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Major refactoring. Moving RenderedObjectInfo and instance segmentation back into PerceptionCamera. Moving instance id -> labelentry cache into LabelingConfiguration. Properly implementing the labelers.
Major refactoring. Moving RenderedObjectInfo and instance segmentation back into PerceptionCamera. Moving instance id -> labelentry cache into LabelingConfiguration. Properly implementing the labelers.
Still need to implement the hookups in PerceptionCamera to call into the labelers at runtime and write more tests./labeler_mock_mb
Jon Hogins
4 年前
当前提交
88c3dc1a
共有 30 个文件被更改，包括 631 次插入 和 643 次删除
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119TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity
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6TestProjects/PerceptionURP/Assets/SemanticSegmentationLabelingConfiguration.asset
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36com.unity.perception/Editor/GroundTruth/BoundingBoxLabelerEditor.cs
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5com.unity.perception/Runtime/GroundTruth/GroundTruthRendererFeature.cs
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23com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBoxLabeler.cs
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153com.unity.perception/Runtime/GroundTruth/Labelers/RenderedObjectInfoLabeler.cs
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49com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentationLabeler.cs
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45com.unity.perception/Runtime/GroundTruth/Labeling/LabelingConfiguration.cs
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30com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs
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9com.unity.perception/Runtime/GroundTruth/PerceptionCamera_InstanceSegmentation.cs
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13com.unity.perception/Runtime/GroundTruth/RenderedObjectInfo.cs
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77com.unity.perception/Runtime/GroundTruth/RenderedObjectInfoGenerator.cs
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12com.unity.perception/Runtime/GroundTruth/SemanticSegmentationCrossPipelinePass.cs
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5com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs
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29com.unity.perception/Tests/Runtime/GroundTruthTests/PerceptionCameraIntegrationTests.cs
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50com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs
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22com.unity.perception/Tests/Runtime/GroundTruthTests/ObjectCountLabelerTests.cs
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26com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs
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3com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs.meta
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112com.unity.perception/Runtime/GroundTruth/Labelers/ObjectCountLabeler.cs
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3com.unity.perception/Runtime/GroundTruth/Labelers/ObjectCountLabeler.cs.meta
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54com.unity.perception/Runtime/GroundTruth/Labeling/LabelEntryMatchCache.cs
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3com.unity.perception/Runtime/GroundTruth/Labeling/LabelEntryMatchCache.cs.meta
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162com.unity.perception/Tests/Runtime/GroundTruthTests/RenderedObjectInfoTests.cs
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11com.unity.perception/Runtime/GroundTruth/Labelers/InstanceSegmentationLabeler.cs.meta
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25com.unity.perception/Runtime/GroundTruth/Labelers/InstanceSegmentationLabeler.cs
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192com.unity.perception/Tests/Runtime/GroundTruthTests/BoundingBox2DTests.cs
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0/com.unity.perception/Tests/Runtime/GroundTruthTests/RenderedObjectInfoTests.cs.meta
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0/com.unity.perception/Tests/Runtime/GroundTruthTests/ObjectCountLabelerTests.cs.meta
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0/com.unity.perception/Tests/Runtime/GroundTruthTests/ObjectCountLabelerTests.cs
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using System; |
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|
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namespace UnityEngine.Perception.GroundTruth |
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{ |
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[Serializable] |
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public abstract class CameraLabeler |
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{ |
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public bool enabled; |
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public bool foldout; |
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|
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protected PerceptionCamera PerceptionCamera { get; private set; } |
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protected SensorHandle SensorHandle { get; private set; } |
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public abstract void Setup(); |
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public virtual void OnUpdate() {} |
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public virtual void OnBeginRendering() {} |
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|
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public virtual void OnSimulationEnding() {} |
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|
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internal void Init(PerceptionCamera perceptionCamera) |
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{ |
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PerceptionCamera = perceptionCamera; |
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SensorHandle = perceptionCamera.SensorHandle; |
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} |
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} |
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} |
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|
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fileFormatVersion: 2 |
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guid: 1f21ae5ed3374b7288ad9bd4ad367c59 |
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timeCreated: 1593188098 |
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|
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using System; |
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using System.Collections.Generic; |
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using System.Diagnostics.CodeAnalysis; |
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using Unity.Collections; |
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using Unity.Profiling; |
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|
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namespace UnityEngine.Perception.GroundTruth |
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{ |
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[Serializable] |
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public class ObjectCountLabeler : CameraLabeler |
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{ |
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/// <summary>
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/// The ID to use for object count annotations in the resulting dataset
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/// </summary>
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public string objectCountMetricId = "51DA3C27-369D-4929-AEA6-D01614635CE2"; |
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public LabelingConfiguration labelingConfiguration => m_LabelingConfiguration; |
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/// <summary>
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/// Fired when the object counts are computed for a frame.
