diff --git a/.gitignore b/.gitignore index d8928de67..3d950cb43 100644 --- a/.gitignore +++ b/.gitignore @@ -38,3 +38,4 @@ CodeCoverage **/Build/** **/Builds/** /utr +*.user diff --git a/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization.meta b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization.meta new file mode 100644 index 000000000..46a6aed2a --- /dev/null +++ b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 633d6bbab02eb764e82d7c04e8d95031 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/.sample.json b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/.sample.json new file mode 100644 index 000000000..e269bd52b --- /dev/null +++ b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/.sample.json @@ -0,0 +1,4 @@ +{ + "displayName":"Human Pose Labeling and Randomization", + "createSeparatePackage": false +} \ No newline at end of file diff --git a/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations.meta b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations.meta new file mode 100644 index 000000000..8d50de14b --- /dev/null +++ b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c18728ca6608bdb4e896c4442c28aa78 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations/Idle.fbx b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations/Idle.fbx new file mode 100644 index 000000000..16369fe9f Binary files /dev/null and b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations/Idle.fbx differ diff --git a/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations/Idle.fbx.meta b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations/Idle.fbx.meta new file mode 100644 index 000000000..a73852223 --- /dev/null +++ b/TestProjects/PerceptionHDRP/Assets/Human Pose Labeling and Randomization/Models and Animations/Idle.fbx.meta @@ -0,0 +1,938 @@ +fileFormatVersion: 2 +guid: ed4145beaed264358a60cdefbdfccde7 +ModelImporter: + serializedVersion: 19301 + internalIDToNameTable: + - first: + 74: 1827226128182048838 + second: Take 001 + externalObjects: {} + materials: + materialImportMode: 1 + materialName: 0 + materialSearch: 1 + materialLocation: 1 + animations: + legacyGenerateAnimations: 4 + bakeSimulation: 0 + resampleCurves: 1 + optimizeGameObjects: 0 + motionNodeName: + rigImportErrors: + rigImportWarnings: + animationImportErrors: + animationImportWarnings: "\nClip 'Take 001' has import animation warnings that + might lower retargeting quality:\nNote: Activate translation DOF on avatar + to improve retargeting quality.\n\t'Spine2' is inbetween humanoid transforms + and has rotation animation that will be discarded.\n" + animationRetargetingWarnings: + animationDoRetargetingWarnings: 0 + importAnimatedCustomProperties: 0 + importConstraints: 0 + animationCompression: 3 + animationRotationError: 0.5 + animationPositionError: 0.5 + animationScaleError: 0.5 + animationWrapMode: 0 + extraExposedTransformPaths: [] + extraUserProperties: [] + clipAnimations: + - serializedVersion: 16 + name: Take 001 + takeName: Take 001 + internalID: 0 + firstFrame: 0 + lastFrame: 400 + wrapMode: 0 + orientationOffsetY: 0 + level: 0 + cycleOffset: 0 + loop: 0 + hasAdditiveReferencePose: 0 + loopTime: 1 + loopBlend: 0 + loopBlendOrientation: 0 + 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Randomization/Models and Animations/TakeObjectAttempt.fbx differ diff --git a/TestProjects/PerceptionURP/Assets/Human Pose Labeling and Randomization/Models and Animations/TakeObjectAttempt.fbx.meta b/TestProjects/PerceptionURP/Assets/Human Pose Labeling and Randomization/Models and Animations/TakeObjectAttempt.fbx.meta new file mode 100644 index 000000000..2d43b119a --- /dev/null +++ b/TestProjects/PerceptionURP/Assets/Human Pose Labeling and Randomization/Models and Animations/TakeObjectAttempt.fbx.meta @@ -0,0 +1,923 @@ +fileFormatVersion: 2 +guid: 5d34bf7cb688a4314bcbafea9c3ac84c +ModelImporter: + serializedVersion: 19301 + internalIDToNameTable: + - first: + 74: 1827226128182048838 + second: Take 001 + externalObjects: {} + materials: + materialImportMode: 1 + materialName: 0 + materialSearch: 1 + materialLocation: 1 + animations: + legacyGenerateAnimations: 4 + bakeSimulation: 0 + resampleCurves: 1 + optimizeGameObjects: 0 + motionNodeName: + rigImportErrors: + rigImportWarnings: 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{fileID: 0} + - target: {fileID: 8109026111838458973, guid: 09c632a4eeff8204c87fa56b8632d9ba, + type: 3} + propertyPath: m_LocalEulerAnglesHint.z + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8917933090883489511, guid: 09c632a4eeff8204c87fa56b8632d9ba, + type: 3} + propertyPath: m_Name + value: LabeledAndRandomized + objectReference: {fileID: 0} + m_RemovedComponents: [] + m_SourcePrefab: {fileID: 100100000, guid: 09c632a4eeff8204c87fa56b8632d9ba, type: 3} diff --git a/TestProjects/PerceptionURP/Assets/Scenes/PoseSample.unity.meta b/TestProjects/PerceptionURP/Assets/Scenes/PoseSample.unity.meta new file mode 100644 index 000000000..f231ddea7 --- /dev/null +++ b/TestProjects/PerceptionURP/Assets/Scenes/PoseSample.unity.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 290fafafd5ac84d4388b8a6b129c6f20 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/TestProjects/PerceptionURP/Packages/packages-lock.json b/TestProjects/PerceptionURP/Packages/packages-lock.json index faf64f570..a3ffa34cd 100644 --- a/TestProjects/PerceptionURP/Packages/packages-lock.json +++ b/TestProjects/PerceptionURP/Packages/packages-lock.json @@ -44,8 +44,8 @@ "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" @@ -109,8 +109,8 @@ "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": { @@ -192,11 +192,11 @@ "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, "source": "registry", "dependencies": { - "com.unity.simulation.core": "0.0.10-preview.21" + "com.unity.simulation.core": "0.0.10-preview.22" }, "url": "https://packages.unity.com" }, @@ -208,8 +208,8 @@ "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" diff --git a/TestProjects/PerceptionURP/ProjectSettings/ProjectSettings.asset b/TestProjects/PerceptionURP/ProjectSettings/ProjectSettings.asset index 7d1469c3b..5b4618ae6 100644 --- a/TestProjects/PerceptionURP/ProjectSettings/ProjectSettings.asset +++ b/TestProjects/PerceptionURP/ProjectSettings/ProjectSettings.asset @@ -585,6 +585,7 @@ PlayerSettings: additionalIl2CppArgs: scriptingRuntimeVersion: 1 gcIncremental: 0 + assemblyVersionValidation: 1 gcWBarrierValidation: 0 apiCompatibilityLevelPerPlatform: {} m_RenderingPath: 1 diff --git a/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt b/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt index 57673098f..acbe3fd39 100644 --- a/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt +++ b/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt @@ -1,2 +1,2 @@ -m_EditorVersion: 2019.4.16f1 -m_EditorVersionWithRevision: 2019.4.16f1 (e05b6e02d63e) +m_EditorVersion: 2019.4.19f1 +m_EditorVersionWithRevision: 2019.4.19f1 (ca5b14067cec) diff --git a/TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset b/TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset index cab35ccc4..a45c679e5 100644 --- a/TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset +++ b/TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset @@ -95,7 +95,7 @@ QualitySettings: skinWeights: 2 textureQuality: 0 anisotropicTextures: 1 - antiAliasing: 0 + antiAliasing: 2 softParticles: 0 softVegetation: 1 realtimeReflectionProbes: 1 diff --git a/com.unity.perception/CHANGELOG.md b/com.unity.perception/CHANGELOG.md index 7ea61f0b8..b68530188 100644 --- a/com.unity.perception/CHANGELOG.md +++ b/com.unity.perception/CHANGELOG.md @@ -55,6 +55,8 @@ Fixed an issue preventing a user from adding more options to a Categorical Param 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 diff --git a/com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs b/com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs index 998705cd5..feb75134b 100644 --- a/com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs +++ b/com.unity.perception/Runtime/GroundTruth/Labelers/CameraLabeler.cs @@ -75,6 +75,10 @@ protected virtual void OnUpdate() {} /// protected virtual void OnBeginRendering() {} /// + /// Called just after the camera renders each frame the the labeler is enabled and is true. + /// + protected virtual void OnEndRendering() {} + /// /// 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) system. /// This called is triggered from call. This call happens immediately before @@ -103,6 +107,7 @@ internal bool InternalVisualizationEnabled } internal void InternalOnUpdate() => OnUpdate(); internal void InternalOnBeginRendering() => OnBeginRendering(); + internal void InternalOnEndRendering() => OnEndRendering(); internal void InternalCleanup() => Cleanup(); internal void InternalVisualize() => OnVisualize(); diff --git a/com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs b/com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs index 0124b4cf9..146353288 100644 --- a/com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs +++ b/com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs @@ -157,7 +157,7 @@ void OnInstanceSegmentationImageReadback(int frameCount, NativeArray da } /// - protected override void OnBeginRendering() + protected override void OnEndRendering() { m_CurrentFrame = Time.frameCount; diff --git a/com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs b/com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs index 73c78d919..a94b31444 100644 --- a/com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs +++ b/com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs @@ -92,6 +92,7 @@ public void RequestCapture() Dictionary m_PersistentSensorData = new Dictionary(); int m_LastFrameCaptured = -1; + int m_LastFrameEndRendering = -1; #pragma warning disable 414 //only used to confirm that GroundTruthRendererFeature is present in URP @@ -185,6 +186,7 @@ void EnsureSensorRegistered() void OnEnable() { RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering; + RenderPipelineManager.endCameraRendering += OnEndCameraRendering; RenderPipelineManager.endCameraRendering += CheckForRendererFeature; } @@ -424,21 +426,26 @@ void OnSimulationEnding() 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)) return; m_LastFrameCaptured = Time.frameCount; -#if UNITY_EDITOR - if (UnityEditor.EditorApplication.isPaused) - return; -#endif CaptureRgbData(cam); + 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 action) + { foreach (var labeler in m_Labelers) { if (!labeler.enabled) @@ -447,13 +454,30 @@ void OnBeginCameraRendering(ScriptableRenderContext _, Camera cam) if (!labeler.isInitialized) 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; + } + void OnDisable() { RenderPipelineManager.beginCameraRendering -= OnBeginCameraRendering; + RenderPipelineManager.endCameraRendering -= OnEndCameraRendering; RenderPipelineManager.endCameraRendering -= CheckForRendererFeature; } diff --git a/com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs b/com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs index 0de650c30..6ced34408 100644 --- a/com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs +++ b/com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs @@ -82,7 +82,7 @@ public IEnumerator AddLabelerAfterStart_ShouldInitialize() yield return new ExitPlayMode(); } [UnityTest] - public IEnumerator Labeler_ShouldSetupAndUpdateAndOnBeginRenderingInFirstFrame() + public IEnumerator Labeler_ShouldRunCallbacksInFirstFrame() { ResetScene(); yield return new EnterPlayMode(); @@ -90,9 +90,30 @@ public IEnumerator Labeler_ShouldSetupAndUpdateAndOnBeginRenderingInFirstFrame() var camera = SetupCamera(null); camera.GetComponent().AddLabeler(mockLabeler.Object); 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] + public IEnumerator Labeler_ShouldNotRunCallbacksWhenCameraDisabled() + { + ResetScene(); + yield return new EnterPlayMode(); + var mockLabeler = new Mock(); + var camera = SetupCamera(null); + var perceptionCamera = camera.GetComponent(); + 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] @@ -109,6 +130,7 @@ public IEnumerator AddAndRemoveLabelerInSameFrame_ShouldDoNothing() 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(); } @@ -168,6 +190,7 @@ public IEnumerator SetupThrows_ShouldDisable() 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(); } diff --git a/com.unity.perception/Tests/Runtime/GroundTruthTests/GroundTruthTestBase.cs b/com.unity.perception/Tests/Runtime/GroundTruthTests/GroundTruthTestBase.cs index c888364f1..8d3c9ee82 100644 --- a/com.unity.perception/Tests/Runtime/GroundTruthTests/GroundTruthTestBase.cs +++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/GroundTruthTestBase.cs @@ -4,6 +4,7 @@ using NUnit.Framework; using UnityEngine; using UnityEngine.Perception.GroundTruth; +using UnityEngine.SceneManagement; using Object = UnityEngine.Object; namespace GroundTruthTests @@ -11,6 +12,7 @@ namespace GroundTruthTests public class GroundTruthTestBase { List m_ObjectsToDestroy = new List(); + List m_ScenesToUnload = new List(); [TearDown] public void TearDown() { @@ -19,6 +21,11 @@ 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)) @@ -27,6 +34,8 @@ public void TearDown() public void AddTestObjectForCleanup(Object @object) => m_ObjectsToDestroy.Add(@object); + public void AddSceneForCleanup(string sceneName) => m_ScenesToUnload.Add(sceneName); + public void DestroyTestObject(Object @object) { Object.DestroyImmediate(@object); diff --git a/com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs b/com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs index 197bb20e0..8682d1bbb 100644 --- a/com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs +++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs @@ -5,13 +5,34 @@ using NUnit.Framework; using UnityEngine; using UnityEngine.Perception.GroundTruth; +using UnityEngine.SceneManagement; using UnityEngine.TestTools; namespace GroundTruthTests { [TestFixture] - 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> computeListener, RenderTexture renderTexture = null) { var cameraObject = new GameObject(); @@ -281,9 +302,10 @@ public IEnumerator Keypoint_TestStaticLabeledCube() AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); - yield return null; yield return null; + //force all async readbacks to complete + DestroyTestObject(cam); texture.Release(); var testCase = incoming.Last(); @@ -335,7 +357,8 @@ public IEnumerator Keypoint_TestAllOffScreen() AddTestObjectForCleanup(cube); yield return null; - yield return null; + //force all async readbacks to complete + DestroyTestObject(cam); foreach (var i in incoming) { @@ -344,7 +367,7 @@ public IEnumerator Keypoint_TestAllOffScreen() } [UnityTest] - public IEnumerator Keypoint_TestPartialOffScreen() + public IEnumerator Keypoint_TestPartialOffScreen([Values(1,5)] int framesToRunBeforeAsserting) { var incoming = new List>(); var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate"); @@ -365,9 +388,11 @@ public IEnumerator Keypoint_TestPartialOffScreen() AddTestObjectForCleanup(cam); AddTestObjectForCleanup(cube); - for (var i = 0; i < 2; i++) + for (var i = 0; i < framesToRunBeforeAsserting; i++) yield return null; + //force all async readbacks to complete + DestroyTestObject(cam); if (texture != null) texture.Release(); var testCase = incoming.Last(); @@ -416,8 +441,10 @@ public IEnumerator Keypoint_TestAllOnScreen() 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(); @@ -475,8 +502,10 @@ public IEnumerator Keypoint_TestAllBlockedByOther() 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(); @@ -490,7 +519,7 @@ public IEnumerator Keypoint_TestAllBlockedByOther() 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); @@ -504,7 +533,6 @@ public IEnumerator Keypoint_TestPartiallyBlockedByOther() var incoming = new List>(); 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); @@ -524,10 +552,11 @@ public IEnumerator Keypoint_TestPartiallyBlockedByOther() 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); @@ -538,15 +567,15 @@ public IEnumerator Keypoint_TestPartiallyBlockedByOther() 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); @@ -554,5 +583,68 @@ public IEnumerator Keypoint_TestPartiallyBlockedByOther() Assert.Zero(t.keypoints[8].y); } + + [UnityTest] + public IEnumerator Keypoint_AnimatedCube_PositionsCaptured() + { + var incoming = new List>(); + 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(); + 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.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); + } } } diff --git a/com.unity.perception/Tests/Runtime/TestAssets.meta b/com.unity.perception/Tests/Runtime/TestAssets.meta new file mode 100644 index 000000000..1c1805c68 --- /dev/null +++ b/com.unity.perception/Tests/Runtime/TestAssets.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: bfe6fc2894b65164fb11b208fe97e206 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCube.prefab b/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCube.prefab new file mode 100644 index 000000000..1db262072 --- /dev/null +++ b/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCube.prefab @@ -0,0 +1,115 @@ +%YAML 1.1 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