render/sensor_pipeline_runner.cpp - GCC Code Coverage Report

render/sensor_pipeline_runner.cpp

Line	Branch	Exec	Source
1			// SPDX-License-Identifier: BSD-3-Clause
2			#include "chrono_batch_render/render/sensor_pipeline_runner.h"
3
4			#include <algorithm>
5			#include <atomic>
6
7			#include "chrono_batch_render/device/queue.h"
8			#include "chrono_batch_render/render/sensor_pipelines.h"
9			#include "chrono_batch_render/scene/scene_impl.h"
10			#include "chrono_batch_render/sensor_pipeline/node.h"
11			#include "chrono_batch_render/sensor_pipeline/resolve.h"
12			#include "chrono_batch_render/util/error.h"
13
14			namespace chrono::batch_render {
15
16			namespace {
17
18		30	uint32_t PatternChannels(DetectorPattern pattern) {
19	2/4 ✗ Branch 0 not taken. ✗ Branch 1 not taken. ✓ Branch 2 taken 29 times. ✓ Branch 3 taken 1 time.	30	switch (pattern) {
20			case DetectorPattern::Mono:
21			return 1;
22		✗	case DetectorPattern::Rccc:
23		✗	return 2;
24		✗	case DetectorPattern::Bands:
25		✗	return kDetectorBands;
26		29	default:
27		29	return 3;
28			}
29			}
30
31		30	bool PatternMosaics(DetectorPattern pattern) {
32	1/2 ✓ Branch 0 taken 30 times. ✗ Branch 1 not taken.	30	switch (pattern) {
33			case DetectorPattern::Rggb:
34			case DetectorPattern::Bggr:
35			case DetectorPattern::Grbg:
36			case DetectorPattern::Gbrg:
37			case DetectorPattern::Rccb:
38			case DetectorPattern::Rccc:
39			return true;
40		30	default:
41		30	return false;
42			}
43			}
44
45		30	DetectorRecord Record(const DetectorDesc& desc) {
46		30	DetectorRecord record{};
47		30	record.pattern = uint32_t(desc.pattern);
48		30	record.channels = PatternChannels(desc.pattern);
49		30	record.fullWell = desc.fullWell;
50		30	record.readNoise = desc.readNoise;
51		30	record.darkCurrent = desc.darkCurrent;
52		30	record.darkCurrentDoubling = desc.darkCurrentDoubling;
53		30	record.temperature = desc.temperature;
54		30	record.prnu = desc.prnu;
55		30	record.dsnu = desc.dsnu;
56		30	record.systemGain = desc.systemGain;
57		30	record.bitDepth = desc.bitDepth;
58		30	record.blackLevel = desc.blackLevel;
59		30	record.seed = desc.seed;
60		30	return record;
61			}
62
63			std::atomic<uint32_t> g_standaloneDefinitions{1u << 24};
64
65			}
66
67			struct SensorPipelineRunner::State {
68			device::Device* device = nullptr;
69			std::shared_ptr<const sensor_pipeline::NodeRegistry> registry;
70			std::string path;
71			sensor_pipeline::ResolvedSensorPipeline instance;
72			std::shared_ptr<const CompiledSensorPipeline> compiled;
73			std::optional<std::vector<uint32_t>> words;
74
75		9	State(device::Device& on, std::shared_ptr<const sensor_pipeline::NodeRegistry> nodes,
76			std::string name, sensor_pipeline::ResolvedSensorPipeline resolved)
77		9	: device(&on), registry(std::move(nodes)), path(std::move(name)),
78	1/1 ✓ Branch 2 taken 9 times.	9	instance(std::move(resolved)) {
79		9	auto definition = std::make_shared<sensor_pipeline::SensorPipelineDefinition>(
80	1/1 ✓ Branch 1 taken 9 times.	18	sensor_pipeline::BuildDefinition(g_standaloneDefinitions++, instance, *registry));
81	4/9 ✓ Branch 1 taken 9 times. ✗ Branch 4 not taken. ✓ Branch 5 taken 9 times. ✗ Branch 6 not taken. ✓ Branch 7 taken 9 times. ✗ Branch 8 not taken. ✓ Branch 9 taken 9 times. ✗ Branch 10 not taken. ✗ Branch 11 not taken.	9	compiled = CompileSensorPipeline(on, std::move(definition), *registry);
82		9	}
83			};
84
85		35	std::optional<SensorPipelineNodeInfo> FindSensorPipelineNode(std::string_view id) {
86		35	const std::shared_ptr<const sensor_pipeline::NodeRegistry> nodes =
87		35	sensor_pipeline::SensorPipelineNodes();
88	1/1 ✓ Branch 1 taken 35 times.	35	const sensor_pipeline::NodeRegistry& registry = *nodes;
89	1/1 ✓ Branch 1 taken 35 times.	35	const uint32_t found = registry.Find(id);
90	2/2 ✓ Branch 0 taken 1 time. ✓ Branch 1 taken 34 times.	35	if (found == sensor_pipeline::kNoDef) {
91		1	return std::nullopt;
92			}
93		34	const sensor_pipeline::NodeDef& def = registry[found];
94		34	SensorPipelineNodeInfo info{
95	2/2 ✓ Branch 1 taken 34 times. ✓ Branch 4 taken 34 times.	34	.id = def.id, .kind = std::string(sensor_pipeline::kNodeKindNames[uint32_t(def.kind)])};
96	2/2 ✓ Branch 0 taken 31 times. ✓ Branch 1 taken 34 times.	65	for (const sensor_pipeline::PortDef& port : def.inputs) {
97		31	info.inputs.push_back(
98	1/1 ✓ Branch 1 taken 31 times.	31	{port.name, std::string(sensor_pipeline::Signal(port.type).name), port.optional});
99			}
100	2/2 ✓ Branch 0 taken 34 times. ✓ Branch 1 taken 34 times.	68	for (const sensor_pipeline::PortDef& port : def.outputs) {
101		34	info.outputs.push_back(
102	1/1 ✓ Branch 1 taken 34 times.	34	{port.name, std::string(sensor_pipeline::Signal(port.type).name), port.optional});
103			}
104		34	return info;
105		199	}
106
107	1/1 ✓ Branch 1 taken 4 times.	4	SensorPipelineRunner::SensorPipelineRunner(const Ref<Scene>& scene, std::string_view path) {
108	3/3 ✓ Branch 1 taken 4 times. ✓ Branch 3 taken 2 times. ✓ Branch 4 taken 2 times.	4	if (scene->Pending()) {
109	2/2 ✓ Branch 1 taken 2 times. ✓ Branch 4 taken 2 times.	2	scene->Publish().Wait();
110			}
111	1/1 ✓ Branch 1 taken 4 times.	4	const std::optional<Prim> prim = scene->Find(path);
112	3/5 ✓ Branch 0 taken 4 times. ✗ Branch 1 not taken. ✓ Branch 3 taken 4 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 4 times.	4	if (!prim \|\| !prim->IsA<SensorPipeline>()) {
113	0/1 ✗ Branch 2 not taken.	✗	throw Error("{} isn't a SensorPipeline", path);
114			}
115	1/1 ✓ Branch 1 taken 4 times.	4	const SensorPipelineTable& table = SceneImpl::Get(*scene).GetSensorPipelines();
116	1/1 ✓ Branch 1 taken 4 times.	4	const std::shared_ptr<const SensorPipelineInstance> instance = table.Find(prim->Index());
117	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 4 times.	4	if (!instance) {
118	0/1 ✗ Branch 2 not taken.	✗	throw Error("{} isn't resolved yet", path);
119			}
120	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 4 times.	4	if (!instance->error.empty()) {
121	0/1 ✗ Branch 2 not taken.	✗	throw Error("{}", instance->error);
122			}
123	5/6 ✓ Branch 1 taken 4 times. ✓ Branch 4 taken 4 times. ✓ Branch 7 taken 4 times. ✓ Branch 10 taken 4 times. ✗ Branch 12 not taken. ✓ Branch 13 taken 4 times.	8	m_state = std::make_unique<State>(scene->GetDevice(), table.Registry(), std::string(path),
124	1/1 ✓ Branch 1 taken 4 times.	8	instance->resolved);
125	2/5 ✓ Branch 1 taken 4 times. ✓ Branch 5 taken 4 times. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 8 not taken.	4	m_state->words = table.ReadWords(*instance);
126		4	}
127
128		5	SensorPipelineRunner::SensorPipelineRunner(device::Device& device,
129		5	const sensor_pipeline::SensorPipelineDesc& desc)
130	1/1 ✓ Branch 2 taken 5 times.	10	: SensorPipelineRunner(device, desc, *sensor_pipeline::SensorPipelineNodes()) {}
131
132		5	SensorPipelineRunner::SensorPipelineRunner(device::Device& device,
133			const sensor_pipeline::SensorPipelineDesc& desc,
134		5	const sensor_pipeline::NodeRegistry& registry)
135		5	: m_state(std::make_unique<State>(
136	2/2 ✓ Branch 1 taken 5 times. ✓ Branch 4 taken 5 times.	5	device, std::make_shared<sensor_pipeline::NodeRegistry>(registry), desc.path,
137		10	sensor_pipeline::ResolveSensorPipeline(desc, registry))) {}
138
139		9	SensorPipelineRunner::~SensorPipelineRunner() = default;
140		✗	SensorPipelineRunner::SensorPipelineRunner(SensorPipelineRunner&&) noexcept = default;
141		✗	SensorPipelineRunner& SensorPipelineRunner::operator=(SensorPipelineRunner&&) noexcept = default;
142
143		3	device::Device& SensorPipelineRunner::GetDevice() const {
144		3	return *m_state->device;
145			}
146
147		2	std::vector<std::string> SensorPipelineRunner::Sources() const {
148		2	std::vector<std::string> sources;
149	2/2 ✓ Branch 0 taken 8 times. ✓ Branch 1 taken 2 times.	10	for (const sensor_pipeline::ResolvedNode& node : m_state->instance.nodes) {
150		8	if ((*m_state->registry)[node.def].kind == sensor_pipeline::NodeKind::Source) {
151	1/1 ✓ Branch 1 taken 2 times.	2	sources.push_back(node.path);
152			}
153			}
154		2	return sources;
155		✗	}
156
157		2	std::vector<std::string> SensorPipelineRunner::Outputs() const {
158		2	std::vector<std::string> outputs;
159	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 2 times.	4	for (const sensor_pipeline::ResolvedOutput& output : m_state->instance.outputs) {
160	1/1 ✓ Branch 1 taken 2 times.	2	outputs.push_back(output.name);
161			}
162		2	return outputs;
163		✗	}
164
165		20	SensorPipelineOutputs SensorPipelineRunner::Run(const SensorPipelineRunDesc& desc) const {
166		20	device::Tensor state;
167	1/1 ✓ Branch 1 taken 17 times.	37	return Run(desc, state);
168		20	}
169
170		30	SensorPipelineOutputs SensorPipelineRunner::Run(const SensorPipelineRunDesc& desc,
171			device::Tensor& state) const {
172		30	const sensor_pipeline::NodeRegistry& registry = *m_state->registry;
173		30	const sensor_pipeline::ResolvedSensorPipeline& instance = m_state->instance;
174		30	const sensor_pipeline::SensorPipelineDefinition& definition = *m_state->compiled->definition;
175		30	const sensor_pipeline::GeneratedSensorPipeline& generated = m_state->compiled->generated;
176		30	const DetectorRecord detector = Record(desc.detector);
177		30	const std::vector<sensor_pipeline::SignalLayout> layouts =
178			sensor_pipeline::PropagateLayouts(instance, registry,
179		30	{.channels = detector.channels,
180		30	.pattern = detector.pattern,
181		30	.mosaics = PatternMosaics(desc.detector.pattern)});
182
183		30	int64_t captures = -1;
184		30	int64_t height = 0;
185		30	int64_t width = 0;
186	1/1 ✓ Branch 1 taken 30 times.	33	std::vector<const device::Tensor*> sources(generated.slots.size(), nullptr);
187	2/2 ✓ Branch 0 taken 60 times. ✓ Branch 1 taken 27 times.	87	for (uint32_t slot = 0; slot < definition.segments.stored.size(); ++slot) {
188		60	const sensor_pipeline::Value& value = instance.values[generated.slots[slot]];
189		60	const sensor_pipeline::ResolvedNode& node = instance.nodes[value.node];
190	2/2 ✓ Branch 1 taken 30 times. ✓ Branch 2 taken 30 times.	60	if (registry[node.def].kind != sensor_pipeline::NodeKind::Source) {
191		30	continue;
192			}
193		30	auto found = desc.inputs.find(node.path);
194	6/7 ✓ Branch 0 taken 11 times. ✓ Branch 1 taken 19 times. ✓ Branch 3 taken 11 times. ✓ Branch 6 taken 11 times. ✗ Branch 7 not taken. ✓ Branch 8 taken 11 times. ✓ Branch 9 taken 19 times.	41	if (found == desc.inputs.end() && node.path.starts_with(m_state->path + "/")) {
195	1/1 ✓ Branch 1 taken 11 times.	22	found = desc.inputs.find(std::string_view(node.path).substr(m_state->path.size() + 1));
196			}
197	2/2 ✓ Branch 0 taken 2 times. ✓ Branch 1 taken 28 times.	30	if (found == desc.inputs.end()) {
198	1/1 ✓ Branch 2 taken 2 times.	2	throw Error("The run has no input for {}", node.path);
199			}
200		28	const device::Tensor& tensor = found->second;
201		28	const Span<const int64_t> shape = tensor.Shape();
202	1/2 ✓ Branch 0 taken 28 times. ✗ Branch 1 not taken.	28	const uint32_t channels = layouts[generated.slots[slot]].channels;
203	1/2 ✓ Branch 0 taken 28 times. ✗ Branch 1 not taken.	28	const int64_t given = shape.size() == 4 ? shape[3] : 1;
204	3/6 ✓ Branch 0 taken 28 times. ✗ Branch 1 not taken. ✓ Branch 2 taken 28 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 28 times. ✗ Branch 5 not taken.	28	if (tensor.Type() != device::DType::Float32 \|\| (shape.size() != 3 && shape.size() != 4) \|\|
205	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 1 time.	28	given != channels) {
206		1	throw Error("{}'s input must be float32 shaped [sensors, height, width{}]", node.path,
207	3/8 ✓ Branch 1 taken 1 time. ✗ Branch 2 not taken. ✗ Branch 5 not taken. ✓ Branch 8 taken 1 time. ✗ Branch 10 not taken. ✓ Branch 11 taken 1 time. ✗ Branch 13 not taken. ✗ Branch 14 not taken.	2	channels == 1 ? std::string() : ", " + std::to_string(channels));
208			}
209	1/8 ✗ Branch 0 not taken. ✓ Branch 1 taken 27 times. ✗ Branch 2 not taken. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 5 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken.	27	if (captures >= 0 && (shape[0] != captures \|\| shape[1] != height \|\| shape[2] != width)) {
210	0/1 ✗ Branch 2 not taken.	✗	throw Error("{}'s input is shaped unlike the run's other inputs", node.path);
211			}
212		27	captures = shape[0];
213		27	height = shape[1];
214		27	width = shape[2];
215		27	sources[slot] = &tensor;
216			}
217	2/4 ✓ Branch 0 taken 27 times. ✗ Branch 1 not taken. ✗ Branch 2 not taken. ✓ Branch 3 taken 27 times.	27	if (captures <= 0 \|\| height <= 0 \|\| width <= 0) {
218	0/2 ✗ Branch 2 not taken. ✗ Branch 5 not taken.	✗	throw Error("A standalone run needs at least one nonempty input");
219			}
220
221	1/1 ✓ Branch 1 taken 27 times.	27	device::Device& device = *m_state->device;
222		27	const uint64_t perCapture = uint64_t(height) * width;
223		27	const uint64_t elements = perCapture * captures;
224	1/1 ✓ Branch 1 taken 27 times.	30	std::vector<device::Tensor> tensors(generated.slots.size());
225		27	std::vector<SensorPipelineValue> values;
226		27	const auto storedCount = uint32_t(definition.segments.stored.size());
227	2/2 ✓ Branch 0 taken 85 times. ✓ Branch 1 taken 27 times.	112	for (uint32_t slot = 0; slot < generated.slots.size(); ++slot) {
228	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 58 times.	85	const sensor_pipeline::SignalLayout& layout = layouts[generated.slots[slot]];
229	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 58 times.	85	if (sources[slot] != nullptr) {
230	1/1 ✓ Branch 1 taken 27 times.	27	tensors[slot] = *sources[slot];
231			} else {
232	1/1 ✓ Branch 1 taken 58 times.	58	std::vector<int64_t> shape = {captures};
233	2/2 ✓ Branch 0 taken 46 times. ✓ Branch 1 taken 12 times.	58	if (!layout.perCapture) {
234	1/1 ✓ Branch 1 taken 46 times.	46	shape.insert(shape.end(), {height, width});
235			}
236	1/2 ✓ Branch 0 taken 58 times. ✗ Branch 1 not taken.	58	if (layout.channels > 1) {
237	1/1 ✓ Branch 1 taken 58 times.	58	shape.push_back(layout.channels);
238			}
239		116	const uint64_t count =
240	2/2 ✓ Branch 0 taken 46 times. ✓ Branch 1 taken 12 times.	58	uint64_t(captures) * (layout.perCapture ? 1 : perCapture) * layout.channels;
241	2/3 ✓ Branch 1 taken 58 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 58 times.	116	tensors[slot] = device::Tensor(
242	1/1 ✓ Branch 1 taken 58 times.	116	device.CreateBuffer({.bytes = count * sizeof(float), .label = "pipeline value"}), 0,
243	1/1 ✓ Branch 1 taken 58 times.	116	device::DType::Float32, std::move(shape));
244		58	}
245	1/1 ✓ Branch 1 taken 85 times.	85	values.push_back(
246	2/3 ✓ Branch 1 taken 85 times. ✓ Branch 3 taken 85 times. ✗ Branch 4 not taken.	85	{tensors[slot].Address(), layout.channels, layout.mosaic ? kSignalMosaic : 0u});
247			}
248
249	2/2 ✓ Branch 0 taken 8 times. ✓ Branch 1 taken 19 times.	27	std::vector<uint32_t> words = m_state->words
250	3/3 ✓ Branch 0 taken 8 times. ✓ Branch 1 taken 19 times. ✓ Branch 3 taken 8 times.	27	? *m_state->words
251	2/2 ✓ Branch 1 taken 8 times. ✓ Branch 4 taken 19 times.	27	: sensor_pipeline::PackWords(definition, instance, registry);
252	1/1 ✓ Branch 1 taken 27 times.	27	words.push_back(0);
253		27	CameraRecord camera{};
254		27	camera.exposureTime = desc.exposureTime;
255		27	camera.iso = desc.iso;
256		27	std::vector<SensorPipelineValue> slots;
257		27	std::vector<SensorPipelineCapture> records;
258	1/1 ✓ Branch 1 taken 27 times.	27	const Ref<device::Buffer> wordBuffer = device.CreateBuffer({.label = "pipeline words"}, words);
259		54	const uint64_t stateBytes = std::max<uint64_t>(
260		54	uint64_t(definition.initialState.size()) * captures * sizeof(float), sizeof(float));
261	3/4 ✓ Branch 0 taken 7 times. ✓ Branch 1 taken 20 times. ✗ Branch 2 not taken. ✓ Branch 3 taken 7 times.	27	if (state.Empty() \|\| state.GetBuffer().Bytes() != stateBytes) {
262		20	std::vector<float> states;
263	2/2 ✓ Branch 0 taken 20 times. ✓ Branch 1 taken 20 times.	40	for (int64_t capture = 0; capture < captures; ++capture) {
264	1/1 ✓ Branch 1 taken 20 times.	20	states.insert(states.end(), definition.initialState.begin(),
265			definition.initialState.end());
266			}
267	1/1 ✓ Branch 1 taken 20 times.	20	states.resize(stateBytes / sizeof(float));
268	4/5 ✓ Branch 1 taken 20 times. ✓ Branch 4 taken 20 times. ✓ Branch 7 taken 20 times. ✗ Branch 10 not taken. ✓ Branch 11 taken 20 times.	60	state = device::Tensor(device.CreateBuffer({.label = "pipeline state"}, states), 0,
269	1/1 ✓ Branch 1 taken 20 times.	40	device::DType::Float32, {int64_t(states.size())});
270		20	}
271	2/2 ✓ Branch 0 taken 27 times. ✓ Branch 1 taken 27 times.	54	for (int64_t capture = 0; capture < captures; ++capture) {
272	2/2 ✓ Branch 0 taken 85 times. ✓ Branch 1 taken 27 times.	112	for (uint32_t slot = 0; slot < values.size(); ++slot) {
273	2/2 ✓ Branch 0 taken 73 times. ✓ Branch 1 taken 12 times.	85	SensorPipelineValue value = values[slot];
274	2/2 ✓ Branch 0 taken 73 times. ✓ Branch 1 taken 12 times.	85	const bool stat = layouts[generated.slots[slot]].perCapture;
275		170	value.address +=
276	2/2 ✓ Branch 0 taken 73 times. ✓ Branch 1 taken 12 times.	85	uint64_t(capture) * (stat ? 1 : perCapture) * value.channels * sizeof(float);
277	1/1 ✓ Branch 1 taken 85 times.	85	slots.push_back(value);
278			}
279		27	records.push_back(
280	1/1 ✓ Branch 1 taken 27 times.	27	{.firstElement = uint64_t(capture) * perCapture,
281	1/1 ✓ Branch 1 taken 27 times.	27	.words = {wordBuffer->Address()},
282			.width = uint32_t(width),
283			.height = uint32_t(height),
284		27	.capture = desc.capture,
285		27	.identity = desc.identity + uint32_t(capture),
286		27	.firstValue = uint32_t(capture * values.size()),
287	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 4 taken 27 times.	27	.state = {state.Address() +
288	1/1 ✓ Branch 1 taken 27 times.	27	uint64_t(capture) * definition.initialState.size() * sizeof(float)}});
289			}
290		27	const Ref<device::Buffer> cameras =
291	4/6 ✓ Branch 1 taken 27 times. ✓ Branch 4 taken 27 times. ✓ Branch 7 taken 27 times. ✓ Branch 10 taken 27 times. ✗ Branch 12 not taken. ✗ Branch 13 not taken.	54	device.CreateBuffer({.label = "pipeline camera"}, std::vector<CameraRecord>{camera});
292		27	const Ref<device::Buffer> detectors =
293	4/6 ✓ Branch 1 taken 27 times. ✓ Branch 4 taken 27 times. ✓ Branch 7 taken 27 times. ✓ Branch 10 taken 27 times. ✗ Branch 12 not taken. ✗ Branch 13 not taken.	54	device.CreateBuffer({.label = "pipeline detector"}, std::vector<DetectorRecord>{detector});
294		27	RenderTables tables{};
295	1/1 ✓ Branch 1 taken 27 times.	27	tables.cameras.address = cameras->Address();
296		27	tables.detectors.address = detectors->Address();
297		27	const Ref<device::Buffer> tableBuffer =
298	4/6 ✓ Branch 1 taken 27 times. ✓ Branch 4 taken 27 times. ✓ Branch 7 taken 27 times. ✓ Branch 10 taken 27 times. ✗ Branch 12 not taken. ✗ Branch 13 not taken.	54	device.CreateBuffer({.label = "pipeline tables"}, std::vector<RenderTables>{tables});
299		27	const Ref<device::Buffer> valueBuffer =
300	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 4 taken 27 times.	27	device.CreateBuffer({.label = "pipeline values"}, slots);
301		27	const Ref<device::Buffer> captureBuffer =
302	2/2 ✓ Branch 1 taken 27 times. ✓ Branch 4 taken 27 times.	27	device.CreateBuffer({.label = "pipeline captures"}, records);
303		27	const SensorPipelineParams params{.tables = {tableBuffer->Address()},
304		27	.captures = {captureBuffer->Address()},
305		27	.values = {valueBuffer->Address()},
306			.elementCount = elements,
307		27	.captureCount = uint32_t(captures)};
308	1/1 ✓ Branch 1 taken 27 times.	27	device::CommandEncoder encoder = device.GetQueue().CreateEncoder();
309	1/1 ✓ Branch 1 taken 27 times.	27	RecordSensorPipeline(encoder, *m_state->compiled, params, uint32_t(captures), elements);
310	3/3 ✓ Branch 1 taken 27 times. ✓ Branch 4 taken 27 times. ✓ Branch 7 taken 27 times.	27	device.GetQueue().Submit(encoder.Finish()).Wait();
311
312		27	SensorPipelineOutputs outputs;
313	2/2 ✓ Branch 0 taken 28 times. ✓ Branch 1 taken 27 times.	55	for (uint32_t output = 0; output < instance.outputs.size(); ++output) {
314	1/1 ✓ Branch 1 taken 28 times.	28	outputs.emplace(instance.outputs[output].name, tensors[storedCount + output]);
315			}
316		27	return outputs;
317		618	}
318
319		10	SensorPipelineOutputs SensorPipelineSession::Run(SensorPipelineRunDesc desc) {
320		10	desc.capture = m_captures++;
321		10	return m_pipeline.Run(desc, m_state);
322			}
323
324			}
325