Fix pose positions (#220)

* Partial fix for keypoint issues

* Adding human pose assets to perceptionHDRP

* Moving test assets out of resources folder. Removing baked lighting from scenes.

* Updating changelog

* Fixing test on large screens. Reverting unnecessary PerceptionURP change

* Adding human pose labeling sample to PerceptionURP

* Update HDRP PoseSample.unity

* Fixing merge issues

* Adding rendertexture to test to address issue at other resolutions

.gitignore

 **/Build/**
 **/Builds/**
 /utr
+*.user

TestProjects/PerceptionHDRP/Assets/IdLabelConfig.asset

     id: 3
   - label: Terrain
     id: 4
+  - label: Character
+    id: 5
   autoAssignIds: 1
   startingLabelId: 1

TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity

     m_IndirectOutputScale: 1
     m_AlbedoBoost: 1
     m_EnvironmentLightingMode: 0
-    m_EnableBakedLightmaps: 1
+    m_EnableBakedLightmaps: 0
     m_EnableRealtimeLightmaps: 1
   m_LightmapEditorSettings:
     serializedVersion: 12
     debug:
       m_Flags: 0
   m_NavMeshData: {fileID: 0}
+--- !u!1 &117484506
+GameObject:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 117484508}
+  - component: {fileID: 117484507}
+  m_Layer: 0
+  m_Name: StaticLightingSky
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &117484507
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 117484506}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 441482e8936e35048a1dffac814e3ef8, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Profile: {fileID: 0}
+  m_StaticLightingSkyUniqueID: 0
+  m_SkySettings: {fileID: 0}
+  m_SkySettingsFromProfile: {fileID: 0}
+--- !u!4 &117484508
+Transform:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 117484506}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 6
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &411238276
 GameObject:
   m_ObjectHideFlags: 0
   m_EditorClassIdentifier: 
   labels:
   - Crate
+  useAutoLabeling: 0
+  autoLabelingSchemeType: 
 --- !u!65 &411238278
 BoxCollider:
   m_ObjectHideFlags: 0
   m_EditorClassIdentifier: 
   labels:
   - Cube
+  useAutoLabeling: 0
+  autoLabelingSchemeType: 
 --- !u!65 &934158984
 BoxCollider:
   m_ObjectHideFlags: 0
   m_Name: 
   m_EditorClassIdentifier: 
   description: The main camera
-  period: 0.0166
-  startTime: 0
+  firstCaptureFrame: 0
+  captureTriggerMode: 0
+  manualSensorAffectSimulationTiming: 0
+  simulationDeltaTime: 0.0166
+  framesBetweenCaptures: 0
   m_Labelers:
   - id: 0
   - id: 1
   m_EditorClassIdentifier: 
   labels:
   - Terrain
+  useAutoLabeling: 0
+  autoLabelingSchemeType: 
 --- !u!1 &1640252278
 GameObject:
   m_ObjectHideFlags: 0
   m_EditorClassIdentifier: 
   labels:
   - Box
+  useAutoLabeling: 0
+  autoLabelingSchemeType: 
 --- !u!65 &1640252280
 BoxCollider:
   m_ObjectHideFlags: 0

TestProjects/PerceptionHDRP/Assets/Scenes/SampleSceneLensDistortion.unity

     m_IndirectOutputScale: 1
     m_AlbedoBoost: 1
     m_EnvironmentLightingMode: 0
-    m_EnableBakedLightmaps: 1
+    m_EnableBakedLightmaps: 0
     m_EnableRealtimeLightmaps: 1
   m_LightmapEditorSettings:
     serializedVersion: 12
   m_EditorClassIdentifier: 
   labels:
   - Crate
+  useAutoLabeling: 0
+  autoLabelingSchemeType: 
 --- !u!65 &411238278
 BoxCollider:
   m_ObjectHideFlags: 0
   m_EditorClassIdentifier: 
   labels:
   - Cube
+  useAutoLabeling: 0
+  autoLabelingSchemeType: 
 --- !u!65 &464025706
 BoxCollider:
   m_ObjectHideFlags: 0
   showAdditionalSettings: 0
   m_AreaLightEmissiveMeshShadowCastingMode: 0
   m_AreaLightEmissiveMeshMotionVectorGenerationMode: 0
+--- !u!1 &746670481
+GameObject:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 746670483}
+  - component: {fileID: 746670482}
+  m_Layer: 0
+  m_Name: StaticLightingSky
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &746670482
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 746670481}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 441482e8936e35048a1dffac814e3ef8, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Profile: {fileID: 0}
+  m_StaticLightingSkyUniqueID: 0
+  m_SkySettings: {fileID: 0}
+  m_SkySettingsFromProfile: {fileID: 0}
+--- !u!4 &746670483
+Transform:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 746670481}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 6
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &963194225
 GameObject:
   m_ObjectHideFlags: 0
   m_Name: 
   m_EditorClassIdentifier: 
   description: The main camera
-  period: 0.0166
-  startTime: 0
+  firstCaptureFrame: 0
+  captureTriggerMode: 0
+  manualSensorAffectSimulationTiming: 0
+  simulationDeltaTime: 0.0166
+  framesBetweenCaptures: 0
   m_Labelers:
   - id: 0
   - id: 1
   priority: 0
   blendDistance: 0
   weight: 1
-  sharedProfile: {fileID: 11400000, guid: 6886180e6c51dac4f9ea4d9bcdaa6e13, type: 2}
+  sharedProfile: {fileID: 0}
 --- !u!4 &1562495300
 Transform:
   m_ObjectHideFlags: 0
   m_EditorClassIdentifier: 
   labels:
   - Box
+  useAutoLabeling: 0
+  autoLabelingSchemeType: 
 --- !u!65 &1640252280
 BoxCollider:
   m_ObjectHideFlags: 0

TestProjects/PerceptionHDRP/Packages/manifest.json

 {
   "dependencies": {
     "com.unity.collab-proxy": "1.2.16",
-    "com.unity.ext.nunit": "1.0.5",
+    "com.unity.ext.nunit": "1.0.6",
     "com.unity.ide.rider": "1.1.4",
     "com.unity.ide.vscode": "1.2.3",
     "com.unity.package-validation-suite": "0.9.1-preview",
     "com.unity.simulation.capture": "0.0.10-preview.16",
     "com.unity.simulation.core": "0.0.10-preview.21",
-    "com.unity.test-framework": "1.1.19",
+    "com.unity.test-framework": "1.1.20",
     "com.unity.testtools.codecoverage": "0.2.2-preview",
     "com.unity.textmeshpro": "2.0.1",
     "com.unity.ugui": "1.0.0",

TestProjects/PerceptionHDRP/Packages/packages-lock.json

       "url": "https://packages.unity.com"
     },
     "com.unity.ext.nunit": {
-      "version": "1.0.5",
+      "version": "1.0.6",
       "depth": 0,
       "source": "registry",
       "dependencies": {},
         "com.unity.burst": "1.3.9",
         "com.unity.entities": "0.8.0-preview.8",
         "com.unity.simulation.client": "0.0.10-preview.10",
-        "com.unity.simulation.capture": "0.0.10-preview.16",
-        "com.unity.simulation.core": "0.0.10-preview.21"
+        "com.unity.simulation.capture": "0.0.10-preview.19",
+        "com.unity.simulation.core": "0.0.10-preview.22"
       }
     },
     "com.unity.platforms": {
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.capture": {
-      "version": "0.0.10-preview.16",
-      "depth": 0,
+      "version": "0.0.10-preview.19",
+      "depth": 1,
-        "com.unity.simulation.core": "0.0.10-preview.21"
+        "com.unity.simulation.core": "0.0.10-preview.22"
       },
       "url": "https://packages.unity.com"
     },
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.core": {
-      "version": "0.0.10-preview.21",
-      "depth": 0,
+      "version": "0.0.10-preview.22",
+      "depth": 1,
-      "version": "1.1.19",
+      "version": "1.1.20",
-        "com.unity.ext.nunit": "1.0.5",
+        "com.unity.ext.nunit": "1.0.6",
         "com.unity.modules.imgui": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0"
       },

TestProjects/PerceptionHDRP/ProjectSettings/ProjectSettings.asset

   metalEditorSupport: 1
   metalAPIValidation: 1
   iOSRenderExtraFrameOnPause: 0
+  iosCopyPluginsCodeInsteadOfSymlink: 0
   appleDeveloperTeamID: 
   iOSManualSigningProvisioningProfileID: 
   tvOSManualSigningProvisioningProfileID: 
   additionalIl2CppArgs: 
   scriptingRuntimeVersion: 1
   gcIncremental: 0
+  assemblyVersionValidation: 1
   gcWBarrierValidation: 0
   apiCompatibilityLevelPerPlatform:
     Standalone: 6
   XboxOneCapability: []
   XboxOneGameRating: {}
   XboxOneIsContentPackage: 0
+  XboxOneEnhancedXboxCompatibilityMode: 0
   XboxOneEnableGPUVariability: 1
   XboxOneSockets: {}
   XboxOneSplashScreen: {fileID: 0}

TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.16f1
-m_EditorVersionWithRevision: 2019.4.16f1 (e05b6e02d63e)
+m_EditorVersion: 2019.4.19f1
+m_EditorVersionWithRevision: 2019.4.19f1 (ca5b14067cec)

TestProjects/PerceptionURP/Assets/IdLabelConfig.asset

     id: 3
   - label: Terrain
     id: 4
+  - label: Character
+    id: 5
   autoAssignIds: 1
   startingLabelId: 1

TestProjects/PerceptionURP/Packages/packages-lock.json

       "url": "https://packages.unity.com"
     },
     "com.unity.ext.nunit": {
-      "version": "1.0.5",
-      "depth": 1,
+      "version": "1.0.6",
+      "depth": 2,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
         "com.unity.burst": "1.3.9",
         "com.unity.entities": "0.8.0-preview.8",
         "com.unity.simulation.client": "0.0.10-preview.10",
-        "com.unity.simulation.capture": "0.0.10-preview.16",
-        "com.unity.simulation.core": "0.0.10-preview.21"
+        "com.unity.simulation.capture": "0.0.10-preview.19",
+        "com.unity.simulation.core": "0.0.10-preview.22"
       }
     },
     "com.unity.platforms": {
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.capture": {
-      "version": "0.0.10-preview.16",
-      "depth": 0,
+      "version": "0.0.10-preview.19",
+      "depth": 1,
-        "com.unity.simulation.core": "0.0.10-preview.21"
+        "com.unity.simulation.core": "0.0.10-preview.22"
       },
       "url": "https://packages.unity.com"
     },
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.core": {
-      "version": "0.0.10-preview.21",
-      "depth": 0,
+      "version": "0.0.10-preview.22",
+      "depth": 1,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"

TestProjects/PerceptionURP/ProjectSettings/ProjectSettings.asset

   additionalIl2CppArgs: 
   scriptingRuntimeVersion: 1
   gcIncremental: 0
+  assemblyVersionValidation: 1
   gcWBarrierValidation: 0
   apiCompatibilityLevelPerPlatform: {}
   m_RenderingPath: 1

TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.16f1
-m_EditorVersionWithRevision: 2019.4.16f1 (e05b6e02d63e)
+m_EditorVersion: 2019.4.19f1
+m_EditorVersionWithRevision: 2019.4.19f1 (ca5b14067cec)

TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset

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

com.unity.perception/CHANGELOG.md

 
 Fixed a bug where uniform probabilities were not properly reset upon adding or removing options from a Categorical Parameter's list of options.
 
+Fixed keypoints being reporeted in wrong locations on the first frame an object is visible.
+
 ## [0.7.0-preview.2] - 2021-02-08
 
 ### Upgrade Notes

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

         /// </summary>
         protected virtual void OnBeginRendering() {}
         /// <summary>
+        /// Called just after the camera renders each frame the the labeler is enabled and <see cref="SensorHandle.ShouldCaptureThisFrame"/> is true.
+        /// </summary>
+        protected virtual void OnEndRendering() {}
+        /// <summary>
         /// Labeling pass to display labeler's visualization components, if applicable. Important note, all labeler's visualizations need
         /// to use Unity's Immediate Mode GUI (IMGUI) <see cref="https://docs.unity3d.com/Manual/GUIScriptingGuide.html"/> system.
         /// This called is triggered from <see cref="perceptionCamera.OnGUI"/> call. This call happens immediately before <see cref="OnVisualizeAdditionalUI"/>
         }
         internal void InternalOnUpdate() => OnUpdate();
         internal void InternalOnBeginRendering() => OnBeginRendering();
+        internal void InternalOnEndRendering() => OnEndRendering();
         internal void InternalCleanup() => Cleanup();
         internal void InternalVisualize() => OnVisualize();
 

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

         }
 
         /// <inheritdoc/>
-        protected override void OnBeginRendering()
+        protected override void OnEndRendering()
         {
             m_CurrentFrame = Time.frameCount;
 

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

         Dictionary<string, object> m_PersistentSensorData = new Dictionary<string, object>();
 
         int m_LastFrameCaptured = -1;
+        int m_LastFrameEndRendering = -1;
 
 #pragma warning disable 414
         //only used to confirm that GroundTruthRendererFeature is present in URP
         void OnEnable()
         {
             RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering;
+            RenderPipelineManager.endCameraRendering += OnEndCameraRendering;
             RenderPipelineManager.endCameraRendering += CheckForRendererFeature;
         }
 
 
         void OnBeginCameraRendering(ScriptableRenderContext _, Camera cam)
         {
-            if (cam != m_AttachedCamera)
-                return;
-            if (!SensorHandle.ShouldCaptureThisFrame)
-                return;
-            //there are cases when OnBeginCameraRendering is called multiple times in the same frame. Ignore the subsequent calls.
-            if (m_LastFrameCaptured == Time.frameCount)
+            if (!ShouldCallLabelers(cam, m_LastFrameCaptured))
-#if UNITY_EDITOR
-            if (UnityEditor.EditorApplication.isPaused)
-                return;
-#endif
+            CallOnLabelers(l => l.InternalOnBeginRendering());
+        }
+
+        void OnEndCameraRendering(ScriptableRenderContext _, Camera cam)
+        {
+            if (!ShouldCallLabelers(cam, m_LastFrameEndRendering))
+                return;
+
+            m_LastFrameEndRendering = Time.frameCount;
+            CallOnLabelers(l => l.InternalOnEndRendering());
+        }
+
+        private void CallOnLabelers(Action<CameraLabeler> action)
+        {
             foreach (var labeler in m_Labelers)
             {
                 if (!labeler.enabled)
                     labeler.Init(this);
 
-                labeler.InternalOnBeginRendering();
+                action(labeler);
+        private bool ShouldCallLabelers(Camera cam, int lastFrameCalledThisCallback)
+        {
+            if (cam != m_AttachedCamera)
+                return false;
+            if (!SensorHandle.ShouldCaptureThisFrame)
+                return false;
+            //there are cases when OnBeginCameraRendering is called multiple times in the same frame. Ignore the subsequent calls.
+            if (lastFrameCalledThisCallback == Time.frameCount)
+                return false;
+#if UNITY_EDITOR
+            if (UnityEditor.EditorApplication.isPaused)
+                return false;
+#endif
+            return true;
+        }
+
+            RenderPipelineManager.endCameraRendering -= OnEndCameraRendering;
             RenderPipelineManager.endCameraRendering -= CheckForRendererFeature;
         }
 

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

             yield return new ExitPlayMode();
         }
         [UnityTest]
-        public IEnumerator Labeler_ShouldSetupAndUpdateAndOnBeginRenderingInFirstFrame()
+        public IEnumerator Labeler_ShouldRunCallbacksInFirstFrame()
         {
             ResetScene();
             yield return new EnterPlayMode();
             yield return null;
+
+            mockLabeler.Protected().Verify("OnEndRendering", Times.Once());
+            yield return new ExitPlayMode();
+        }
+        [UnityTest]
+        public IEnumerator Labeler_ShouldNotRunCallbacksWhenCameraDisabled()
+        {
+            ResetScene();
+            yield return new EnterPlayMode();
+            var mockLabeler = new Mock<CameraLabeler>();
+            var camera = SetupCamera(null);
+            var perceptionCamera = camera.GetComponent<PerceptionCamera>();
+            perceptionCamera.AddLabeler(mockLabeler.Object);
+            yield return null;
+            perceptionCamera.enabled = false;
+            yield return null;
+
+            mockLabeler.Protected().Verify("Setup", Times.Once());
+            mockLabeler.Protected().Verify("OnUpdate", Times.Once());
+            mockLabeler.Protected().Verify("OnBeginRendering", Times.Once());
+            mockLabeler.Protected().Verify("OnEndRendering", Times.Once());
             yield return new ExitPlayMode();
         }
         [UnityTest]
             mockLabeler.Protected().Verify("Setup", Times.Never());
             mockLabeler.Protected().Verify("OnUpdate", Times.Never());
             mockLabeler.Protected().Verify("OnBeginRendering", Times.Never());
+            mockLabeler.Protected().Verify("OnEndRendering", Times.Never());
             mockLabeler.Protected().Verify("Cleanup", Times.Never());
             yield return new ExitPlayMode();
         }
             mockLabeler.Protected().Verify("Setup", Times.Once());
             mockLabeler.Protected().Verify("OnUpdate", Times.Never());
             mockLabeler.Protected().Verify("OnBeginRendering", Times.Never());
+            mockLabeler.Protected().Verify("OnEndRendering", Times.Never());
             Assert.IsFalse(labeler.enabled);
             yield return new ExitPlayMode();
         }

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

 using NUnit.Framework;
 using UnityEngine;
 using UnityEngine.Perception.GroundTruth;
+using UnityEngine.SceneManagement;
 using Object = UnityEngine.Object;
 
 namespace GroundTruthTests
         List<Object> m_ObjectsToDestroy = new List<Object>();
+        List<string> m_ScenesToUnload = new List<string>();
         [TearDown]
         public void TearDown()
         {
             m_ObjectsToDestroy.Clear();
 
+            foreach (var s in m_ScenesToUnload)
+                SceneManager.UnloadSceneAsync(s);
+
+            m_ScenesToUnload.Clear();
+
             DatasetCapture.ResetSimulation();
             Time.timeScale = 1;
             if (Directory.Exists(DatasetCapture.OutputDirectory))
         public void AddTestObjectForCleanup(Object @object) => m_ObjectsToDestroy.Add(@object);
+
+        public void AddSceneForCleanup(string sceneName) => m_ScenesToUnload.Add(sceneName);
 
         public void DestroyTestObject(Object @object)
         {

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

 using NUnit.Framework;
 using UnityEngine;
 using UnityEngine.Perception.GroundTruth;
+using UnityEngine.SceneManagement;
-    public class KeypointGroundTruthTests : GroundTruthTestBase
+    public class KeyPointGroundTruthTests : GroundTruthTestBase, IPrebuildSetup, IPostBuildCleanup
+        private const string kAnimatedCubeScenePath = "Packages/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCubeScene.unity";
+
+        public void Setup()
+        {
+#if UNITY_EDITOR
+            var scenes = UnityEditor.EditorBuildSettings.scenes.ToList();
+            scenes.Add(new UnityEditor.EditorBuildSettingsScene(kAnimatedCubeScenePath, true));
+            UnityEditor.EditorBuildSettings.scenes = scenes.ToArray();
+#endif
+        }
+
+        public void Cleanup()
+        {
+#if UNITY_EDITOR
+            var scenes = UnityEditor.EditorBuildSettings.scenes;
+            scenes = scenes.Where(s => s.path != kAnimatedCubeScenePath).ToArray();
+            UnityEditor.EditorBuildSettings.scenes = scenes;
+#endif
+        }
+
         static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action<int, List<KeypointLabeler.KeypointEntry>> computeListener, RenderTexture renderTexture = null)
         {
             var cameraObject = new GameObject();
             AddTestObjectForCleanup(cube);
 
             yield return null;
-            yield return null;
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
             texture.Release();
 
             var testCase = incoming.Last();
             AddTestObjectForCleanup(cube);
 
             yield return null;
-            yield return null;
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
 
             foreach (var i in incoming)
             {
 
         [UnityTest]
-        public IEnumerator Keypoint_TestPartialOffScreen()
+        public IEnumerator Keypoint_TestPartialOffScreen([Values(1,5)] int framesToRunBeforeAsserting)
         {
             var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
             var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
             AddTestObjectForCleanup(cam);
             AddTestObjectForCleanup(cube);
 
-            for (var i = 0; i < 2; i++)
+            for (var i = 0; i < framesToRunBeforeAsserting; i++)
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
             if (texture != null) texture.Release();
 
             var testCase = incoming.Last();
             AddTestObjectForCleanup(cam);
             AddTestObjectForCleanup(cube);
 
-            for (var i = 0; i < 2; i++)
-                yield return null;
+            yield return null;
+
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
 
             if (texture != null) texture.Release();
 
             AddTestObjectForCleanup(cube);
             AddTestObjectForCleanup(blocker);
 
-            for (var i = 0; i < 2; i++)
-                yield return null;
+            yield return null;
+
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
 
             if (texture != null) texture.Release();
 
             Assert.AreEqual(9, t.keypoints.Length);
 
             for (var i = 0; i < 8; i++)
-                Assert.AreEqual(t.keypoints[i].state, 1);
+                Assert.AreEqual(1, t.keypoints[i].state);
 
             for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index);
             Assert.Zero(t.keypoints[8].state);
             var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
             var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
             var texture = new RenderTexture(1024, 768, 16);
-            texture.Create();
             var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
             {
                 incoming.Add(data);
             AddTestObjectForCleanup(cube);
             AddTestObjectForCleanup(blocker);
 
-            for (var i = 0; i < 2; i++)
-                yield return null;
+            yield return null;
-            if (texture != null) texture.Release();
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
+            texture.Release();
 
             var testCase = incoming.Last();
             Assert.AreEqual(1, testCase.Count);
             Assert.AreEqual(template.templateID.ToString(), t.template_guid);
             Assert.AreEqual(9, t.keypoints.Length);
 
-            Assert.AreEqual(t.keypoints[0].state, 2);
-            Assert.AreEqual(t.keypoints[1].state, 2);
-            Assert.AreEqual(t.keypoints[4].state, 2);
-            Assert.AreEqual(t.keypoints[5].state, 2);
+            Assert.AreEqual(2, t.keypoints[0].state);
+            Assert.AreEqual(2, t.keypoints[1].state);
+            Assert.AreEqual(2, t.keypoints[4].state);
+            Assert.AreEqual(2, t.keypoints[5].state);
-            Assert.AreEqual(t.keypoints[2].state, 1);
-            Assert.AreEqual(t.keypoints[3].state, 1);
-            Assert.AreEqual(t.keypoints[6].state, 1);
-            Assert.AreEqual(t.keypoints[7].state, 1);
+            Assert.AreEqual(1, t.keypoints[2].state);
+            Assert.AreEqual(1, t.keypoints[3].state);
+            Assert.AreEqual(1, t.keypoints[6].state);
+            Assert.AreEqual(1, t.keypoints[7].state);
 
             for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index);
             Assert.Zero(t.keypoints[8].state);
 
+
+        [UnityTest]
+        public IEnumerator Keypoint_AnimatedCube_PositionsCaptured()
+        {
+            var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
+            var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
+
+            var texture = new RenderTexture(1024, 768, 16);
+            texture.Create();
+            var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
+            {
+                incoming.Add(data);
+            }, texture);
+
+            var cameraComponent = cam.GetComponent<Camera>();
+            cameraComponent.orthographic = true;
+            cameraComponent.orthographicSize = 2;
+            var screenPointCenterExpected = cameraComponent.WorldToScreenPoint(
+                new Vector3(-1.0f, -1.0f * -1 /*flip y for image-space*/, -1.0f));
+
+            cam.transform.position = new Vector3(0, 0, -10);
+
+            // ReSharper disable once Unity.LoadSceneUnknownSceneName
+            SceneManager.LoadScene("AnimatedCubeScene", LoadSceneMode.Additive);
+            AddSceneForCleanup("AnimatedCubeScene");
+            //scenes are loaded at the end of the frame
+            yield return null;
+
+            var cube = GameObject.Find("AnimatedCube");
+            cube.SetActive(false);
+            var labeling = cube.AddComponent<Labeling>();
+            labeling.labels.Add("label");
+
+            SetupCubeJoint(cube, template, "Center",0f, 0f, 0f);
+
+            cube.SetActive(true);
+            cam.SetActive(true);
+
+            AddTestObjectForCleanup(cam);
+            AddTestObjectForCleanup(cube);
+
+            yield return null;
+
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
+
+            if (texture != null) texture.Release();
+
+            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);
+
+            //large delta because the animation will already have taken it some distance from the starting location
+            Assert.AreEqual(screenPointCenterExpected.x, t.keypoints[8].x, Screen.width * .1);
+            Assert.AreEqual(screenPointCenterExpected.y, t.keypoints[8].y, Screen.height * .1);
+            Assert.AreEqual(8, t.keypoints[8].index);
+            Assert.AreEqual(2, t.keypoints[8].state);
+        }
     }
 }

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