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Updating HDRP test project. Implementing CameraLabeler runtime and adding tests.

/labeler_mock_mb
Jon Hogins 5 年前
当前提交
d5159004
共有 31 个文件被更改,包括 946 次插入230 次删除
  1. 139
      TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity
  2. 1
      TestProjects/PerceptionHDRP/Packages/manifest.json
  3. 2
      TestProjects/PerceptionHDRP/ProjectSettings/EditorSettings.asset
  4. 4
      TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt
  5. 101
      TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity
  6. 14
      TestProjects/PerceptionURP/Assets/SemanticSegmentationLabelingConfiguration.asset
  7. 1
      TestProjects/PerceptionURP/Packages/manifest.json
  8. 16
      TestProjects/PerceptionURP/Packages/packages-lock.json
  9. 2
      TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset
  10. 15
      com.unity.perception/Editor/GroundTruth/PerceptionCameraEditor.cs
  11. 2
      com.unity.perception/Editor/GroundTruth/SemanticSegmentationPassEditor.cs
  12. 11
      com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBoxLabeler.cs
  13. 23
      com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs
  14. 8
      com.unity.perception/Runtime/GroundTruth/Labelers/ObjectCountLabeler.cs
  15. 8
      com.unity.perception/Runtime/GroundTruth/Labelers/RenderedObjectInfoLabeler.cs
  16. 21
      com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentationLabeler.cs
  17. 7
      com.unity.perception/Runtime/GroundTruth/Labeling/LabelingConfiguration.cs
  18. 23
      com.unity.perception/Runtime/GroundTruth/Labeling/LabelingConfiguration2.cs
  19. 56
      com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs
  20. 10
      com.unity.perception/Runtime/GroundTruth/PerceptionCamera_InstanceSegmentation.cs
  21. 8
      com.unity.perception/Runtime/GroundTruth/SemanticSegmentationPass.cs
  22. 4
      com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs
  23. 2
      com.unity.perception/Tests/Runtime/GroundTruthTests/ObjectCountLabelerTests.cs
  24. 93
      com.unity.perception/Tests/Runtime/GroundTruthTests/PerceptionCameraIntegrationTests.cs
  25. 2
      com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs
  26. 10
      com.unity.perception/Tests/Runtime/Unity.Perception.Runtime.Tests.asmdef
  27. 21
      TestProjects/PerceptionHDRP/Assets/SemanticSegmentationLabelingConfiguration.asset
  28. 8
      TestProjects/PerceptionHDRP/Assets/SemanticSegmentationLabelingConfiguration.asset.meta
  29. 541
      TestProjects/PerceptionHDRP/Packages/packages-lock.json
  30. 20
      com.unity.perception/Runtime/GroundTruth/Labeling/SemanticSegmentationLabelConfig.cs
  31. 3
      com.unity.perception/Runtime/GroundTruth/Labeling/SemanticSegmentationLabelConfig.cs.meta

139
TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity


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1
TestProjects/PerceptionHDRP/Packages/manifest.json


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"nuget.moq": "1.0.0",
"com.unity.modules.ai": "1.0.0",
"com.unity.modules.androidjni": "1.0.0",
"com.unity.modules.animation": "1.0.0",

2
TestProjects/PerceptionHDRP/ProjectSettings/EditorSettings.asset


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4
TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt


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101
TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity


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14
TestProjects/PerceptionURP/Assets/SemanticSegmentationLabelingConfiguration.asset


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1
TestProjects/PerceptionURP/Packages/manifest.json


"com.unity.textmeshpro": "2.0.1",
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"com.unity.modules.ai": "1.0.0",
"com.unity.modules.androidjni": "1.0.0",
"com.unity.modules.animation": "1.0.0",

16
TestProjects/PerceptionURP/Packages/packages-lock.json


"com.unity.modules.ui": "1.0.0"
}
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2
TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset


skinWeights: 2
textureQuality: 0
anisotropicTextures: 1
antiAliasing: 0
antiAliasing: 2
softParticles: 0
softVegetation: 1
realtimeReflectionProbes: 1

15
com.unity.perception/Editor/GroundTruth/PerceptionCameraEditor.cs


{
ReorderableList m_LabelersList;
SerializedProperty labelersProperty => this.serializedObject.FindProperty("m_Labelers");
m_LabelersList = new ReorderableList(this.serializedObject, this.serializedObject.FindProperty(nameof(PerceptionCamera.labelers)), true, false, true, true);
m_LabelersList = new ReorderableList(this.serializedObject, labelersProperty, true, false, true, true);
m_LabelersList.drawHeaderCallback = (rect) => {
EditorGUI.LabelField(rect, "Camera Labelers", EditorStyles.largeLabel);
};

float GetElementHeight(int index)
{
var serializedProperty = this.serializedObject.FindProperty(nameof(PerceptionCamera.labelers));
var serializedProperty = labelersProperty;
var element = serializedProperty.GetArrayElementAtIndex(index);
var editor = GetCameraLabelerDrawer(element, index);
return editor.GetElementHeight(element);

void DrawElement(Rect rect, int index, bool isactive, bool isfocused)
{
var element = this.serializedObject.FindProperty(nameof(PerceptionCamera.labelers)).GetArrayElementAtIndex(index);
var element = labelersProperty.GetArrayElementAtIndex(index);
var editor = GetCameraLabelerDrawer(element, index);
editor.OnGUI(rect, element);
}

void OnAdd(ReorderableList list)
{
Undo.RegisterCompleteObjectUndo(target, "Remove camera labeler");
var labelers = this.serializedObject.FindProperty(nameof(PerceptionCamera.labelers));
var labelers = labelersProperty;
var dropdownOptions = TypeCache.GetTypesDerivedFrom<CameraLabeler>();
var menu = new GenericMenu();

public override void OnInspectorGUI()
{
if (EditorSettings.asyncShaderCompilation)
{
EditorGUILayout.HelpBox("Asynchronous shader compilation is currently enabled.", MessageType.Warning);
}
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(PerceptionCamera.description)));
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(PerceptionCamera.period)));
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(PerceptionCamera.startTime)));

}
Dictionary<SerializedProperty, CameraLabelerDrawer> cameraLabelerDrawers = new Dictionary<SerializedProperty, CameraLabelerDrawer>();
CameraLabelerDrawer GetCameraLabelerDrawer(SerializedProperty element, int listIndex)

2
com.unity.perception/Editor/GroundTruth/SemanticSegmentationPassEditor.cs


{
AddProperty(customPass.FindPropertyRelative(nameof(SemanticSegmentationPass.targetCamera)));
AddProperty(customPass.FindPropertyRelative(nameof(SemanticSegmentationPass.targetTexture)));
AddProperty(customPass.FindPropertyRelative(nameof(SemanticSegmentationPass.labelingConfiguration)));
AddProperty(customPass.FindPropertyRelative(nameof(SemanticSegmentationPass.semanticSegmentationLabelConfig)));
base.Initialize(customPass);
}
}

11
com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBoxLabeler.cs


static ProfilerMarker s_BoundingBoxCallback = new ProfilerMarker("OnBoundingBoxesReceived");
public LabelingConfiguration labelingConfiguration;
Dictionary<int, AsyncAnnotation> m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>();
Dictionary<int, AsyncAnnotation> m_AsyncAnnotations;
AnnotationDefinition m_BoundingBoxAnnotationDefinition;
BoundingBoxValue[] m_BoundingBoxValues;

public override void Setup()
{
if (labelingConfiguration == null)
throw new InvalidOperationException("LabelingConfiguration must be supplied");
m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>();
PerceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
perceptionCamera.RenderedObjectInfosCalculated += OnRenderedObjectInfosCalculated;
m_AsyncAnnotations[Time.frameCount] = PerceptionCamera.SensorHandle.ReportAnnotationAsync(m_BoundingBoxAnnotationDefinition);
m_AsyncAnnotations[Time.frameCount] = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_BoundingBoxAnnotationDefinition);
}
void OnRenderedObjectInfosCalculated(int frameCount, NativeArray<RenderedObjectInfo> renderedObjectInfos)

23
com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs


public bool enabled;
public bool foldout;
protected PerceptionCamera PerceptionCamera { get; private set; }
internal bool isInitialized { get; private set; }
protected PerceptionCamera perceptionCamera { get; private set; }
public abstract void Setup();
public virtual void Setup() { }
public virtual void OnSimulationEnding() {}
public virtual void Cleanup() {}
PerceptionCamera = perceptionCamera;
SensorHandle = perceptionCamera.SensorHandle;
Setup();
try
{
this.perceptionCamera = perceptionCamera;
SensorHandle = perceptionCamera.SensorHandle;
Setup();
isInitialized = true;
}
catch (Exception)
{
this.enabled = false;
throw;
}
}
}
}

8
com.unity.perception/Runtime/GroundTruth/Labelers/ObjectCountLabeler.cs


ClassCountValue[] m_ClassCountValues;
Dictionary<int, AsyncMetric> m_ObjectCountAsyncMetrics = new Dictionary<int, AsyncMetric>();
Dictionary<int, AsyncMetric> m_ObjectCountAsyncMetrics;
MetricDefinition m_ObjectCountMetricDefinition;
public ObjectCountLabeler()

if (labelingConfiguration == null)
throw new InvalidOperationException("LabelingConfiguration must be supplied");
PerceptionCamera.RenderedObjectInfosCalculated += (frameCount, objectInfo) =>
m_ObjectCountAsyncMetrics = new Dictionary<int, AsyncMetric>();
perceptionCamera.RenderedObjectInfosCalculated += (frameCount, objectInfo) =>
{
NativeArray<uint> objectCounts = ComputeObjectCounts(objectInfo);
ObjectCountsComputed?.Invoke(frameCount, objectCounts, labelingConfiguration.LabelEntries);

"Counts of objects for each label in the sensor's view", id: new Guid(objectCountMetricId));
}
m_ObjectCountAsyncMetrics[Time.frameCount] = PerceptionCamera.SensorHandle.ReportMetricAsync(m_ObjectCountMetricDefinition);
m_ObjectCountAsyncMetrics[Time.frameCount] = perceptionCamera.SensorHandle.ReportMetricAsync(m_ObjectCountMetricDefinition);
}
NativeArray<uint> ComputeObjectCounts(NativeArray<RenderedObjectInfo> objectInfo)

8
com.unity.perception/Runtime/GroundTruth/Labelers/RenderedObjectInfoLabeler.cs


// ReSharper restore InconsistentNaming
RenderedObjectInfoValue[] m_VisiblePixelsValues;
Dictionary<int, AsyncMetric> m_ObjectInfoAsyncMetrics = new Dictionary<int, AsyncMetric>();
Dictionary<int, AsyncMetric> m_ObjectInfoAsyncMetrics;
MetricDefinition m_RenderedObjectInfoMetricDefinition;
public RenderedObjectInfoLabeler()

return;
}
PerceptionCamera.RenderedObjectInfosCalculated += (frameCount, objectInfo) =>
m_ObjectInfoAsyncMetrics = new Dictionary<int, AsyncMetric>();
perceptionCamera.RenderedObjectInfosCalculated += (frameCount, objectInfo) =>
{
ProduceRenderedObjectInfoMetric(objectInfo, frameCount);
};

id: new Guid(objectInfoMetricId));
}
m_ObjectInfoAsyncMetrics[Time.frameCount] = PerceptionCamera.SensorHandle.ReportMetricAsync(m_RenderedObjectInfoMetricDefinition);
m_ObjectInfoAsyncMetrics[Time.frameCount] = perceptionCamera.SensorHandle.ReportMetricAsync(m_RenderedObjectInfoMetricDefinition);
}
void ProduceRenderedObjectInfoMetric(NativeArray<RenderedObjectInfo> renderedObjectInfos, int frameCount)

21
com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentationLabeler.cs


SemanticSegmentationPass m_SemanticSegmentationPass;
#endif
Dictionary<int, AsyncAnnotation> m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>();
Dictionary<int, AsyncAnnotation> m_AsyncAnnotations;
public SemanticSegmentationLabeler()
{

public override void Setup()
{
var myCamera = PerceptionCamera.GetComponent<Camera>();
var myCamera = perceptionCamera.GetComponent<Camera>();
var width = myCamera.pixelWidth;
var height = myCamera.pixelHeight;

this.enabled = false;
}
m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>();
var customPassVolume = this.GetComponent<CustomPassVolume>() ?? gameObject.AddComponent<CustomPassVolume>();
var gameObject = perceptionCamera.gameObject;
var customPassVolume = gameObject.GetComponent<CustomPassVolume>() ?? gameObject.AddComponent<CustomPassVolume>();
m_SemanticSegmentationPass = new SemanticSegmentationPass(myCamera, semanticSegmentationTexture, labelingConfiguration)
m_SemanticSegmentationPass = new SemanticSegmentationPass(myCamera, semanticSegmentationTexture, labelConfig)
{
name = "Labeling Pass"
};

PerceptionCamera.AddScriptableRenderPass(new SemanticSegmentationUrpPass(myCamera, semanticSegmentationTexture, labelConfig));
perceptionCamera.AddScriptableRenderPass(new SemanticSegmentationUrpPass(myCamera, semanticSegmentationTexture, labelConfig));
#endif
var specs = labelConfig.LabelEntries.Select((l) => new SemanticSegmentationSpec()

m_SemanticSegmentationTextureReader = new RenderTextureReader<Color32>(semanticSegmentationTexture, myCamera,
(frameCount, data, tex) => OnSemanticSegmentationImageRead(frameCount, data));
SimulationManager.SimulationEnding += OnSimulationEnding;
SimulationManager.SimulationEnding += Cleanup;
}
void OnSemanticSegmentationImageRead(int frameCount, NativeArray<Color32> data)

public override void OnBeginRendering()
{
m_AsyncAnnotations[Time.frameCount] = PerceptionCamera.SensorHandle.ReportAnnotationAsync(m_SemanticSegmentationAnnotationDefinition);
m_AsyncAnnotations[Time.frameCount] = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_SemanticSegmentationAnnotationDefinition);
public override void OnSimulationEnding()
public override void Cleanup()
{
m_SemanticSegmentationTextureReader?.WaitForAllImages();
m_SemanticSegmentationTextureReader?.Dispose();

void OnDisable()
{
SimulationManager.SimulationEnding -= OnSimulationEnding;
SimulationManager.SimulationEnding -= Cleanup;
m_SemanticSegmentationTextureReader?.Dispose();
m_SemanticSegmentationTextureReader = null;

7
com.unity.perception/Runtime/GroundTruth/Labeling/LabelingConfiguration.cs


[CreateAssetMenu(fileName = "LabelingConfiguration", menuName = "Perception/Labeling Configuration", order = 1)]
public class LabelingConfiguration : ScriptableObject
{
[FormerlySerializedAs("LabelingConfigurations")]
[FormerlySerializedAs("LabelEntries")]
[SerializeField]

m_LabelEntryMatchCache = new LabelEntryMatchCache(this);
return m_LabelEntryMatchCache.TryGetLabelEntryFromInstanceId(instanceId, out labelEntry, out index);
}
void OnDestroy()
{
m_LabelEntryMatchCache.Dispose();
m_LabelEntryMatchCache = null;
}
[SuppressMessage("ReSharper", "InconsistentNaming")]

23
com.unity.perception/Runtime/GroundTruth/Labeling/LabelingConfiguration2.cs


{
}
[Serializable]
public struct SemanticSegmentationLabelEntry : ILabelEntry
{
string ILabelEntry.label => this.label;
public string label;
public Color color;
}
/// <summary>
/// A definition for how a <see cref="Labeling"/> should be resolved to a single label and id for ground truth generation.
/// </summary>
[CreateAssetMenu(fileName = "SemanticSegmentationLabelingConfiguration", menuName = "Perception/Semantic Segmentation Label Config", order = 1)]
public class SemanticSegmentationLabelConfig : LabelingConfiguration2<SemanticSegmentationLabelEntry>
{
/// <summary>
/// Whether the inspector will auto-assign ids based on the id of the first element.
/// </summary>
public bool AutoAssignIds = true;
/// <summary>
/// Whether the inspector will start label ids at zero or one when <see cref="AutoAssignIds"/> is enabled.
/// </summary>
public StartingLabelId StartingLabelId = StartingLabelId.One;
}
/// <summary>
/// A definition for how a <see cref="Labeling"/> should be resolved to a single label and id for ground truth generation.
/// </summary>

56
com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs


/// Event invoked after the camera finishes rendering during a frame.
/// </summary>
public List<CameraLabeler> labelers = new List<CameraLabeler>();
List<CameraLabeler> m_Labelers = new List<CameraLabeler>();
Dictionary<string, object> m_PersistentSensorData = new Dictionary<string, object>();
#if URP_PRESENT

SetupInstanceSegmentation();
foreach (var labeler in labelers)
{
labeler.Init(this);
}
RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering;
SimulationManager.SimulationEnding += OnSimulationEnding;
}

var cam = GetComponent<Camera>();
cam.enabled = SensorHandle.ShouldCaptureThisFrame;
foreach (var labeler in labelers)
foreach (var labeler in m_Labelers)
{
if (!labeler.enabled)
continue;
if (!labeler.isInitialized)
labeler.Init(this);
}
}
void OnValidate()
{
if (m_Labelers == null)
m_Labelers = new List<CameraLabeler>();
}
void CaptureRgbData(Camera cam)

void OnSimulationEnding()
{
foreach (var labeler in labelers)
labeler.OnSimulationEnding();
foreach (var labeler in m_Labelers)
{
if (labeler.isInitialized)
labeler.Cleanup();
}
}
void OnBeginCameraRendering(ScriptableRenderContext _, Camera cam)

#endif
CaptureRgbData(cam);
foreach (var labeler in labelers)
foreach (var labeler in m_Labelers)
{
if (!labeler.enabled)
continue;
if (!labeler.isInitialized)
labeler.Init(this);
}
}
void OnDisable()

SensorHandle = default;
CleanUpInstanceSegmentation();
}
public IReadOnlyList<CameraLabeler> labelers => m_Labelers;
public void AddLabeler(CameraLabeler cameraLabeler) => m_Labelers.Add(cameraLabeler);
public bool RemoveLabeler(CameraLabeler cameraLabeler)
{
if (m_Labelers.Remove(cameraLabeler))
{
if (cameraLabeler.isInitialized)
cameraLabeler.Cleanup();
return true;
}
return false;
}
}
}

10
com.unity.perception/Runtime/GroundTruth/PerceptionCamera_InstanceSegmentation.cs


var customPassVolume = this.GetComponent<CustomPassVolume>() ?? gameObject.AddComponent<CustomPassVolume>();
customPassVolume.injectionPoint = CustomPassInjectionPoint.BeforeRendering;
customPassVolume.isGlobal = true;
m_SegmentationPass = new InstanceSegmentationPass()
m_InstanceSegmentationPass = new InstanceSegmentationPass()
targetCamera = myCamera,
targetTexture = m_SegmentationTexture
targetCamera = GetComponent<Camera>(),
targetTexture = m_InstanceSegmentationTexture
m_SegmentationPass.EnsureInit();
customPassVolume.customPasses.Add(m_SegmentationPass);
m_InstanceSegmentationPass.EnsureInit();
customPassVolume.customPasses.Add(m_InstanceSegmentationPass);
#endif
#if URP_PRESENT
AddScriptableRenderPass(new InstanceSegmentationUrpPass(camera, m_InstanceSegmentationTexture));

8
com.unity.perception/Runtime/GroundTruth/SemanticSegmentationPass.cs


public class SemanticSegmentationPass : CustomPass
{
public RenderTexture targetTexture;
public LabelingConfiguration labelingConfiguration;
public SemanticSegmentationLabelConfig semanticSegmentationLabelConfig;
public SemanticSegmentationPass(Camera targetCamera, RenderTexture targetTexture, LabelingConfiguration labelingConfiguration)
public SemanticSegmentationPass(Camera targetCamera, RenderTexture targetTexture, SemanticSegmentationLabelConfig semanticSegmentationLabelConfig)
this.labelingConfiguration = labelingConfiguration;
this.semanticSegmentationLabelConfig = semanticSegmentationLabelConfig;
this.targetCamera = targetCamera;
EnsureInit();
}

if (m_SemanticSegmentationCrossPipelinePass == null)
{
m_SemanticSegmentationCrossPipelinePass = new SemanticSegmentationCrossPipelinePass(targetCamera, labelingConfiguration);
m_SemanticSegmentationCrossPipelinePass = new SemanticSegmentationCrossPipelinePass(targetCamera, semanticSegmentationLabelConfig);
m_SemanticSegmentationCrossPipelinePass.EnsureActivated();
}
}

4
com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs


var perceptionCamera = cameraObject.AddComponent<PerceptionCamera>();
perceptionCamera.captureRgbImages = true;
perceptionCamera.labelers.Add(new BoundingBox2DLabeler(labelingConfiguration));
perceptionCamera.labelers.Add(new RenderedObjectInfoLabeler(labelingConfiguration));
perceptionCamera.AddLabeler(new BoundingBox2DLabeler(labelingConfiguration));
perceptionCamera.AddLabeler(new RenderedObjectInfoLabeler(labelingConfiguration));
cameraObject.SetActive(true);
}

2
com.unity.perception/Tests/Runtime/GroundTruthTests/ObjectCountLabelerTests.cs


perceptionCamera.captureRgbImages = false;
var classCountLabeler = new ObjectCountLabeler(labelingConfiguration);
classCountLabeler.ObjectCountsComputed += onClassCountsReceived;
perceptionCamera.labelers.Add(classCountLabeler);
perceptionCamera.AddLabeler(classCountLabeler);
cameraObject.SetActive(true);
return cameraObject;

93
com.unity.perception/Tests/Runtime/GroundTruthTests/PerceptionCameraIntegrationTests.cs


using UnityEngine;
using UnityEngine.Perception.GroundTruth;
using UnityEngine.TestTools;
using Object = UnityEngine.Object;
#if MOQ_PRESENT
using Moq;
#endif
namespace GroundTruthTests
{

var labelingConfiguration = CreateLabelingConfiguration();
SetupCamera(pc =>
{
pc.labelers.Add(new BoundingBox2DLabeler(labelingConfiguration));
pc.AddLabeler(new BoundingBox2DLabeler(labelingConfiguration));
});
var plane = TestHelper.CreateLabeledPlane();

{
SetupCamera(pc =>
{
pc.labelers.Add(new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig()));
pc.AddLabeler(new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig()));
});
string expectedImageFilename = $"segmentation_{Time.frameCount}.png";

