Adding gizmos for keypoints

TestProjects/PerceptionURP/Assets/Prefabs/KeypointCube.prefab

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com.unity.perception/Runtime/GroundTruth/Labelers/JointLabel.cs

 using System;
 using System.Collections.Generic;
+using System.Linq;
 using UnityEngine;
 using UnityEngine.Serialization;
 
     [Serializable]
     public class JointLabel : MonoBehaviour, ISerializationCallbackReceiver
     {
+        private static PerceptionCamera singlePerceptionCamera = null;
+
         /// <summary>
         /// Maps this joint to a joint in a <see cref="KeypointTemplate"/>
         /// </summary>
 
                 templateInformation = null;
             }
+        }
+
+        private void OnDrawGizmos()
+        {
+            Gizmos.DrawIcon(transform.position, "Packages/com.unity.perception/Editor/Icons/Keypoint.png", false);
+        }
+        private void OnDrawGizmosSelected()
+        {
+            if (singlePerceptionCamera == null)
+            {
+                singlePerceptionCamera = FindObjectOfType<PerceptionCamera>();
+            }
+            float occlusionDistance;
+            switch (selfOcclusionDistanceSource)
+            {
+                case SelfOcclusionDistanceSource.JointLabel:
+                    occlusionDistance = selfOcclusionDistance;
+                    break;
+                case SelfOcclusionDistanceSource.KeypointLabeler:
+                    if (singlePerceptionCamera == null)
+                    {
+                        occlusionDistance = KeypointLabeler.defaultSelfOcclusionDistance;
+                    }
+                    else
+                    {
+                        var keypointLabeler = (KeypointLabeler) singlePerceptionCamera.labelers.FirstOrDefault(l => l is KeypointLabeler);
+                        if (keypointLabeler == null)
+                            occlusionDistance = KeypointLabeler.defaultSelfOcclusionDistance;
+                        else
+                            occlusionDistance = keypointLabeler.selfOcclusionDistance;
+                    }
+                    break;
+                default:
+                    throw new InvalidOperationException("Invalid SelfOcclusionDistanceSource");
+            }
+
+            Gizmos.color = /*Color.green;*/new Color(1, 1, 1, .5f);
+            Gizmos.DrawWireSphere(transform.position, occlusionDistance);
         }
     }
 }

com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs

     [Serializable]
     public sealed class KeypointLabeler : CameraLabeler
     {
+        internal const float defaultSelfOcclusionDistance = 0.15f;
+
         /// <summary>
         /// The active keypoint template. Required to annotate keypoint data.
         /// </summary>
         /// <summary>
         /// The max distance a keypoint can be from the front of an object before it is considered occluded
         /// </summary>
-        public float selfOcclusionDistance = 0.15f;
+        public float selfOcclusionDistance = defaultSelfOcclusionDistance;
         // ReSharper restore MemberCanBePrivate.Global
 
         AnnotationDefinition m_AnnotationDefinition;

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