public IEnumerator ProducesCorrectBoundingBoxes([ValueSource(nameof(ProducesCorrectBoundingBoxesTestCases))] ProducesCorrectBoundingBoxesData producesCorrectBoundingBoxesData)
{
var label = "label";
var label2 = "label2";
var labelingConfiguration = ScriptableObject.CreateInstance <LabelingConfiguration>();
labelingConfiguration.LabelEntries = new List <LabelEntry>
{
new LabelEntry
{
id = 1,
label = label,
value = 500
},
new LabelEntry
{
id = 2,
label = label2,
value = 500
}
};
var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator(labelingConfiguration);
var groundTruthLabelSetupSystem = World.DefaultGameObjectInjectionWorld.GetExistingSystem <GroundTruthLabelSetupSystem>();
groundTruthLabelSetupSystem.Activate(renderedObjectInfoGenerator);
//Put a plane in front of the camera
AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label));
AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label2));
yield return(null);
var dataNativeArray = new NativeArray <uint>(producesCorrectBoundingBoxesData.data, Allocator.Persistent);
renderedObjectInfoGenerator.Compute(dataNativeArray, producesCorrectBoundingBoxesData.stride, producesCorrectBoundingBoxesData.boundingBoxOrigin, out var boundingBoxes, out var classCounts, Allocator.Temp);
CollectionAssert.AreEqual(producesCorrectBoundingBoxesData.boundingBoxesExpected, boundingBoxes.ToArray());
CollectionAssert.AreEqual(producesCorrectBoundingBoxesData.classCountsExpected, classCounts.ToArray());
dataNativeArray.Dispose();
boundingBoxes.Dispose();
classCounts.Dispose();
groundTruthLabelSetupSystem.Deactivate(renderedObjectInfoGenerator);
renderedObjectInfoGenerator.Dispose();
}
public IEnumerator ProducesCorrectBoundingBoxes([ValueSource(nameof(ProducesCorrectBoundingBoxesTestCases))] ProducesCorrectObjectInfoData producesCorrectObjectInfoData)
{
var label = "label";
var label2 = "label2";
var labelingConfiguration = ScriptableObject.CreateInstance <IdLabelConfig>();
labelingConfiguration.Init(new List <IdLabelEntry>
{
new IdLabelEntry
{
id = 1,
label = label
},
new IdLabelEntry
{
id = 2,
label = label2
}
});
var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator();
//Put a plane in front of the camera
AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label));
AddTestObjectForCleanup(TestHelper.CreateLabeledPlane(.1f, label2));
yield return(null);
var dataNativeArray = new NativeArray <Color32>(producesCorrectObjectInfoData.data, Allocator.Persistent);
var cache = labelingConfiguration.CreateLabelEntryMatchCache(Allocator.Persistent);
renderedObjectInfoGenerator.Compute(dataNativeArray, producesCorrectObjectInfoData.stride, producesCorrectObjectInfoData.boundingBoxOrigin, out var boundingBoxes, Allocator.Temp);
CollectionAssert.AreEqual(producesCorrectObjectInfoData.renderedObjectInfosExpected, boundingBoxes.ToArray());
dataNativeArray.Dispose();
boundingBoxes.Dispose();
cache.Dispose();
}
public IEnumerator SemanticSegmentationPass_WithLensDistortion()
{
GameObject cameraObject = null;
PerceptionCamera perceptionCamera;
var fLensDistortionEnabled = false;
var fDone = false;
var frames = 0;
#if false
var dataBBox = new Color32[]
{
Color.blue, Color.blue,
Color.blue, Color.blue
};
#endif
var boundingBoxWithoutLensDistortion = new Rect();
var boundingBoxWithLensDistortion = new Rect();
void OnSegmentationImageReceived(int frameCount, NativeArray <Color32> data, RenderTexture tex)
{
frames++;
if (frames < 10)
{
return;
}
// Calculate the bounding box
if (fLensDistortionEnabled == false)
{
fLensDistortionEnabled = true;
var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator();
renderedObjectInfoGenerator.Compute(data, tex.width, BoundingBoxOrigin.TopLeft, out var boundingBoxes, Allocator.Temp);
boundingBoxWithoutLensDistortion = boundingBoxes[0].boundingBox;
// Add lens distortion
perceptionCamera.OverrideLensDistortionIntensity(0.715f);
frames = 0;
}
else
{
var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator();
renderedObjectInfoGenerator.Compute(data, tex.width, BoundingBoxOrigin.TopLeft, out var boundingBoxes, Allocator.Temp);
boundingBoxWithLensDistortion = boundingBoxes[0].boundingBox;
Assert.AreNotEqual(boundingBoxWithoutLensDistortion, boundingBoxWithLensDistortion);
Assert.Greater(boundingBoxWithLensDistortion.width, boundingBoxWithoutLensDistortion.width);
fDone = true;
}
}
cameraObject = SetupCamera(out perceptionCamera, false);
perceptionCamera.InstanceSegmentationImageReadback += OnSegmentationImageReceived;
cameraObject.SetActive(true);
// Put a plane in front of the camera
var planeObject = GameObject.CreatePrimitive(PrimitiveType.Plane);
planeObject.transform.SetPositionAndRotation(new Vector3(0, 0, 10), Quaternion.Euler(90, 0, 0));
planeObject.transform.localScale = new Vector3(0.1f, -1, 0.1f);
var labeling = planeObject.AddComponent <Labeling>();
labeling.labels.Add("label");
AddTestObjectForCleanup(planeObject);
perceptionCamera.OverrideLensDistortionIntensity(0.5f);
while (fDone != true)
{
yield return(null);
}
// Destroy the object to force all pending segmented image readbacks to finish and events to be fired.
DestroyTestObject(cameraObject);
DestroyTestObject(planeObject);
}
