Apply object scale even when using the global occlusion distance.

4 年前 · 7cf3431c
--- a/TestProjects/PerceptionHDRP/Assets/Prefabs/KeypointCube.prefab
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--- a/TestProjects/PerceptionHDRP/Assets/Scenes/PoseSample.unity
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--- a/TestProjects/PerceptionURP/Assets/Prefabs/KeypointCube.prefab
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--- a/TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity
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--- a/TestProjects/PerceptionURP/ProjectSettings/EditorBuildSettings.asset
+++ b/TestProjects/PerceptionURP/ProjectSettings/EditorBuildSettings.asset
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  m_ObjectHideFlags: 0
  serializedVersion: 2
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+  m_Scenes:
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  m_configObjects: {}
--- a/TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset
+++ b/TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset
    skinWeights: 2
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    anisotropicTextures: 1
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--- a/com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs
+++ b/com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs
                    float jointSelfOcclusionDistance;
                    var jointTransform = joint.transform;
                    var jointPosition = jointTransform.position;
-                    if (joint.selfOcclusionDistanceSource == SelfOcclusionDistanceSource.JointLabel)
+                    float resolvedSelfOcclusionDistance;
+                    switch (joint.selfOcclusionDistanceSource)
-                        //apply the scale of the object to the normalized ray from the object to the camera to compute
-                        //the actual self-occlusion distance
+                        case SelfOcclusionDistanceSource.JointLabel:
+                            resolvedSelfOcclusionDistance = joint.selfOcclusionDistance;
+                            break;
+                        case SelfOcclusionDistanceSource.KeypointLabeler:
+                            resolvedSelfOcclusionDistance = selfOcclusionDistance;
+                            break;
+                        default:
+                            throw new NotImplementedException("Invalid SelfOcclusionDistanceSource");
+                    }
-                        var depthOfJoint = Vector3.Dot(jointPosition - cameraPosition, cameraforward);
-                        var cameraEffectivePosition = jointPosition + (-cameraforward * depthOfJoint);
+                    var depthOfJoint = Vector3.Dot(jointPosition - cameraPosition, cameraforward);
+                    var cameraEffectivePosition = jointPosition - cameraforward * depthOfJoint;
-                        var jointRelativeCameraPosition = jointTransform.InverseTransformPoint(cameraEffectivePosition);
-                        var jointRelativeCheckPosition = jointRelativeCameraPosition.normalized * joint.selfOcclusionDistance;
-                        var worldSpaceCheckVector = jointTransform.TransformVector(jointRelativeCheckPosition);
-                        jointSelfOcclusionDistance = worldSpaceCheckVector.magnitude;
-                    }
-                    else
-                        jointSelfOcclusionDistance = selfOcclusionDistance;
+                    var jointRelativeCameraPosition = jointTransform.InverseTransformPoint(cameraEffectivePosition);
+                    var jointRelativeCheckPosition = jointRelativeCameraPosition.normalized * resolvedSelfOcclusionDistance;
+                    var worldSpaceCheckVector = jointTransform.TransformVector(jointRelativeCheckPosition);
+                    jointSelfOcclusionDistance = worldSpaceCheckVector.magnitude;

                    InitKeypoint(jointPosition, cachedData, checkLocationsSlice, idx, jointSelfOcclusionDistance);
                }
--- a/com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs
+++ b/com.unity.perception/Tests/Runtime/GroundTruthTests/KeypointGroundTruthTests.cs
                0.2f,
                0.3f,
                60f,
-                false);
+                true);
            yield return (
                CheckDistanceType.Global,
                Vector3.zero,
                0.3f,
                60f,
-                false);
+                true);
            yield return (
                CheckDistanceType.JointLabel,
                Vector3.zero,