force file rename 2

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

+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);
+        }
+    }
+}

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

+fileFormatVersion: 2
+guid: c62092ba10e4e4a80a0ec03e6e92593a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: