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add unit tests for kinect related classse

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This commit is contained in:
Chikashi Miyama 2019-07-07 00:17:26 +02:00
parent 5524d6a817
commit 1b4866e74e
36 changed files with 1312 additions and 287 deletions
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28
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<e p="KinectSensorTestCase.cs" t="Include" />
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<e p="InfraredCamera.cs" t="Include" />
<e p="KinectSensor.cs" t="Include" />
<e p="PointCloud.cs" t="Include" />
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885
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File diff suppressed because it is too large Load diff

5
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@ -54,6 +57,8 @@
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<Compile Include="Assets\Scripts\VideoInput\Editor\UnitTest\KinectSensorTestCase.cs" />
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11
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@ -54,8 +57,12 @@
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<Compile Include="Assets\Scripts\PdConnection\PdBufferTest.cs" />
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<Compile Include="Assets\Scripts\VideoInput\ComponentFactory.cs" />
<Compile Include="Assets\Scripts\VideoInput\InfraredCamera.cs" />
<Compile Include="Assets\Scripts\VideoInput\KinectSensor.cs" />
<Compile Include="Assets\Scripts\VideoInput\PointCloud.cs" />
<Compile Include="Assets\Scripts\Visualizer\WaveformVisualizer.cs" />
<Compile Include="Assets\ThridParty\KinectScript\CameraIntrinsics.cs" />
<Compile Include="Assets\ThridParty\KinectScript\CollectionMap.cs" />
<Compile Include="Assets\ThridParty\KinectScript\EventPump.cs" />

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9
UnityProject/Assets/Scripts/PdConnection/PdBuffer.cs → UnityProject/Assets/Scripts/PdConnection/PdArray.cs
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@ -3,14 +3,14 @@ using System.IO.MemoryMappedFiles;
namespace PdConnection
{
public class PdBuffer : IDisposable
public class PdArray : IDisposable
{
public float[] Data { get; }
private readonly MemoryMappedFile memoryMappedFile_;
private readonly MemoryMappedViewAccessor viewAccessor_;
public PdBuffer(string name, int size)
public PdArray(string name, int size)
{
memoryMappedFile_ = MemoryMappedFile.OpenExisting(name);
if (memoryMappedFile_ == null)
@ -27,9 +27,8 @@ namespace PdConnection
public void Dispose()
{
viewAccessor_?.Dispose();
memoryMappedFile_?.Dispose();
memoryMappedFile_.Dispose();
viewAccessor_.Dispose();
}
}
}

0
UnityProject/Assets/Scripts/PdConnection/PdBuffer.cs.meta → UnityProject/Assets/Scripts/PdConnection/PdArray.cs.meta
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22
UnityProject/Assets/Scripts/PdConnection/PdBufferTest.cs
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@ -1,22 +0,0 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
namespace PdConnection
{
public class PdBufferTest : MonoBehaviour
{
void Start()
{
var pdBuf = new PdBuffer("testarray", 100);
pdBuf.Update();
foreach(var val in pdBuf.Data)
Debug.Log(val);
}
}
}

32
UnityProject/Assets/Scripts/UnitTest/SimpleTest.cs
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@ -1,32 +0,0 @@
using NUnit.Framework;
using NSubstitute;
namespace UnitTests
{
public class SimpleTest
{
[Test]
public void FirstTest()
{
Assert.AreEqual(10, 10);
}
public interface ISomeInterface
{
void doSomething();
}
[Test]
public void FirstMock()
{
var mock = Substitute.For<ISomeInterface>();
mock.doSomething();
mock.Received(1).doSomething();
}
}
}

9
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{
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5
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21
UnityProject/Assets/Scripts/VideoInput/ComponentFactory.cs Normal file
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@ -0,0 +1,21 @@
namespace VideoInput
{
public interface IComponentFactory
{
IKinectSensor CreateKinectSensor();
IInfraredCamera CreateInfraredCamera();
}
public class ComponentFactory : IComponentFactory
{
public IKinectSensor CreateKinectSensor()
{
return new KinectSensor(CreateInfraredCamera());
}
public IInfraredCamera CreateInfraredCamera()
{
return new InfraredCamera();
}
}
}

3
UnityProject/Assets/Scripts/VideoInput/ComponentFactory.cs.meta Normal file
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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: b3510aec53634387bd87c7ebae1d41ae
timeCreated: 1562447022

8
UnityProject/Assets/Scripts/VideoInput/Editor.meta Normal file
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@ -0,0 +1,8 @@
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3
UnityProject/Assets/Scripts/VideoInput/Editor/UnitTest.meta Normal file
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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: fc8188340da14e1ab2aca454bb779e56
timeCreated: 1562450252

24
UnityProject/Assets/Scripts/VideoInput/Editor/UnitTest/ComponentFactoryTestCase.cs Normal file
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@ -0,0 +1,24 @@
using NUnit.Framework;
namespace VideoInput.Editor.UnitTest
{
public class UnitTest_ComponentFactory
{
[Test]
public void CreateKinectSensor()
{
var componentFactory = new ComponentFactory();
var kinectSensor = componentFactory.CreateKinectSensor();
Assert.NotNull(kinectSensor);
}
[Test]
public void CreateInfraredCamera()
{
var componentFactory = new ComponentFactory();
var infraredCamera = componentFactory.CreateInfraredCamera();
Assert.NotNull(infraredCamera);
}
}
}

2
UnityProject/Assets/Scripts/UnitTest/SimpleTest.cs.meta → UnityProject/Assets/Scripts/VideoInput/Editor/UnitTest/ComponentFactoryTestCase.cs.meta
View file

@ -1,5 +1,5 @@
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MonoImporter:
externalObjects: {}
serializedVersion: 2

24
UnityProject/Assets/Scripts/VideoInput/Editor/UnitTest/KinectSensorTestCase.cs Normal file
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@ -0,0 +1,24 @@
using NUnit.Framework;
using NSubstitute;
namespace VideoInput.Editor.UnitTest
{
[TestFixture]
public class UnitTest_KinectSensor
{
private IInfraredCamera infraredCameraMock_;
[SetUp]
public void SetUp()
{
infraredCameraMock_ = Substitute.For<IInfraredCamera>();
}
[Test]
public void InfraredCamera()
{
var kinectSensor = new KinectSensor(infraredCameraMock_);
Assert.AreSame(infraredCameraMock_, kinectSensor.InfraredCamera);
}
}
}

3
UnityProject/Assets/Scripts/VideoInput/Editor/UnitTest/KinectSensorTestCase.cs.meta Normal file
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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 898dc2d4dc394ea6b80a1cc09d63121c
timeCreated: 1562450837

68
UnityProject/Assets/Scripts/VideoInput/InfraredCamera.cs Normal file
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@ -0,0 +1,68 @@
using System.IO;
using UnityEngine;
using Windows.Kinect;
namespace VideoInput
{
public interface IInfraredCamera
{
Texture2D Data { get; }
}
public class InfraredCamera : IInfraredCamera
{
public Texture2D Data { get; }
private Windows.Kinect.KinectSensor sensor_;
private readonly InfraredFrameReader reader_;
private readonly ushort[] irData_;
private readonly byte[] rawData_;
public InfraredCamera()
{
sensor_ = Windows.Kinect.KinectSensor.GetDefault();
if (sensor_ == null)
{
throw new IOException("cannot find Kinect Sensor ");
}
reader_ = sensor_.InfraredFrameSource.OpenReader();
var frameDesc = sensor_.InfraredFrameSource.FrameDescription;
irData_ = new ushort[frameDesc.LengthInPixels];
rawData_ = new byte[frameDesc.LengthInPixels * 4];
Data = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.BGRA32, false);
if (!sensor_.IsOpen)
sensor_.Open();
}
void Update()
{
if (reader_ == null)
throw new IOException("Kinect reader not opened");
var frame = reader_.AcquireLatestFrame();
if (frame == null)
return;
frame.CopyFrameDataToArray(irData_);
var index = 0;
foreach(var ir in irData_)
{
var intensity = (byte)(ir >> 8);
rawData_[index++] = intensity;
rawData_[index++] = intensity;
rawData_[index++] = intensity;
rawData_[index++] = 255; // Alpha
}
Data.LoadRawTextureData(rawData_);
Data.Apply();
frame.Dispose();
}
}
}

11
UnityProject/Assets/Scripts/VideoInput/InfraredCamera.cs.meta Normal file
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@ -0,0 +1,11 @@
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18
UnityProject/Assets/Scripts/VideoInput/KinectSensor.cs Normal file
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@ -0,0 +1,18 @@
namespace VideoInput
{
public interface IKinectSensor
{
IInfraredCamera InfraredCamera { get; }
}
public class KinectSensor : IKinectSensor
{
public IInfraredCamera InfraredCamera { get; }
public KinectSensor(IInfraredCamera infraredCamera)
{
InfraredCamera = infraredCamera;
}
}
}

3
UnityProject/Assets/Scripts/VideoInput/KinectSensor.cs.meta Normal file
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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 752e0ad44789447883d4db6794deceb9
timeCreated: 1562446718

7
UnityProject/Assets/Scripts/VideoInput/PointCloud.cs Normal file
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@ -0,0 +1,7 @@
namespace VideoInput
{
public class PointCloud
{
}
}