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/// </summary>
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public event Action<int, NativeSlice<uint>,IReadOnlyList<LabelEntry>> ObjectCountsComputed; |
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[SerializeField] |
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LabelingConfiguration m_LabelingConfiguration; |
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static ProfilerMarker s_ClassCountCallback = new ProfilerMarker("OnClassLabelsReceived"); |
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ClassCountValue[] m_ClassCountValues; |
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Dictionary<int, AsyncMetric> m_ObjectCountAsyncMetrics = new Dictionary<int, AsyncMetric>(); |
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MetricDefinition m_ObjectCountMetricDefinition; |
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public ObjectCountLabeler() |
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{ |
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} |
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public ObjectCountLabeler(LabelingConfiguration labelingConfiguration) |
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{ |
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this.m_LabelingConfiguration = labelingConfiguration; |
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} |
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|
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[SuppressMessage("ReSharper", "InconsistentNaming")] |
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[SuppressMessage("ReSharper", "NotAccessedField.Local")] |
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struct ClassCountValue |
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{ |
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public int label_id; |
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public string label_name; |
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public uint count; |
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} |
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public override void Setup() |
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{ |
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PerceptionCamera.RenderedObjectInfosCalculated += (frameCount, objectInfo) => |
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{ |
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NativeArray<uint> objectCounts = ComputeObjectCounts(objectInfo); |
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ObjectCountsComputed?.Invoke(frameCount, objectCounts, labelingConfiguration.LabelEntries); |
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ProduceObjectCountMetric(objectCounts, m_LabelingConfiguration.LabelEntries, frameCount); |
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}; |
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} |
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public override void OnBeginRendering() |
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{ |
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if (m_ObjectCountMetricDefinition.Equals(default)) |
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{ |
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m_ObjectCountMetricDefinition = SimulationManager.RegisterMetricDefinition("object count", m_LabelingConfiguration.GetAnnotationSpecification(), |
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"Counts of objects for each label in the sensor's view", id: new Guid(objectCountMetricId)); |
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} |
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m_ObjectCountAsyncMetrics[Time.frameCount] = PerceptionCamera.SensorHandle.ReportMetricAsync(m_ObjectCountMetricDefinition); |
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} |
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NativeArray<uint> ComputeObjectCounts(NativeArray<RenderedObjectInfo> objectInfo) |
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{ |
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var objectCounts = new NativeArray<uint>(m_LabelingConfiguration.LabelEntries.Count, Allocator.Temp); |
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foreach (var info in objectInfo) |
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{ |
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if (!m_LabelingConfiguration.TryGetLabelEntryFromInstanceId(info.instanceId, out _, out var labelIndex)) |
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continue; |
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objectCounts[labelIndex]++; |
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} |
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return objectCounts; |
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} |
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void ProduceObjectCountMetric(NativeSlice<uint> counts, IReadOnlyList<LabelEntry> entries, int frameCount) |
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{ |
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using (s_ClassCountCallback.Auto()) |
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{ |
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if (!m_ObjectCountAsyncMetrics.TryGetValue(frameCount, out var classCountAsyncMetric)) |
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return; |
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m_ObjectCountAsyncMetrics.Remove(frameCount); |
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if (m_ClassCountValues == null || m_ClassCountValues.Length != entries.Count) |
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m_ClassCountValues = new ClassCountValue[entries.Count]; |
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for (var i = 0; i < entries.Count; i++) |
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{ |
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m_ClassCountValues[i] = new ClassCountValue() |
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{ |
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label_id = entries[i].id, |
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label_name = entries[i].label, |
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count = counts[i] |
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}; |
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} |
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classCountAsyncMetric.ReportValues(m_ClassCountValues); |
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} |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 715672f8c1f94106b6e84431e53c6096 |
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timeCreated: 1593183448 |
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using System; |
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using Unity.Collections; |
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using Unity.Entities; |
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using UnityEngine.UIElements; |
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namespace UnityEngine.Perception.GroundTruth |
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{ |
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/// <summary>
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/// Cache of instance id -> label entry index for a LabelConfig. This is not well optimized and is the source of a known memory leak for apps that create new instances frequently
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/// </summary>
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class LabelEntryMatchCache : IGroundTruthGenerator, IDisposable |
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{ |
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const int k_StartingObjectCount = 1 << 8; |
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NativeList<ushort> m_InstanceIdToLabelEntryIndexLookup; |
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LabelingConfiguration m_LabelingConfiguration; |
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public LabelEntryMatchCache(LabelingConfiguration labelingConfiguration) |
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{ |
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m_LabelingConfiguration = labelingConfiguration; |
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World.DefaultGameObjectInjectionWorld.GetOrCreateSystem<GroundTruthLabelSetupSystem>().Activate(this); |
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m_InstanceIdToLabelEntryIndexLookup = new NativeList<ushort>(k_StartingObjectCount, Allocator.Persistent); |
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} |
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public bool TryGetLabelEntryFromInstanceId(uint instanceId, out LabelEntry labelEntry, out int index) |
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{ |
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labelEntry = default; |
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index = -1; |
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if (m_InstanceIdToLabelEntryIndexLookup.Length <= instanceId) |
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return false; |
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index = m_InstanceIdToLabelEntryIndexLookup[(int)instanceId]; |
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labelEntry = m_LabelingConfiguration.LabelEntries[index]; |
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return true; |
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} |
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void IGroundTruthGenerator.SetupMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId) |
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{ |
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if (m_LabelingConfiguration.TryGetMatchingConfigurationEntry(labeling, out _, out var index)) |
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{ |
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if (m_InstanceIdToLabelEntryIndexLookup.Length <= instanceId) |
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{ |
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m_InstanceIdToLabelEntryIndexLookup.Resize((int)instanceId + 1, NativeArrayOptions.ClearMemory); |
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} |
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m_InstanceIdToLabelEntryIndexLookup[(int)instanceId] = (ushort)index; |
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} |
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} |
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public void Dispose() |
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{ |
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World.DefaultGameObjectInjectionWorld.GetOrCreateSystem<GroundTruthLabelSetupSystem>().Deactivate(this); |
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m_InstanceIdToLabelEntryIndexLookup.Dispose(); |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: e736a5078e0a44d69bdc643b3157f670 |
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timeCreated: 1593182152 |
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using System; |
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using System.Collections; |
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using System.Collections.Generic; |
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using NUnit.Framework; |
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using Unity.Collections; |
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using Unity.Entities; |
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using UnityEngine; |
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using UnityEngine.Perception.GroundTruth; |
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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 RenderedObjectInfoTests : GroundTruthTestBase |
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{ |
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public class ProducesCorrectObjectInfoData |
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{ |
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public RenderedObjectInfo[] renderedObjectInfosExpected; |
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public uint[] data; |
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public BoundingBoxOrigin boundingBoxOrigin; |
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public int stride; |
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public string name; |
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public ProducesCorrectObjectInfoData(uint[] data, RenderedObjectInfo[] renderedObjectInfosExpected, int stride, BoundingBoxOrigin boundingBoxOrigin, string name) |
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{ |
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this.data = data; |
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this.renderedObjectInfosExpected = renderedObjectInfosExpected; |
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this.stride = stride; |
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this.name = name; |
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this.boundingBoxOrigin = boundingBoxOrigin; |
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} |
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public override string ToString() |
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{ |
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return name; |
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} |
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} |
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public static IEnumerable ProducesCorrectBoundingBoxesTestCases() |
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{ |
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yield return new ProducesCorrectObjectInfoData( |
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new uint[] |
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{ |
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1, 1, |
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1, 1 |
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}, new[] |
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{ |
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new RenderedObjectInfo() |
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{ |
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boundingBox = new Rect(0, 0, 2, 2), |
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instanceId = 1, |
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pixelCount = 4 |
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} |
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}, |
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2, |
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BoundingBoxOrigin.BottomLeft, |
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"SimpleBox"); |
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yield return new ProducesCorrectObjectInfoData( |
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new uint[] |
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{ |
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1, 0, 2, |
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1, 0, 0 |
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}, new[] |
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{ |
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new RenderedObjectInfo() |
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{ |
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boundingBox = new Rect(0, 0, 1, 2), |
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instanceId = 1, |
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pixelCount = 2 |
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}, |
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new RenderedObjectInfo() |
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{ |
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boundingBox = new Rect(2, 0, 1, 1), |
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instanceId = 2, |
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pixelCount = 1 |
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} |
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}, |
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3, |
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BoundingBoxOrigin.BottomLeft, |
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"WithGaps"); |
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yield return new ProducesCorrectObjectInfoData( |
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new uint[] |
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{ |
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1, 2, 1, |
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1, 2, 1 |
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}, new[] |
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{ |
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new RenderedObjectInfo() |
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{ |
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boundingBox = new Rect(0, 0, 3, 2), |
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instanceId = 1, |
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pixelCount = 4 |
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}, |
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new RenderedObjectInfo() |
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{ |
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boundingBox = new Rect(1, 0, 1, 2), |
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instanceId = 2, |
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pixelCount = 2 |
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} |
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}, |
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3, |
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BoundingBoxOrigin.BottomLeft, |
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"Interleaved"); |
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yield return new ProducesCorrectObjectInfoData( |
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new uint[] |
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{ |
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0, 0, |
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0, 0, |
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0, 1 |
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}, new[] |
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{ |
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new RenderedObjectInfo() |
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{ |
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boundingBox = new Rect(1, 0, 1, 1), |
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instanceId = 1, |
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pixelCount = 1 |
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}, |
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}, |
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2, |
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BoundingBoxOrigin.TopLeft, |
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"TopLeft"); |
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} |
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|
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[UnityTest] |
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public IEnumerator ProducesCorrectBoundingBoxes([ValueSource(nameof(ProducesCorrectBoundingBoxesTestCases))] ProducesCorrectObjectInfoData producesCorrectObjectInfoData) |
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{ |
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var label = "label"; |
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var label2 = "label2"; |
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var labelingConfiguration = ScriptableObject.CreateInstance<LabelingConfiguration>(); |
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|
