Keypoint self occlusion (#351)

* WIP self-occlusion checks.

* More updates for self-occlusion

* Almost working using compute shaders. Need to switch to regular rendering now.

* Kind of working!

* Ok, officially working now

* Adding some tests for self-occlusion. Some fixes in KeypointLabeler

* Fix issues with orthographic views and points close to far plane

* Fixing remainder of tests.

* Removing comments

* Fixing issues in URP with orthographic view

* Updating JointLabel

* Updating JointLabel to include self-occlusion distance and drop the reference to the keypoint label config

* Adding gizmos for keypoints

* Adding and fixing remainder of tests.

* Fixing various bugs in keypoint self occlusion, including (hopefully) properly supporting player builds

* Fixing issues with large numbers of keypoints.

* Fixing issue with resizing buffers

* Add search for non-background pixel to keypoint depth check. Not perfect, but catches a few edg...

.yamato/environments.yml

 # 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
 coverage_editors:
-  - version: 2019.4.18f1
+#   - version: 2019.4.18f1
+  - version: 2020.3.17f1
-  - version: 2019.4.18f1
-#  - version: 2020.1.15f1
+#   - version: 2019.4.18f1
+  - version: 2020.3.17f1
-  - version: 2019.4.18f1
-#  - version: 2020.1.3f1
+#   - version: 2019.4.18f1
+  - version: 2020.3.17f1
-  - version: 2019.4.18f1
-#  - version: 2020.1.15f1
-#  - version: 2020.2.0a21
+#  - version: 2019.4.18f1
+  - version: 2020.3.17f1
 
 publish_platforms:
   - name: win

.yamato/upm-ci-testprojects.yml

     - pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
     - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
     {% if suite.name == "standalone" %}
-    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}StandaloneWindows64
+    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --category=!Performance --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}StandaloneWindows64
-    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}
+    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --category=!Performance --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}
     {% endif %}
   artifacts:
     logs:
   commands:
     - git submodule update --init --recursive
     - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
-    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform editmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
-    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform playmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
+    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform editmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results --category=!Performance -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
+    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform playmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results --category=!Performance -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
   #  - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;
   artifacts:
     logs:
     - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
     - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
     {% if suite.name == "standalone" %}
-    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-vulkan" {{suite.args}}StandaloneLinux64
+    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --category=!Performance --extra-editor-arg="--force-vulkan" {{suite.args}}StandaloneLinux64
-    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal  --extra-editor-arg="--force-vulkan" {{suite.args}}
+    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --category=!Performance  --extra-editor-arg="--force-vulkan" {{suite.args}}
     {% endif %}
   artifacts:
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TestProjects/PerceptionHDRP/Packages/manifest.json

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TestProjects/PerceptionHDRP/Packages/packages-lock.json

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TestProjects/PerceptionHDRP/ProjectSettings/EditorBuildSettings.asset

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TestProjects/PerceptionHDRP/ProjectSettings/EditorSettings.asset

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TestProjects/PerceptionHDRP/ProjectSettings/GraphicsSettings.asset

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TestProjects/PerceptionHDRP/ProjectSettings/HDRPProjectSettings.asset

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TestProjects/PerceptionHDRP/ProjectSettings/PackageManagerSettings.asset

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TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt

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TestProjects/PerceptionHDRP/ProjectSettings/QualitySettings.asset

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TestProjects/PerceptionHDRP/ProjectSettings/UnityConnectSettings.asset

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com.unity.perception/CHANGELOG.md

 
 Added random seed field to the Run in Unity Simulation Window.
 