3
UnityProject/Assets/Scripts/VideoInput/PointCloud.cs.meta Normal file
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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: c0603bf64edb4c8885cefbc40ee206fe
timeCreated: 1562443930

8
UnityProject/Assets/Scripts/Visualizer.meta Normal file
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@ -0,0 +1,8 @@
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guid: c80df00cf750cd74d9579afbf5edd3ee
folderAsset: yes
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userData:
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31
UnityProject/Assets/Scripts/Visualizer/WaveformVisualizer.cs Normal file
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@ -0,0 +1,31 @@
using UnityEngine;
namespace Visualizer
{
public class WaveformVisualizer : MonoBehaviour
{
#pragma warning disable 649
[SerializeField] private string pdArrayName;
[SerializeField] private int pdArraySize;
[SerializeField] private LineRenderer lineRenderer;
[SerializeField, Range(0f, 10f)] private float scale = 1f;
#pragma warning restore 649
private PdConnection.PdArray pdArray_;
void Start()
{
pdArray_ = new PdConnection.PdArray(pdArrayName, pdArraySize);
}
void Update()
{
pdArray_.Update();
for(var i = 0; i < pdArray_.Data.Length; i++)
{
var posX = (i / 20f) - 0.5f;
lineRenderer.SetPosition(i, new Vector3(posX, pdArray_.Data[i] * scale, 0));
}
}
}
}

0
UnityProject/Assets/Scripts/PdConnection/PdBufferTest.cs.meta → UnityProject/Assets/Scripts/Visualizer/WaveformVisualizer.cs.meta
View file

5
UnityProject/ProjectSettings/EditorBuildSettings.asset
View file

@ -4,5 +4,8 @@
EditorBuildSettings:
m_ObjectHideFlags: 0
serializedVersion: 2
m_Scenes: []
m_Scenes:
- enabled: 1
path: Assets/Scenes/MainScene.unity
guid: 7691648eefda79e409f424b413457f14
m_configObjects: {}

5
UnityProject/UnitTest.csproj
View file

@ -3,6 +3,9 @@
<PropertyGroup>
<LangVersion>latest</LangVersion>
<ProjectTypeGuids>{E097FAD1-6243-4DAD-9C02-E9B9EFC3FFC1};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
<_TargetFrameworkDirectories>non_empty_path_generated_by_rider_editor_plugin</_TargetFrameworkDirectories>
<_FullFrameworkReferenceAssemblyPaths>non_empty_path_generated_by_rider_editor_plugin</_FullFrameworkReferenceAssemblyPaths>
<DisableHandlePackageFileConflicts>true</DisableHandlePackageFileConflicts>
</PropertyGroup>
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
@ -54,7 +57,7 @@
</Reference>
</ItemGroup>
<ItemGroup>
<Compile Include="Assets\Scripts\UnitTest\SimpleTest.cs" />
<Compile Include="Assets\Scripts\UnitTest\ComponentFactoryTestCase.cs" />
<None Include="Assets\Scripts\UnitTest\UnitTest.asmdef" />
<Reference Include="UnityEngine.AIModule">
<HintPath>C:/Program Files/UnityLTS/Editor/Data/Managed/UnityEngine/UnityEngine.AIModule.dll</HintPath>

6
UnityProject/UnityProject.sln
View file

@ -4,8 +4,6 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Assembly-CSharp", "Assembly
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Assembly-CSharp-Editor", "Assembly-CSharp-Editor.csproj", "{3CC9D2C0-C461-07D9-EDF3-4FFB4DE5C299}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "UnitTest", "UnitTest.csproj", "{7449DEC9-8E4D-BE43-C884-91467088ABED}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
@ -20,10 +18,6 @@ Global
{3CC9D2C0-C461-07D9-EDF3-4FFB4DE5C299}.Debug|Any CPU.Build.0 = Debug|Any CPU
{3CC9D2C0-C461-07D9-EDF3-4FFB4DE5C299}.Release|Any CPU.ActiveCfg = Release|Any CPU
{3CC9D2C0-C461-07D9-EDF3-4FFB4DE5C299}.Release|Any CPU.Build.0 = Release|Any CPU
{7449DEC9-8E4D-BE43-C884-91467088ABED}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{7449DEC9-8E4D-BE43-C884-91467088ABED}.Debug|Any CPU.Build.0 = Debug|Any CPU
{7449DEC9-8E4D-BE43-C884-91467088ABED}.Release|Any CPU.ActiveCfg = Release|Any CPU
{7449DEC9-8E4D-BE43-C884-91467088ABED}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE