Merge branch 'main' of https://github.cds.internal.unity3d.com/unity/com.unity.perception into fix_multi_cam

.github/pull_request_template.md

 **At Risk Areas**: 
 
 ## Checklist
-- [ ] - Updated docs
-- [ ] - Updated changelog
-- [ ] - Updated test rail
+- [ ] Updated docs
+- [ ] Updated changelog
+- [ ] Updated test rail

.yamato/environments.yml

 
 upmci_registry: https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
 
-# sticking to 2019.4.6f1 for testing for now because Linux Editor fails to open PerceptionHDRP on 2019.4.8f1
-# see https://fogbugz.unity3d.com/default.asp?1273518_d68j5lb6eucglb84
-#   - version: 2019.4.18f1
-  - version: 2020.3.17f1
+  - version: 2020.3.19f1
+  - version: 2021.1.23f1
-#   - version: 2019.4.18f1
-  - version: 2020.3.17f1
+  - version: 2020.3.19f1
+  - version: 2021.1.23f1
-#   - version: 2019.4.18f1
-  - version: 2020.3.17f1
+  - version: 2020.3.19f1
+  - version: 2021.1.23f1
-#  - version: 2019.4.18f1
-  - version: 2020.3.17f1
+  - version: 2020.3.19f1
+  - version: 2021.1.23f1
 
 publish_platforms:
   - name: win

README.md

 
 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md)
 
-<img src="https://img.shields.io/badge/unity-2019.4-green.svg?style=flat-square" alt="unity 2019.4">
-<img src="https://img.shields.io/badge/unity-2020.2-green.svg?style=flat-square" alt="unity 2020.3">
+<img src="https://img.shields.io/badge/unity-2020.3-green.svg?style=flat-square" alt="unity 2020.3">
+<img src="https://img.shields.io/badge/unity-2021.2-green.svg?style=flat-square" alt="unity 2021.2">
 
 > `com.unity.perception` is in active development. Its features and API are subject to significant change as development progresses.
 
 * To allow navigating to code in all packages included in your project, in your Unity Editor, navigate to `Edit -> Preferences... -> External Tools` and check `Generate all .csproj files.` 
 
 ## Known issues
-
-* The Linux Editor 2019.4.7f1 and 2019.4.8f1 might hang when importing HDRP-based Perception projects. For Linux Editor support, use 2019.4.6f1 or 2020.1
+* The Linux Editor 2019.4.7f1 and 2019.4.8f1 might hang when importing HDRP-based Perception projects. For Linux Editor support, use 2019.4.6f1 or 2020.1.
+* Projects that use the Perception package on Windows or OS X will have a dependency for Python for Unity added to their manifest, in order for the new Dataset Visualizer tool to work. This tool and Python for Unity are not supported on Linux, therefore this dependency should be removed from the project's manifest file if the project is saved on Windows or OSX and opened on Linux.
 
 ## License
 * [License](com.unity.perception/LICENSE.md)

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TestProjects/PerceptionHDRP/Packages/manifest.json

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TestProjects/PerceptionURP/Assets/Scenes/PoseSample.unity

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TestProjects/PerceptionURP/Packages/packages-lock.json

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TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt

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

 
         static PerceptionCamera s_VisualizedPerceptionCamera;
 
+        /// <summary>
+        /// The number of capture-able frames that have been generated
+        /// </summary>
+#if UNITY_EDITOR
+        public static int captureFrameCount => Time.frameCount - 2;
+#else
+        public static int captureFrameCount => Time.frameCount - 1;
+#endif
+
         //TODO: Remove the Guid path when we have proper dataset merging in Unity Simulation and Thea
         internal string rgbDirectory { get; } = $"RGB{Guid.NewGuid()}";
         internal HUDPanel hudPanel;
         Ego m_EgoMarker;
         SensorHandle m_SensorHandle;
         Vector2 m_ScrollPosition;
+
+        internal Action<AsyncRequest<CaptureCamera.CaptureState>> RgbCaptureReadback = null;
 
 #if URP_PRESENT
         // only used to confirm that GroundTruthRendererFeature is present in URP
                 }
             };
 
+            AsyncRequest<CaptureCamera.CaptureState> request;
-            CaptureCamera.Capture(cam, colorFunctor, forceFlip: ForceFlip.None);
+            request = CaptureCamera.Capture(cam, colorFunctor, forceFlip: ForceFlip.None);
-            CaptureCamera.Capture(cam, colorFunctor, flipY: flipY);
+            request = CaptureCamera.Capture(cam, colorFunctor, flipY: flipY);
+            RgbCaptureReadback?.Invoke(request);
 
             Profiler.EndSample();
         }

com.unity.perception/Runtime/Randomization/Scenarios/PerceptionScenario.cs

         /// </summary>
         MetricDefinition m_IterationMetricDefinition;
 
-        /// <summary>
-        /// The scriptable render pipeline hook used to capture perception data skips the first frame of the simulation
-        /// when running locally, so this flag is used to track whether the first frame has been skipped yet.
-        /// </summary>
-        protected bool m_SkippedFirstFrame;
-
-        protected override bool isScenarioReadyToStart
-        {
-            get
-            {
-                if (!m_SkippedFirstFrame)
-                {
-                    m_SkippedFirstFrame = true;
-                    return false;
-                }
-                return true;
-            }
-        }
+        protected override bool isScenarioReadyToStart => PerceptionCamera.captureFrameCount >= 0;
 
         /// <inheritdoc/>
         protected override void OnAwake()

com.unity.perception/Runtime/Randomization/Scenarios/UnitySimulationScenario.cs

     public abstract class UnitySimulationScenario<T> : PerceptionScenario<T>
         where T : UnitySimulationScenarioConstants, new()
     {
-        /// <inheritdoc/>
-        protected override bool isScenarioReadyToStart
-        {
-            get
-            {
-                if (!Configuration.Instance.IsSimulationRunningInCloud() && !m_SkippedFirstFrame)
-                {
-                    m_SkippedFirstFrame = true;
-                    return false;
-                }
-                return true;
-            }
-        }
 
         /// <inheritdoc/>
         protected sealed override bool isScenarioComplete => currentIteration >= constants.totalIterations;

com.unity.perception/Tests/Runtime/Randomization/RandomizerTests/RandomizerTests.cs

 using System.Collections;
 using NUnit.Framework;
+using RandomizationTests.ScenarioTests;
+using UnityEngine.Perception.GroundTruth;
+using UnityEngine.Perception.Randomization.Randomizers;
 using UnityEngine.Perception.Randomization.Scenarios;
 using UnityEngine.TestTools;
 
         }
 
         // TODO: update this function once the perception camera doesn't skip the first frame
-        IEnumerator CreateNewScenario(int totalIterations, int framesPerIteration)
+        IEnumerator CreateNewScenario(int totalIterations, int framesPerIteration, Randomizer[] randomizers = null)
-            yield return null; // Skip first frame
+
+            if (randomizers != null)
+            {
+                foreach (var rnd in randomizers)
+                {
+                    m_Scenario.AddRandomizer(rnd);
+                }
+            }
+
+            if (PerceptionCamera.captureFrameCount < 0)
+            {
+                yield return null;
+            }
         }
 
         [Test]
         [UnityTest]
         public IEnumerator OnUpdateExecutesEveryFrame()
         {
-            yield return CreateNewScenario(10, 1);
-            m_Scenario.AddRandomizer(new ExampleTransformRandomizer());
+            yield return CreateNewScenario(10, 1, new Randomizer[] { new ExampleTransformRandomizer() });
             var transform = m_TestObject.transform;
             var initialPosition = Vector3.zero;
             transform.position = initialPosition;
         [UnityTest]
         public IEnumerator OnIterationStartExecutesEveryIteration()
         {
-            yield return CreateNewScenario(10, 2);
-            m_Scenario.AddRandomizer(new ExampleTransformRandomizer());
+            yield return CreateNewScenario(10, 2, new Randomizer[] { new ExampleTransformRandomizer() });
+
+            // Wait one frame so the next iteration can begin
+            yield return null;
 
