Fixing and adding test for PerceptionCamera OnDisable exception and exceptions on entering playmode.

com.unity.perception/Runtime/GroundTruth/PerceptionCamera.cs

         {
             if (camera != GetComponent<Camera>())
                 return;
+#if UNITY_EDITOR
+            if (UnityEditor.EditorApplication.isPaused)
+                return;
+#endif
             ReportAsyncAnnotations();
             CaptureRgbData(camera);
         }
 
             if (m_RenderedObjectInfoGenerator != null)
             {
-                World.DefaultGameObjectInjectionWorld.GetExistingSystem<GroundTruthLabelSetupSystem>().Deactivate(m_RenderedObjectInfoGenerator);
+                World.DefaultGameObjectInjectionWorld?.GetExistingSystem<GroundTruthLabelSetupSystem>()?.Deactivate(m_RenderedObjectInfoGenerator);
                 m_RenderedObjectInfoGenerator?.Dispose();
                 m_RenderedObjectInfoGenerator = null;
             }

com.unity.perception/Tests/Editor/Unity.Perception.Editor.Tests.asmdef

         "Unity.Mathematics",
         "Unity.Perception.Editor",
         "Unity.Collections",
-        "Unity.Entities"
+        "Unity.Entities",
+        "Unity.Simulation.Core"
     ],
     "includePlatforms": [
         "Editor"
     ],
     "versionDefines": [],
     "noEngineReferences": false
-}
+}

com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.IO;
+using NUnit.Framework;
+using Unity.Collections;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using UnityEngine;
+using UnityEngine.Perception;
+using UnityEngine.Perception.Sensors;
+using UnityEngine.TestTools;
+
+namespace EditorTests
+{
+    [TestFixture]
+    public class PerceptionCameraEditorTests
+    {
+        [UnityTest]
+        public IEnumerator EditorPause_DoesNotLogErrors()
+        {
+            int sceneCount = EditorSceneManager.sceneCount;
+            for (int i = sceneCount - 1; i >= 0; i--)
+            {
+                EditorSceneManager.CloseScene(EditorSceneManager.GetSceneAt(i), true);
+            }
+
+            EditorSceneManager.NewScene(NewSceneSetup.EmptyScene);
+            SetupCamera(ScriptableObject.CreateInstance<LabelingConfiguration>());
+            yield return new EnterPlayMode();
+            var expectedFirstFrame = Time.frameCount;
+            yield return null;
+            EditorApplication.isPaused = true;
+            yield return null;
+            yield return null;
+            yield return null;
+            yield return null;
+            EditorApplication.isPaused = false;
+            var expectedLastFrame = Time.frameCount;
+            yield return null;
+
+            SimulationManager.ResetSimulation();
+
+            var capturesPath = Path.Combine(SimulationManager.OutputDirectory, "captures_000.json");
+            var capturesJson = File.ReadAllText(capturesPath);
+            for (int iFrameCount = expectedFirstFrame; iFrameCount <= expectedLastFrame; iFrameCount++)
+            {
+                var imagePath = Path.Combine(PerceptionCamera.RgbDirectory, $"rgb_{iFrameCount}").Replace(@"\", @"\\");
+                StringAssert.Contains(imagePath, capturesJson);
+            }
+
+            yield return new ExitPlayMode();
+        }
+
+        static GameObject SetupCamera(LabelingConfiguration labelingConfiguration)
+        {
+            var cameraObject = new GameObject();
+            cameraObject.SetActive(false);
+            var camera = cameraObject.AddComponent<Camera>();
+            camera.orthographic = true;
+            camera.orthographicSize = 1;
+
+            var perceptionCamera = cameraObject.AddComponent<PerceptionCamera>();
+            perceptionCamera.LabelingConfiguration = labelingConfiguration;
+            perceptionCamera.captureRgbImages = true;
+            perceptionCamera.produceBoundingBoxAnnotations = true;
+            perceptionCamera.produceObjectCountAnnotations = true;
+
+            cameraObject.SetActive(true);
+            return cameraObject;
+        }
+    }
+}

com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs.meta

+fileFormatVersion: 2
+guid: 6efa744f46fc41e8aa4296d99f4c66c9
+timeCreated: 1587395248