
static IdLabelConfig SetUpLabelConfig()
{
var cfg = ScriptableObject.CreateInstance<IdLabelConfig>();
cfg.Init(new List<IdLabelEntry>()
{
new IdLabelEntry
{
id = 1,
label = "label"
}
});
return cfg;
}
static void SetupCubeJoint(GameObject cube, KeypointTemplate template, string label, float x, float y, float z)
{
var joint = new GameObject();
joint.transform.parent = cube.transform;
joint.transform.localPosition = new Vector3(x, y, z);
var jointLabel = joint.AddComponent<JointLabel>();
jointLabel.templateInformation = new List<JointLabel.TemplateData>();
var templateData = new JointLabel.TemplateData
{
template = template,
label = label
};
jointLabel.templateInformation.Add(templateData);
}
static void SetupCubeJoints(GameObject cube, KeypointTemplate template)
{
SetupCubeJoint(cube, template, "FrontLowerLeft", -0.5f, -0.5f, -0.5f);
SetupCubeJoint(cube, template, "FrontUpperLeft", -0.5f, 0.5f, -0.5f);
SetupCubeJoint(cube, template, "FrontUpperRight", 0.5f, 0.5f, -0.5f);
SetupCubeJoint(cube, template, "FrontLowerRight", 0.5f, -0.5f, -0.5f);
SetupCubeJoint(cube, template, "BackLowerLeft", -0.5f, -0.5f, 0.5f);
SetupCubeJoint(cube, template, "BackUpperLeft", -0.5f, 0.5f, 0.5f);
SetupCubeJoint(cube, template, "BackUpperRight", 0.5f, 0.5f, 0.5f);
SetupCubeJoint(cube, template, "BackLowerRight", 0.5f, -0.5f, 0.5f);
}
[UnityTest]
public IEnumerator Keypoint_TestStaticLabeledCube()
{
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
var cam = SetupCamera(SetUpLabelConfig(), template, (data) =>
{
incoming.Add(data);
});
var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
SetupCubeJoints(cube, template);
cube.SetActive(true);
cam.SetActive(true);
AddTestObjectForCleanup(cam);
AddTestObjectForCleanup(cube);
yield return null;
yield return null;
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 < 8; i++) Assert.AreEqual(2, t.keypoints[i].state);
Assert.Zero(t.keypoints[8].state);
Assert.Zero(t.keypoints[8].x);
Assert.Zero(t.keypoints[8].y);
}
}
}
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