             yield return null;
             Assert.AreNotEqual(initialRotation, transform.rotation);

com.unity.perception/Tests/Runtime/Randomization/ScenarioTests/ScenarioTests.cs

                 }
             }
 
-            yield return null; // Skip first frame
-            yield return null; // Skip first Update() frame
+            if (PerceptionCamera.captureFrameCount < 0)
+            {
+                yield return null;
+            }
         }
 
         [Test]

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

         "Unity.Perception.Runtime",
         "Unity.Perception.Editor",
         "Unity.Simulation.Core",
+        "Unity.Simulation.Capture",
         "Unity.RenderPipelines.HighDefinition.Runtime",
         "Unity.RenderPipelines.Universal.Runtime"
     ],
         }
     ],
     "noEngineReferences": false
-}
+}

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com.unity.perception/Tests/Runtime/GroundTruthTests/RgbOutputTests.cs

+using System;
+using System.Collections;
+using NUnit.Framework;
+using Unity.Simulation;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+using UnityEngine.Rendering;
+using UnityEngine.TestTools;
+#if URP_PRESENT
+using UnityEngine.Rendering.Universal;
+#endif
+#if HDRP_PRESENT
+using UnityEngine.Rendering.HighDefinition;
+#endif
+
+namespace GroundTruthTests.RgbOutputTests
+{
+    public abstract class RgbOutputTestBase : GroundTruthTestBase
+    {
+        internal static readonly Color32 clearPixelValue = new Color32(0, 0, 0, 0);
+        internal PerceptionCamera perceptionCamera;
+
+        [UnityTearDown]
+        public IEnumerator Teardown()
+        {
+            base.TearDown();
+            yield return new WaitForSeconds(2f);
+        }
+
+        internal IEnumerator GenerateRgbOutputAndValidateData(
+            Action<AsyncRequest<CaptureCamera.CaptureState>> validator = null
+        )
+        {
+            // Setup the readback
+            AsyncRequest<CaptureCamera.CaptureState> captureState = null;
+
+            void RgbCaptureReadback(AsyncRequest<CaptureCamera.CaptureState> request)
+            {
+                captureState = request;
+            }
+
+            perceptionCamera.RgbCaptureReadback += RgbCaptureReadback;
+
+            // Initialize camera and request a frame for readback
+            perceptionCamera.RequestCapture();
+            yield return null;
+
+            // perceptionCamera.RgbCaptureReadback -= RgbCaptureReadback;
+
+            // Preliminary check on capture
+            Assert.IsTrue(captureState.error == false, "Capture Request had an error.");
+
+            // Custom validation of the readback data
+            validator?.Invoke(captureState);
+        }
+
+        internal static int ImageToColorDistance(Color32 exemplar, byte[] inputs, int deviation)
+        {
+            var numItems = ArrayUtilities.Count(inputs);
+            var count = 0;
+            for (var i = 0; i < numItems; i += 4)
+            {
+                Color32 c;
+                c.r = inputs[i + 0];
+                c.g = inputs[i + 1];
+                c.b = inputs[i + 2];
+                c.a = inputs[i + 3];
+                var redDelta = Math.Abs(exemplar.r - c.r);
+                var greenDelta = Math.Abs(exemplar.g - c.g);
+                var blueDelta = Math.Abs(exemplar.b - c.b);
+                var alphaDelta = Math.Abs(exemplar.a - c.a);
+                if (redDelta > deviation || greenDelta > deviation || blueDelta > deviation || alphaDelta > deviation)
+                    ++count;
+            }
+
+            return count;
+        }
+    }
+
+#if URP_PRESENT
+    public class UrpRgbOutputTests : RgbOutputTestBase
+    {
+        static UniversalRenderPipelineAsset urpAsset => GraphicsSettings.currentRenderPipeline as UniversalRenderPipelineAsset;
+
+        // Initial Project Settings