StringAssert.Contains(imagePath, capturesJson);
}
#if MOQ_PRESENT
[UnityTest]
public IEnumerator AddLabelerAfterStart_ShouldInitialize()
{
var camera = SetupCamera(null);
var mockLabeler = new Mock<CameraLabeler>();
yield return null;
camera.GetComponent<PerceptionCamera>().AddLabeler(mockLabeler.Object);
yield return null;
mockLabeler.Verify(l => l.Setup(), Times.Once());
}
[UnityTest]
public IEnumerator Labeler_ShouldSetupAndUpdateAndOnBeginRenderingInFirstFrame()
{
var mockLabeler = new Mock<CameraLabeler>();
SetupCamera(p => p.AddLabeler(mockLabeler.Object));
yield return null;
mockLabeler.Verify(l => l.Setup());
mockLabeler.Verify(l => l.OnUpdate());
mockLabeler.Verify(l => l.OnBeginRendering());
}
[UnityTest]
public IEnumerator AddAndRemoveLabelerInSameFrame_ShouldDoNothing()
{
var mockLabeler = new Mock<CameraLabeler>();
var cameraObject = SetupCamera(null);
var perceptionCamera = cameraObject.GetComponent<PerceptionCamera>();
perceptionCamera.AddLabeler(mockLabeler.Object);
perceptionCamera.RemoveLabeler(mockLabeler.Object);
yield return null;
mockLabeler.Verify(l => l.Setup(), Times.Never());
mockLabeler.Verify(l => l.OnUpdate(), Times.Never());
mockLabeler.Verify(l => l.OnBeginRendering(), Times.Never());
mockLabeler.Verify(l => l.Cleanup(), Times.Never());
}
[UnityTest]
public IEnumerator RemoveLabeler_ShouldCallCleanup()
{
var mockLabeler = new Mock<CameraLabeler>();
var cameraObject = SetupCamera(null);
var perceptionCamera = cameraObject.GetComponent<PerceptionCamera>();
perceptionCamera.AddLabeler(mockLabeler.Object);
yield return null;
Assert.IsTrue(perceptionCamera.RemoveLabeler(mockLabeler.Object));
mockLabeler.Verify(l => l.Cleanup(), Times.Once());
}
[UnityTest]
public IEnumerator RemoveLabeler_OnLabelerNotAdded_ShouldNotCallCleanup()
{
var mockLabeler = new Mock<CameraLabeler>();
var cameraObject = SetupCamera(null);
var perceptionCamera = cameraObject.GetComponent<PerceptionCamera>();
yield return null;
Assert.IsFalse(perceptionCamera.RemoveLabeler(mockLabeler.Object));
mockLabeler.Verify(l => l.Cleanup(), Times.Never());
}
[UnityTest]
public IEnumerator DestroyPerceptionCameraObject_ShouldCallCleanup()
{
var mockLabeler = new Mock<CameraLabeler>();
var cameraObject = SetupCamera(null);
var perceptionCamera = cameraObject.GetComponent<PerceptionCamera>();
perceptionCamera.AddLabeler(mockLabeler.Object);
yield return null;
Object.DestroyImmediate(cameraObject);
mockLabeler.Verify(l => l.Cleanup(), Times.Once());
}
[UnityTest]
public IEnumerator SetupThrows_ShouldDisable()
{
var mockLabeler = new Mock<CameraLabeler>();
mockLabeler.Setup(l => l.Setup()).Throws<InvalidOperationException>();
var labeler = mockLabeler.Object;
SetupCamera(p => p.AddLabeler(labeler));
yield return null;
mockLabeler.Verify(l => l.Setup(), Times.Once());
mockLabeler.Verify(l => l.OnUpdate(), Times.Never());
mockLabeler.Verify(l => l.OnBeginRendering(), Times.Never());
Assert.IsFalse(labeler.enabled);
}
#endif
static LabelingConfiguration CreateLabelingConfiguration()
{
var label = "label";

var perceptionCamera = cameraObject.AddComponent<PerceptionCamera>();
perceptionCamera.captureRgbImages = false;
initPerceptionCamera(perceptionCamera);
initPerceptionCamera?.Invoke(perceptionCamera);
cameraObject.SetActive(true);
AddTestObjectForCleanup(cameraObject);

2
com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs


};
var semanticSegmentationLabeler = new SemanticSegmentationLabeler(labelConfig);
semanticSegmentationLabeler.SemanticSegmentationImageReadback += onSegmentationImageReceived;
perceptionCamera.labelers.Add(semanticSegmentationLabeler);
perceptionCamera.AddLabeler(semanticSegmentationLabeler);
cameraObject.SetActive(true);
return cameraObject;
}

10
com.unity.perception/Tests/Runtime/Unity.Perception.Runtime.Tests.asmdef


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"precompiledReferences": [
"nunit.framework.dll",
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"defineConstraints": [

"name": "com.unity.render-pipelines.high-definition",
"expression": "",
"define": "HDRP_PRESENT"
},
{
"name": "nuget.moq",
"expression": "",
"define": "MOQ_PRESENT"
}
}

21
TestProjects/PerceptionHDRP/Assets/SemanticSegmentationLabelingConfiguration.asset


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}

20
com.unity.perception/Runtime/GroundTruth/Labeling/SemanticSegmentationLabelConfig.cs


using System;
using UnityEngine.Serialization;
namespace UnityEngine.Perception.GroundTruth {
/// <summary>
/// A definition for how a <see cref="Labeling"/> should be resolved to a single label and id for ground truth generation.
/// </summary>
[CreateAssetMenu(fileName = "SemanticSegmentationLabelingConfiguration", menuName = "Perception/Semantic Segmentation Label Config", order = 1)]
public class SemanticSegmentationLabelConfig : LabelingConfiguration2<SemanticSegmentationLabelEntry>
{
}
[Serializable]
public struct SemanticSegmentationLabelEntry : ILabelEntry
{
string ILabelEntry.label => this.label;
public string label;
public Color color;
}
}

3
com.unity.perception/Runtime/GroundTruth/Labeling/SemanticSegmentationLabelConfig.cs.meta


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