public IEnumerator Keypoint_FullyOccluded_WithIncludeOccluded_ReportsProperly(
[Values(KeypointObjectFilter.VisibleAndOccluded, KeypointObjectFilter.All)] KeypointObjectFilter keypointObjectFilter)
{
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, keypointObjectFilter);
CreateFullyOccludedScene(template, cam);
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);
for (var i = 0; i < 8; i++)
{
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);
Assert.Zero(t.keypoints[8].x);
Assert.Zero(t.keypoints[8].y);
}
public IEnumerator Keypoint_Offscreen_DoesNotReport(
[Values(KeypointObjectFilter.VisibleAndOccluded, KeypointObjectFilter.Visible)] KeypointObjectFilter keypointObjectFilter)
{
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, keypointObjectFilter);
var cube = TestHelper.CreateLabeledCube(scale: 6, z: -100);
SetupCubeJoints(cube, template);
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(0, testCase.Count);
}
static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action <int, List <KeypointLabeler.KeypointEntry> > computeListener, RenderTexture renderTexture = null, KeypointObjectFilter keypointObjectFilter = KeypointObjectFilter.Visible)
{
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);
if (renderTexture)
{
camera.targetTexture = renderTexture;
}
var perceptionCamera = cameraObject.AddComponent <PerceptionCamera>();
perceptionCamera.captureRgbImages = false;
var keyPointLabeler = new KeypointLabeler(config, template);
keyPointLabeler.objectFilter = keypointObjectFilter;
if (computeListener != null)
{
keyPointLabeler.KeypointsComputed += computeListener;
}
perceptionCamera.AddLabeler(keyPointLabeler);
return(cameraObject);
}
