public IEnumerator SequenceTimeOfNextCapture_ReportsCorrectTime()
{
var ego = DatasetCapture.RegisterEgo("ego");
var firstCaptureFrame = 2f;
var simulationDeltaTime = .4f;
var sensorHandle = DatasetCapture.RegisterSensor(ego, "cam", "", firstCaptureFrame, CaptureTriggerMode.Scheduled, simulationDeltaTime, 0);
var startTime = firstCaptureFrame * simulationDeltaTime;
float[] sequenceTimesExpected =
{
startTime,
simulationDeltaTime + startTime,
simulationDeltaTime * 2 + startTime,
simulationDeltaTime * 3 + startTime
};
for (var i = 0; i < firstCaptureFrame; i++)
{
//render the non-captured frames before firstCaptureFrame
yield return(null);
}
for (var i = 0; i < sequenceTimesExpected.Length; i++)
{
var sensorData = m_TestHelper.GetSensorData(sensorHandle);
var sequenceTimeActual = m_TestHelper.CallSequenceTimeOfNextCapture(sensorData);
Assert.AreEqual(sequenceTimesExpected[i], sequenceTimeActual, 0.0001f);
yield return(null);
}
}
public IEnumerator SequenceTimeOfNextCapture_ReportsCorrectTime()
{
var ego = DatasetCapture.RegisterEgo("ego");
var firstCaptureTime = 1.5f;
var period = .4f;
var sensorHandle = DatasetCapture.RegisterSensor(ego, "cam", "", period, firstCaptureTime);
float[] sequenceTimesExpected =
{
firstCaptureTime,
period + firstCaptureTime,
period * 2 + firstCaptureTime,
period * 3 + firstCaptureTime
};
for (var i = 0; i < sequenceTimesExpected.Length; i++)
{
yield return(null);
var sensorData = m_TestHelper.GetSensorData(sensorHandle);
var sequenceTimeActual = m_TestHelper.CallSequenceTimeOfNextCapture(sensorData);
Assert.AreEqual(sequenceTimesExpected[i], sequenceTimeActual, 0.0001f);
}
}