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labelingConfiguration.Init(new List<LabelEntry> |
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{ |
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new LabelEntry |
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{ |
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id = 1, |
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label = label, |
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value = 500 |
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}, |
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new LabelEntry |
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{ |
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id = 2, |
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label = label2, |
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value = 500 |
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} |
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}); |
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|
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var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator(); |
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|
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//Put a plane in front of the camera
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AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label)); |
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AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label2)); |
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yield return null; |
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var dataNativeArray = new NativeArray<uint>(producesCorrectObjectInfoData.data, Allocator.Persistent); |
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renderedObjectInfoGenerator.Compute(dataNativeArray, producesCorrectObjectInfoData.stride, producesCorrectObjectInfoData.boundingBoxOrigin, out var boundingBoxes, Allocator.Temp); |
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CollectionAssert.AreEqual(producesCorrectObjectInfoData.renderedObjectInfosExpected, boundingBoxes.ToArray()); |
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dataNativeArray.Dispose(); |
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boundingBoxes.Dispose(); |
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} |
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} |
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} |
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|
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fileFormatVersion: 2 |
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guid: 43085b9d882c415b90fb9ebe4d765f26 |
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MonoImporter: |
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externalObjects: {} |
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serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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|
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using System; |
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using Unity.Collections; |
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using UnityEngine.Experimental.Rendering; |
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#if HDRP_PRESENT
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using UnityEngine.Rendering.HighDefinition; |
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#endif
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|
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namespace UnityEngine.Perception.GroundTruth { |
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// public class InstanceSegmentationLabeler : CameraLabeler
|
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// {
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// //Uncomment when we support saving instance segmentation labels
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// //public bool saveImages = false;
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// //public string annotationId = "E657461D-B950-42E1-8141-BEC9B4810241";
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//
|
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// public override void Setup()
|
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// {
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// PerceptionCamera.InstanceSegmentationImageReadback += OnInstanceSegmentationImageReadback;
|
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// }
|
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//
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// void OnInstanceSegmentationImageReadback(int frameCount, NativeArray<uint> imageData, RenderTexture renderTexture)
|
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// {
|
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// throw new NotImplementedException();
|
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// }
|
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// }
|
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} |
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|
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using System; |
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using System.Collections; |
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using System.Collections.Generic; |
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using NUnit.Framework; |
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using Unity.Collections; |
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using Unity.Entities; |
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using UnityEngine; |
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using UnityEngine.Perception.GroundTruth; |
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using UnityEngine.TestTools; |
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|
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namespace GroundTruthTests |
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{ |
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[TestFixture] |
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public class BoundingBox2DTests : GroundTruthTestBase |
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{ |
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public class ProducesCorrectBoundingBoxesData |
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{ |
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public uint[] classCountsExpected; |
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public RenderedObjectInfo[] boundingBoxesExpected; |
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public uint[] data; |
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public BoundingBoxOrigin boundingBoxOrigin; |
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public int stride; |
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public string name; |
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public ProducesCorrectBoundingBoxesData(uint[] data, RenderedObjectInfo[] boundingBoxesExpected, uint[] classCountsExpected, int stride, BoundingBoxOrigin boundingBoxOrigin, string name) |
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{ |
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this.data = data; |
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this.boundingBoxesExpected = boundingBoxesExpected; |
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this.classCountsExpected = classCountsExpected; |
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this.stride = stride; |
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this.name = name; |
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this.boundingBoxOrigin = boundingBoxOrigin; |
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} |
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|
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public override string ToString() |
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{ |
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return name; |
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} |
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} |
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public static IEnumerable ProducesCorrectBoundingBoxesTestCases() |
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{ |
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yield return new ProducesCorrectBoundingBoxesData( |
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new uint[] |
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{ |
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1, 1, |
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1, 1 |
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}, new[] |
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{ |
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new RenderedObjectInfo() |
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{ |
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boundingBox = new Rect(0, 0, 2, 2), |
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instanceId = 1, |
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labelId = 1, |
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pixelCount = 4 |
|||
} |
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}, new uint[] |
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{ |
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1, |
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0 |
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}, |
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2, |
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BoundingBoxOrigin.BottomLeft, |
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"SimpleBox"); |
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yield return new ProducesCorrectBoundingBoxesData( |
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new uint[] |
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{ |
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1, 0, 2, |
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1, 0, 0 |
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}, new[] |
|||
{ |
|||
new RenderedObjectInfo() |
|||
{ |
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boundingBox = new Rect(0, 0, 1, 2), |
|||
instanceId = 1, |
|||
labelId = 1, |
|||
pixelCount = 2 |
|||
}, |
|||
new RenderedObjectInfo() |
|||
{ |
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boundingBox = new Rect(2, 0, 1, 1), |
|||
instanceId = 2, |
|||
labelId = 2, |
|||
pixelCount = 1 |
|||
} |
|||
}, new uint[] |
|||
{ |
|||
1, |
|||
1 |
|||
}, |
|||
3, |
|||
BoundingBoxOrigin.BottomLeft, |
|||
"WithGaps"); |
|||
yield return new ProducesCorrectBoundingBoxesData( |
|||
new uint[] |
|||
{ |
|||
1, 2, 1, |
|||
1, 2, 1 |
|||
}, new[] |
|||
{ |
|||
new RenderedObjectInfo() |
|||
{ |
|||
boundingBox = new Rect(0, 0, 3, 2), |
|||
instanceId = 1, |
|||
labelId = 1, |
|||
pixelCount = 4 |
|||
}, |
|||
new RenderedObjectInfo() |
|||
{ |
|||
boundingBox = new Rect(1, 0, 1, 2), |
|||
instanceId = 2, |
|||
labelId = 2, |
|||
pixelCount = 2 |
|||
} |
|||
}, new uint[] |
|||
{ |
|||
1, |
|||
1 |
|||
}, |
|||
3, |
|||
BoundingBoxOrigin.BottomLeft, |
|||
"Interleaved"); |
|||
yield return new ProducesCorrectBoundingBoxesData( |
|||
new uint[] |
|||
{ |
|||
0, 0, |
|||
0, 0, |
|||
0, 1 |
|||
}, new[] |
|||
{ |
|||
new RenderedObjectInfo() |
|||
{ |
|||
boundingBox = new Rect(1, 0, 1, 1), |
|||
instanceId = 1, |
|||
labelId = 1, |
|||
pixelCount = 1 |
|||
}, |
|||
}, new uint[] |
|||
{ |
|||
1, |
|||
0 |
|||
}, |
|||
2, |
|||
BoundingBoxOrigin.TopLeft, |
|||
"TopLeft"); |
|||
} |
|||
|
|||
[UnityTest] |
|||
public IEnumerator ProducesCorrectBoundingBoxes([ValueSource(nameof(ProducesCorrectBoundingBoxesTestCases))] ProducesCorrectBoundingBoxesData producesCorrectBoundingBoxesData) |
|||
{ |
|||
var label = "label"; |
|||
var label2 = "label2"; |
|||
var labelingConfiguration = ScriptableObject.CreateInstance<LabelingConfiguration>(); |
|||
|
|||
labelingConfiguration.LabelEntries = new List<LabelEntry> |
|||
{ |
|||
new LabelEntry |
|||
{ |
|||
id = 1, |
|||
label = label, |
|||
value = 500 |
|||
}, |
|||
new LabelEntry |
|||
{ |
|||
id = 2, |
|||
label = label2, |
|||
value = 500 |
|||
} |
|||
}; |
|||
|
|||
var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator(labelingConfiguration); |
|||
var groundTruthLabelSetupSystem = World.DefaultGameObjectInjectionWorld.GetExistingSystem<GroundTruthLabelSetupSystem>(); |
|||
groundTruthLabelSetupSystem.Activate(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<uint>(producesCorrectBoundingBoxesData.data, Allocator.Persistent); |
|||
|
|||
renderedObjectInfoGenerator.Compute(dataNativeArray, producesCorrectBoundingBoxesData.stride, producesCorrectBoundingBoxesData.boundingBoxOrigin, out var boundingBoxes, out var classCounts, Allocator.Temp); |
|||
|
|||
CollectionAssert.AreEqual(producesCorrectBoundingBoxesData.boundingBoxesExpected, boundingBoxes.ToArray()); |
|||
CollectionAssert.AreEqual(producesCorrectBoundingBoxesData.classCountsExpected, classCounts.ToArray()); |
|||
|
|||
dataNativeArray.Dispose(); |
|||
boundingBoxes.Dispose(); |
|||
classCounts.Dispose(); |
|||
groundTruthLabelSetupSystem.Deactivate(renderedObjectInfoGenerator); |
|||
renderedObjectInfoGenerator.Dispose(); |
|||
} |
|||
} |
|||
} |
|||
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