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Fixing keypoint bugs when visualizations are disabled (#290)

* Fixing keypoint bugs when visualizations are disabled (enabling async readback)

* Remove commented out code

* Pointing to stable ubuntu to work around issue in latest.
/0.8.0.preview.4_staging
Aryan Mann 3 年前
当前提交
4f94f2c5
共有 3 个文件被更改,包括 91 次插入8 次删除
  1. 4
      .yamato/environments.yml
  2. 25
      com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs
  3. 70
      com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs

4
.yamato/environments.yml


standalone-platform: StandaloneOSX
- name: ubuntu
type: Unity::VM
image: package-ci/ubuntu:latest
image: package-ci/ubuntu:stable
flavor: b1.large
performance_platforms:

standalone-platform: StandaloneOSX
- name: ubuntu
type: Unity::VM
image: package-ci/ubuntu:latest
image: package-ci/ubuntu:stable
flavor: b1.large
performance_suites:

25
com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs


{
if (InstanceIdToColorMapping.TryGetColorFromInstanceId(keypointSet.Key, out var idColor))
{
foreach (var keypoint in keypointSet.Value.keypoints)
for (var i = 0; i < keypointSet.Value.keypoints.Length; i++)
var keypoint = keypointSet.Value.keypoints[i];
keypoint.state = DetermineKeypointState(keypoint, idColor, dimensions, data);
if (keypoint.state == 0)

keypoint.x = math.clamp(keypoint.x, 0, dimensions.width - .001f);
keypoint.y = math.clamp(keypoint.y, 0, dimensions.height - .001f);
}
keypointSet.Value.keypoints[i] = keypoint;
}
}
}

/// The values of a specific keypoint
/// </summary>
[Serializable]
public class Keypoint
public struct Keypoint
{
/// <summary>
/// The index of the keypoint in the template file

cachedData.keypoints.pose = GetPose(cachedData.animator);
}
m_AsyncAnnotations[m_CurrentFrame].keypoints[labeledEntity.instanceId] = cachedData.keypoints;
var cachedKeypointEntry = cachedData.keypoints;
var keypointEntry = new KeypointEntry()
{
instance_id = cachedKeypointEntry.instance_id,
keypoints = cachedKeypointEntry.keypoints.ToArray(),
label_id = cachedKeypointEntry.label_id,
pose = cachedKeypointEntry.pose,
template_guid = cachedKeypointEntry.template_guid
};
m_AsyncAnnotations[m_CurrentFrame].keypoints[labeledEntity.instanceId] = keypointEntry;
}
}

return "unset";
}
Keypoint GetKeypointForJoint(KeypointEntry entry, int joint)
Keypoint? GetKeypointForJoint(KeypointEntry entry, int joint)
{
if (joint < 0 || joint >= entry.keypoints.Length) return null;
return entry.keypoints[joint];

var joint1 = GetKeypointForJoint(entry, bone.joint1);
var joint2 = GetKeypointForJoint(entry, bone.joint2);
if (joint1 != null && joint1.state == 2 && joint2 != null && joint2.state == 2)
if (joint1 != null && joint1.Value.state == 2 && joint2 != null && joint2.Value.state == 2)
VisualizationHelper.DrawLine(joint1.x, joint1.y, joint2.x, joint2.y, bone.color, 8, skeletonTexture);
VisualizationHelper.DrawLine(joint1.Value.x, joint1.Value.y, joint2.Value.x, joint2.Value.y, bone.color, 8, skeletonTexture);
}
}

70
com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs


}
[UnityTest]
public IEnumerator Keypoint_TestMovingCube()
{
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
var keypoints = new[]
{
new KeypointDefinition
{
label = "Center",
associateToRig = false,
color = Color.black
}
};
var template = ScriptableObject.CreateInstance<KeypointTemplate>();
template.templateID = Guid.NewGuid().ToString();
template.templateName = "label";
template.jointTexture = null;
template.skeletonTexture = null;
template.keypoints = keypoints;
template.skeleton = new SkeletonDefinition[0];
var texture = new RenderTexture(1024, 768, 16);
texture.Create();
var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
{
incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
}, texture);
cam.GetComponent<PerceptionCamera>().showVisualizations = false;
var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
SetupCubeJoint(cube, template, "Center", 0, 0, 0);
cube.SetActive(true);
cam.SetActive(true);
AddTestObjectForCleanup(cam);
AddTestObjectForCleanup(cube);
yield return null;
cube.transform.localPosition = new Vector3(-1, 0, 0);
yield return null;
//force all async readbacks to complete
DestroyTestObject(cam);
texture.Release();
var testCase = incoming[0];
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(1, t.keypoints.Length);
Assert.AreEqual(1024 / 2, t.keypoints[0].x);
Assert.AreEqual(768 / 2, t.keypoints[0].y);
Assert.AreEqual(0, t.keypoints[0].index);
Assert.AreEqual(2, t.keypoints[0].state);
var testCase2 = incoming[1];
Assert.AreEqual(1, testCase2.Count);
var t2 = testCase2.First();
Assert.AreEqual(445, t2.keypoints[0].x, 1);
Assert.AreEqual(768 / 2, t2.keypoints[0].y);
}
[UnityTest]
public IEnumerator Keypoint_TestPartialOffScreen([Values(1,5)] int framesToRunBeforeAsserting)
{
var incoming = new List<List<KeypointLabeler.KeypointEntry>>();

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