public IEnumerator EnableSemanticSegmentation_GeneratesCorrectDataset([Values(true, false)] bool enabled)
{
SemanticSegmentationLabeler semanticSegmentationLabeler = null;
SetupCamera(pc =>
{
semanticSegmentationLabeler = new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig());
pc.AddLabeler(semanticSegmentationLabeler);
}, enabled);
string expectedImageFilename = $"segmentation_{Time.frameCount}.png";
this.AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
yield return(null);
DatasetCapture.ResetSimulation();
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);
}
}
public IEnumerator SemanticSegmentationPass_WithTextureOverride_RendersToOverride([Values(true, false)] bool showVisualizations)
{
var expectedPixelValue = new Color32(0, 0, 255, 255);
var targetTextureOverride = new RenderTexture(2, 2, 1, RenderTextureFormat.R8);
var cameraObject = SetupCamera(out var perceptionCamera, showVisualizations);
var labelConfig = ScriptableObject.CreateInstance <SemanticSegmentationLabelConfig>();
labelConfig.Init(new List <SemanticSegmentationLabelEntry>()
{
new SemanticSegmentationLabelEntry()
{
label = "label",
color = expectedPixelValue
}
});
var semanticSegmentationLabeler = new SemanticSegmentationLabeler(labelConfig, targetTextureOverride);
perceptionCamera.AddLabeler(semanticSegmentationLabeler);
cameraObject.SetActive(true);
AddTestObjectForCleanup(cameraObject);
AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
yield return(null);
TestHelper.ReadRenderTextureRawData <Color32>(targetTextureOverride, data =>
{
CollectionAssert.AreEqual(Enumerable.Repeat(expectedPixelValue, targetTextureOverride.width * targetTextureOverride.height), data);
});
}
GameObject SetupCameraSemanticSegmentation(string name)
{
var object1 = new GameObject(name);
object1.SetActive(false);
var camera = object1.AddComponent <Camera>();
var perceptionCamera1 = object1.AddComponent <PerceptionCamera>();
perceptionCamera1.showVisualizations = true;
#if HDRP_PRESENT
var hdAdditionalCameraData = object1.AddComponent <HDAdditionalCameraData>();
#endif
var labelConfig = ScriptableObject.CreateInstance <SemanticSegmentationLabelConfig>();
labelConfig.Init(new List <SemanticSegmentationLabelEntry>()
{
new SemanticSegmentationLabelEntry()
{
label = "label",
color = new Color32(10, 20, 30, System.Byte.MaxValue)
}
});
var semanticSegmentationLabeler = new SemanticSegmentationLabeler(labelConfig);
perceptionCamera1.AddLabeler(semanticSegmentationLabeler);
return(object1);
}
GameObject SetupCameraSemanticSegmentation(Action <SemanticSegmentationLabeler.ImageReadbackEventArgs> onSegmentationImageReceived, bool showVisualizations)
{
var cameraObject = SetupCamera(out var perceptionCamera, showVisualizations);
var labelConfig = ScriptableObject.CreateInstance <SemanticSegmentationLabelConfig>();
labelConfig.Init(new List <SemanticSegmentationLabelEntry>()
{
new SemanticSegmentationLabelEntry()
{
label = "label",
color = k_SemanticPixelValue
}
});
var semanticSegmentationLabeler = new SemanticSegmentationLabeler(labelConfig);
semanticSegmentationLabeler.imageReadback += onSegmentationImageReceived;
perceptionCamera.AddLabeler(semanticSegmentationLabeler);
cameraObject.SetActive(true);
return(cameraObject);
}
public IEnumerator SemanticSegmentationPass_WithTextureOverride_RendersToOverride()
{
int timesSegmentationImageReceived = 0;
var expectedPixelValue = new Color32(0, 0, 255, 255);
var targetTextureOverride = new RenderTexture(2, 2, 1, RenderTextureFormat.R8);
var cameraObject = SetupCamera(out var perceptionCamera);
var labelConfig = ScriptableObject.CreateInstance <SemanticSegmentationLabelConfig>();
labelConfig.Init(new List <SemanticSegmentationLabelEntry>()
{
new SemanticSegmentationLabelEntry()
{
label = "label",
color = expectedPixelValue
}
});
var semanticSegmentationLabeler = new SemanticSegmentationLabeler(labelConfig, targetTextureOverride);
perceptionCamera.AddLabeler(semanticSegmentationLabeler);
cameraObject.SetActive(true);
AddTestObjectForCleanup(cameraObject);
AddTestObjectForCleanup(TestHelper.CreateLabeledPlane());
yield return(null);
//NativeArray<Color32> readbackArray = new NativeArray<Color32>(targetTextureOverride.width * targetTextureOverride.height, Allocator.Temp);
var request = AsyncGPUReadback.Request(targetTextureOverride, callback: r =>
{
CollectionAssert.AreEqual(Enumerable.Repeat(expectedPixelValue, targetTextureOverride.width * targetTextureOverride.height), r.GetData <Color32>());
});
AsyncGPUReadback.WaitAllRequests();
//request.WaitForCompletion();
Assert.IsTrue(request.done);
Assert.IsFalse(request.hasError);
}