+        static int s_InitialMsaaSampleCount;
+
+        [OneTimeSetUp]
+        public void OneTimeSetup()
+        {
+            s_InitialMsaaSampleCount = urpAsset.msaaSampleCount;
+        }
+        [UnityTearDown]
+        public IEnumerator UrpTeardown()
+        {
+            base.TearDown();
+
+            // Reset project settings
+            urpAsset.msaaSampleCount = s_InitialMsaaSampleCount;
+
+            DatasetCapture.ResetSimulation();
+            yield return null;
+        }
+
+        #region MSAA Test
+        static MsaaQuality[] s_MSAAVariations = {
+            MsaaQuality.Disabled,
+            MsaaQuality._2x,
+            MsaaQuality._8x
+        };
+        [UnityTest]
+        public IEnumerator RgbOutput_MsaaVariation_IsNotEmpty(
+            [ValueSource(nameof(s_MSAAVariations))]
+            MsaaQuality msaa
+        )
+        {
+            // Setup the camera and scene
+            var camera = SetupCamera((cam =>
+            {
+                cam.captureRgbImages = true;
+                cam.captureTriggerMode = CaptureTriggerMode.Manual;
+                perceptionCamera = cam;
+
+                // Change the MSAA Graphics setting
+                urpAsset.msaaSampleCount = (int)msaa;
+            }));
+            AddTestObjectForCleanup(camera);
+            AddTestObjectForCleanup(TestHelper.CreateLabeledCube());
+
+            // Validate RGB output image by checking if its empty
+            yield return GenerateRgbOutputAndValidateData(
+                validator: (captureState) =>
+                {
+                    // Check if color buffer is all zeros
+                    var colorBuffer = ArrayUtilities.Cast<byte>(captureState.data.colorBuffer as Array);
+                    var imageToColorDistance = ImageToColorDistance(clearPixelValue, colorBuffer, 0);
+                    Assert.IsFalse(imageToColorDistance == 0, $"[URP] RGB Output was empty for MSAA (${msaa.ToString()})");
+                }
+            );
+        }
+        #endregion
+    }
+#endif
+
+#if HDRP_PRESENT
+    public class HdrpRgbOutputTests : RgbOutputTestBase
+    {
+        static HDRenderPipelineAsset urpAsset => GraphicsSettings.currentRenderPipeline as HDRenderPipelineAsset;
+
+        // Initial Project Settings
+
+        [OneTimeSetUp]
+        public void OneTimeSetup()
+        {
+
+        }
+        [UnityTearDown]
+        public IEnumerator UrpTeardown()
+        {
+            base.TearDown();
+
+            // Reset project settings
+
+            DatasetCapture.ResetSimulation();
+            yield return null;
+        }
+
+        #region Blank Image Test
+
+        [UnityTest]
+        public IEnumerator RgbOutput_DefaultProjectSettings_IsNotEmpty()
+        {
+            // Setup the camera and scene
+            var camera = SetupCamera((cam =>
+            {
+                cam.captureRgbImages = true;
+                cam.captureTriggerMode = CaptureTriggerMode.Manual;
+                perceptionCamera = cam;
+            }));
+            AddTestObjectForCleanup(camera);
+            AddTestObjectForCleanup(TestHelper.CreateLabeledCube());
+
+            // Validate RGB output image by checking if its empty
+            yield return GenerateRgbOutputAndValidateData(
+                validator: (captureState) =>
+                {
+                    // Check if color buffer is all zeros
+                    var colorBuffer = ArrayUtilities.Cast<byte>(captureState.data.colorBuffer as Array);
+                    var imageToColorDistance = ImageToColorDistance(clearPixelValue, colorBuffer, 0);
+                    Assert.IsFalse(imageToColorDistance == 0, $"[HDRP] RGB Output was empty for default project settings.");
+                }
+            );
+        }
+        #endregion
+    }
+#endif
+
+}

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