All tests pass

3 年前 · e7cb126c
--- a/com.unity.perception/Runtime/GroundTruth/DatasetCapture.cs
+++ b/com.unity.perception/Runtime/GroundTruth/DatasetCapture.cs
                var old = m_ActiveSimulation;
                m_ShuttingDownSimulations.Add(old);
                old.End();
-                m_ReadyToShutdown = true;
+
+            m_ReadyToShutdown = true;

            m_ActiveSimulation = CreateSimulationData();
        }
--- a/com.unity.perception/Tests/Runtime/GroundTruthTests/BoundingBox3dTests.cs
+++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/BoundingBox3dTests.cs
        [UnityTest]
        public IEnumerator CameraOffset_ProduceProperTranslationTest()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var expected = new[]
            {
                new ExpectedResult
        [UnityTest]
        public IEnumerator CameraOffsetAndRotated_ProduceProperTranslationTest()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var expected = new[]
            {
                new ExpectedResult
        [UnityTest]
        public IEnumerator SimpleMultiMesh_ProduceProperTranslationTest()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var expected = new[]
            {
                new ExpectedResult
        [UnityTest]
        public IEnumerator ParentedObject_ProduceProperResults([ValueSource(nameof(ParentedObject_ProduceProperResults_Values))] ParentedTestData parentedTestData)
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var expected = new[]
            {
                new ExpectedResult
        [UnityTest]
        public IEnumerator MultiInheritedMesh_ProduceProperTranslationTest()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var expected = new[]
            {
                new ExpectedResult
        [UnityTest]
        public IEnumerator MultiInheritedMeshDifferentLabels_ProduceProperTranslationTest()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var wheelScale = new Vector3(0.7f, 2.0f, 0.7f);
            var wheelRot = Quaternion.Euler(0, 0, 90);

        [UnityTest]
        public IEnumerator TestOcclusion_Seen()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var target = TestHelper.CreateLabeledCube(scale: 15f, z: 50f);
            return ExecuteSeenUnseenTest(target, Vector3.zero, quaternion.identity, 1);
        }
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var target = TestHelper.CreateLabeledCube(scale: 15f, z: -50f);
            return ExecuteSeenUnseenTest(target, Vector3.zero, quaternion.identity, 0);
        }
--- a/com.unity.perception/Tests/Runtime/GroundTruthTests/DatasetCaptureSensorSchedulingTests.cs
+++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/DatasetCaptureSensorSchedulingTests.cs
        internal SimulationStateTestHelper()
        {
            DatasetCapture.Instance.automaticShutdown = false;
+
            m_State = DatasetCapture.Instance.currentSimulation;
            var bindingFlags = BindingFlags.NonPublic | BindingFlags.Instance;
            m_SequenceTimeOfNextCaptureMethod = m_State.GetType().GetMethod("GetSequenceTimeOfNextCapture", bindingFlags);
        [UnityTest]
        public IEnumerator SequenceTimeOfNextCapture_ReportsCorrectTime()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var firstCaptureFrame = 2;
            var simulationDeltaTime = .4f;

        [UnityTest]
        public IEnumerator SequenceTimeOfNextCapture_WithInBetweenFrames_ReportsCorrectTime()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var firstCaptureFrame = 2;
            var simulationDeltaTime = .4f;
            var framesBetweenCaptures = 2;
        [UnityTest]
        public IEnumerator FramesScheduledBySensorConfig()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var firstCaptureFrame = 2;
            var simulationDeltaTime = .4f;

        [UnityTest]
        public IEnumerator FramesScheduled_WithTimeScale_ResultsInProperDeltaTime()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var firstCaptureFrame = 2;
            var simulationDeltaTime = 1f;
            var timeScale = 2;
        [UnityTest]
        public IEnumerator ChangingTimeScale_CausesDebugError()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
           DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 2, CaptureTriggerMode.Scheduled, 1, 0));

            yield return null;
        [UnityTest]
        public IEnumerator ChangingTimeScale_DuringStartNewSequence_Succeeds()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 2, CaptureTriggerMode.Scheduled, 1, 0));

            yield return null;
        [UnityTest]
        public IEnumerator FramesScheduled_WithChangingTimeScale_ResultsInProperDeltaTime()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var firstCaptureFrame = 2;
            var simulationDeltaTime = 1f;
            float[] newTimeScalesPerFrame =
        [UnityTest]
        public IEnumerator ResetSimulation_ResetsCaptureDeltaTime()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
            DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 0, CaptureTriggerMode.Scheduled, 5, 0));
            yield return null;
            Assert.AreEqual(5, Time.captureDeltaTime);
        [UnityTest]
        public IEnumerator ShouldCaptureFlagsAndRenderTimesAreCorrectWithMultipleSensors()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
            var firstCaptureFrame1 = 2;
            var simDeltaTime1 = 4;
            var framesBetweenCaptures1 = 2;
        [TestCase(235, 10, 2350, 2585, 2820, 3055, ExpectedResult = (IEnumerator)null)]
        public IEnumerator SequenceTimeOfNextCapture_ReportsCorrectTime_VariedDeltaTimesAndStartFrames(float simulationDeltaTime, int firstCaptureFrame, float firstCaptureTime, float secondCaptureTime, float thirdCaptureTime, float fourthCaptureTime)
        {
+            DatasetCapture.Instance.automaticShutdown = false;

            var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", firstCaptureFrame, CaptureTriggerMode.Scheduled, simulationDeltaTime, 0));

        [UnityTest]
        public IEnumerator SequenceTimeOfManualCapture_ReportsCorrectTime_ManualSensorDoesNotAffectTimings()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 0, CaptureTriggerMode.Manual, 0, 0, false));

            var framesToCaptureOn = new List<int>();
        [UnityTest]
        public IEnumerator SequenceTimeOfManualCapture_ReportsCorrectTime_ManualSensorAffectsTimings()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var simulationDeltaTime = 0.05f;
            var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 0, CaptureTriggerMode.Manual, simulationDeltaTime, 0, true));

--- a/com.unity.perception/Tests/Runtime/GroundTruthTests/PerceptionCameraIntegrationTests.cs
+++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/PerceptionCameraIntegrationTests.cs
 using System.Collections;
 using System.Collections.Generic;
 using System.IO;
+using System.Linq;
+using UnityEngine.Perception.GroundTruth.DataModel;
 using UnityEngine.TestTools;

 #if MOQ_PRESENT
        [UnityTest]
        public IEnumerator EnableSemanticSegmentation_GeneratesCorrectDataset([Values(true, false)] bool enabled)
        {
+            SimulationState.TimeOutFrameCount = 50;
+
            var collector = new CollectEndpoint();
            DatasetCapture.SetEndpoint(collector);
            DatasetCapture.Instance.automaticShutdown = false;
                pc.AddLabeler(semanticSegmentationLabeler);
            }, enabled);

-            string expectedImageFilename = $"segmentation_{Time.frameCount}.png";
-
-            this.AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
+            AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
            yield return null;
            DatasetCapture.Instance.ResetSimulation();

-            // What should I test for here...
-
-            Assert.NotZero(0);
-
-            // if (enabled)
-            // {
-            //     var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
-            //     var capturesJson = File.ReadAllText(capturesPath);
-            //     var imagePath = $"{semanticSegmentationLabeler.semanticSegmentationDirectory}/{expectedImageFilename}";
-            //     StringAssert.Contains(imagePath, capturesJson);
-            // }
-            // else
-            // {
-            //     DirectoryAssert.DoesNotExist(DatasetCapture.OutputDirectory);
-            // }
+            if (enabled)
+            {
+                Assert.NotNull(collector.currentRun);
+                Assert.AreEqual(1, collector.currentRun.frames.Count);
+                Assert.AreEqual(1, collector.currentRun.frames[0].sensors.Count());
+                var rgb = collector.currentRun.frames[0].sensors.First() as RgbSensor;
+                Assert.NotNull(rgb);
+                Assert.AreEqual(1, rgb.annotations.Count());
+                var ann = rgb.annotations.First() as SemanticSegmentationLabeler.SemanticSegmentation;
+                Assert.NotNull(ann);
+                Assert.NotZero(ann.buffer.Length);
+            }
+            else
+            {
+                Assert.Null(collector.currentRun.frames);
+            }
        }

        [UnityTest]
                pc.AddLabeler(semanticSegmentationLabeler);
            });

-            string expectedImageFilename = $"segmentation_{Time.frameCount}.png";
-
-            this.AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
+            AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
            yield return null;
            DatasetCapture.Instance.ResetSimulation();

-            // What should I test for here...
-
-            Assert.NotZero(0);
-
-            // var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
-            // var capturesJson = File.ReadAllText(capturesPath);
-            // var imagePath = $"{semanticSegmentationLabeler.semanticSegmentationDirectory}/{expectedImageFilename}";
-            // StringAssert.Contains(imagePath, capturesJson);
+            Assert.NotNull(collector.currentRun);
+            Assert.AreEqual(1, collector.currentRun.frames.Count);
+            Assert.AreEqual(1, collector.currentRun.frames[0].sensors.Count());
+            var rgb = collector.currentRun.frames[0].sensors.First() as RgbSensor;
+            Assert.NotNull(rgb);
+            Assert.AreEqual(1, rgb.annotations.Count());
+            var ann = rgb.annotations.First() as SemanticSegmentationLabeler.SemanticSegmentation;
+            Assert.NotNull(ann);
+            Assert.NotZero(ann.buffer.Length);
        }

        static IdLabelConfig CreateLabelingConfiguration()
--- a/com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs
+++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs
            [Values(RendererType.MeshRenderer, RendererType.SkinnedMeshRenderer, RendererType.Terrain)] RendererType rendererType,
            [Values(SegmentationKind.Instance, SegmentationKind.Semantic)] SegmentationKind segmentationKind)
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            int? frameStart = null;
            GameObject cameraObject = null;
        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithLensDistortion()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            GameObject cameraObject = null;
            PerceptionCamera perceptionCamera;
            var fLensDistortionEnabled = false;
        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithLabeledButNotMatchingObject_ProducesBlack()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            var expectedPixelValue = new Color32(0, 0, 0, 255);
            void OnSegmentationImageReceived(NativeArray<Color32> data)
        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithMatchingButDisabledLabel_ProducesBlack()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            var expectedPixelValue = new Color32(0, 0, 0, 255);
            void OnSegmentationImageReceived(NativeArray<Color32> data)
        [UnityTest]
        public IEnumerator InstanceSegmentationPass_WithMatchingButDisabledLabel_ProducesBlack()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            var expectedPixelValue = new Color32(0, 0, 0, 255);
            void OnSegmentationImageReceived(NativeArray<Color32> data)
        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithEmptyFrame_ProducesSky([Values(false, true)] bool showVisualizations)
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            var expectedPixelValue = k_SkyValue;
            void OnSegmentationImageReceived(NativeArray<Color32> data)
        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithNoObjects_ProducesSky()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            var expectedPixelValue = k_SkyValue;
            void OnSegmentationImageReceived(NativeArray<Color32> data)
        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithTextureOverride_RendersToOverride([Values(true, false)] bool showVisualizations)
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var expectedPixelValue = new Color32(0, 0, 255, 255);
            var targetTextureOverride = new RenderTexture(2, 2, 1, RenderTextureFormat.R8);

        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithMultiMaterial_ProducesCorrectValues([Values(true, false)] bool showVisualizations)
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            var expectedPixelValue = k_SemanticPixelValue;
            void OnSegmentationImageReceived(NativeArray<Color32> data)
        [UnityTest]
        public IEnumerator SemanticSegmentationPass_WithChangingLabeling_ProducesCorrectValues([Values(true, false)] bool showVisualizations)
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            var expectedPixelValue = k_SemanticPixelValue;
            void OnSegmentationImageReceived(NativeArray<Color32> data)
        [UnityTest]
        public IEnumerator InstanceSegmentationPass_WithSeparateDisabledPerceptionCamera_ProducesCorrectValues()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            void OnSegmentationImageReceived(NativeArray<Color32> data)
            {
        public IEnumerator SegmentationPassProducesCorrectValuesEachFrame(
            [Values(SegmentationKind.Instance, SegmentationKind.Semantic)] SegmentationKind segmentationKind)
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            int timesSegmentationImageReceived = 0;
            Dictionary<int, object> expectedLabelAtFrame = null;

--- a/com.unity.perception/Tests/Runtime/GroundTruthTests/VisualizationTests.cs
+++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/VisualizationTests.cs
        [UnityTest]
        public IEnumerator VisualizedCamera_SetsUpCanvas()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var object1 = SetupCameraSemanticSegmentation(nameof(VisualizedCamera_SetsUpCanvas));
            object1.SetActive(true);
            AddTestObjectForCleanup(object1);
        [UnityTest]
        public IEnumerator TwoCamerasVisualizing_CausesWarningAndDisablesVisualization()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var object1 = new GameObject();
            object1.name = nameof(TwoCamerasVisualizing_CausesWarningAndDisablesVisualization);
            object1.SetActive(false);
        [UnityTest]
        public IEnumerator DestroyCamera_RemovesVisualization()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var object1 = SetupCameraSemanticSegmentation(nameof(DestroyCamera_RemovesVisualization));
            object1.SetActive(true);
            AddTestObjectForCleanup(object1);
        [UnityTest]
        public IEnumerator DestroyAndRecreateCamera_ProperlyVisualizes()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+
            var object1 = SetupCameraSemanticSegmentation(nameof(DestroyAndRecreateCamera_ProperlyVisualizes));
            object1.SetActive(true);
            AddTestObjectForCleanup(object1);
        [UnityTest]
        public IEnumerator TwoLabelersOfSameType_ProperlyStoredInHud()
        {
+            DatasetCapture.Instance.automaticShutdown = false;
+            
            var label = "label";
            var planeObject = TestHelper.CreateLabeledPlane(.1f, label);
            AddTestObjectForCleanup(planeObject);