+Added support for keypoint self occlusion.
+
+Added the ability to adjust keypoint self occlusion tolerance per keypoint in keypoint template file.
+
+Added the ability to adjust keypoint self occlusion tolerance on a user defined joint using the joint label.
+
+Added a Keypoint Occlusion Override component which allows a user to universally scale all of the keypoint tolerances for a model.
+
 ### Changed
 
 Increased color variety in instance segmentation images.

com.unity.perception/Documentation~/GroundTruth/KeypointLabeler.md

 
 The `state` entry has three possible values: 
 * 0 - the keypoint either does not exist or is outside of the image's bounds
-* 1 - the keypoint exists inside of the image bounds but cannot be seen because the object is not visible at its location in the image
-* 2 - the keypoint exists and the object is visible at its location
+* 1 - the keypoint is defined and inside of the image's bounds but is occluded
+* 2 - the keypoint exists and is visible at its location
 
 The annotation definition, captured by the Keypoint Labeler once in each dataset, describes points being captured and their skeletal connections. These are defined by the [Keypoint Template](#KeypointTemplate).
 ```
 
 For a tutorial on setting up your project for keypoint labeling, see the [Human Pose Labeling and Randomization Tutorial](../HPTutorial/TUTORIAL.md).
 
+## Keypoint Self Occlusion
+A keypoint will be considered not visible if it outside of the camera's view, the camera cannot see it because
+another object is occluding it (in between the camera and the keypoint), or another part of its own model is occluding it (for
+example a human model's arm is raised and blocking its face from view). The keypoint is a point in space generally internal
+to the model, for example the elbow joint is in the center of the arm volume. Each keypoint has a self occlusion distance value
+which provides depth to the keypoint. The keypoint distance can be assigned or modified via three different methods: 
+1) The unique distance can be defined to all keypoints defined in the keypoint template.
+2) The occlusion distance for a particular keypont can be modified using a Joint Label component on a game object. If a Joint Label
+is associated to a keypoint, the self occlusion service will use that value instead of the value found in the keypoint template file.
+3) All of the keypoint distances in a model can be scaled for a model using the KeypointOcclusionOverrides component. The distanceScale will
+applied to all of the keypoints for that model, a value of 1.0 means that the values are not modified.
+
+If a keypoiant is occluded by the mesh that it is residing in, then this value is added to keypoint location to see if that 
+location is now closer than the mesh which is occluding the object. If it is then the keypoint will be marked as visible, 
+if it is not, then the keypoint will be marked as not visible. In the case of the elbow, the distance should be enough that 
+it is not blocked by the volume of the arm.  
+
 ## Keypoint Template
 
 Keypoint Templates are used to define the keypoints and skeletal connections captured by the Keypoint Labeler. The Keypoint Template takes advantage of Unity's humanoid animation rig, and allows the user to automatically associate template keypoints to animation rig joints. Additionally, the user can choose to ignore the rigged points, or add points not defined in the rig.
 <br/>_Keypoint section of the keypoint template_
 
 The keypoint section allows the user to create/edit keypoints and associate them with Unity animation rig points. Each keypoint record
-has 4 fields: label (the name of the keypoint), Associate to Rig (a boolean value which, if true, automatically maps the keypoint to
+has 5 fields: label (the name of the keypoint), Associate to Rig (a boolean value which, if true, automatically maps the keypoint to
-the keypoint), and Color (RGB color value of the keypoint in the visualization).
+the keypoint), Color (RGB color value of the keypoint in the visualization), and Self Occlusion Distance (length to use to determine if a 
+keypoint is not occluded by itself).
 
 ![Skeleton section of the keypoint template](../images/keypoint_template_skeleton.png)
 <br/>_Skeleton section of the keypoint template_

com.unity.perception/Editor/GroundTruth/JointLabelEditor.cs

 namespace UnityEditor.Perception.GroundTruth
 {
     [CustomEditor(typeof(JointLabel))]
+    [CanEditMultipleObjects]
     public class JointLabelEditor : Editor
     {
         public override void OnInspectorGUI()

com.unity.perception/Runtime/GroundTruth/Labelers/CocoKeypointTemplate.asset

   m_Script: {fileID: 11500000, guid: 37a7d6f1a40c45a2981a6291f0d03337, type: 3}
   m_Name: CocoKeypointTemplate
   m_EditorClassIdentifier: 
+  templateID: 4a7b253a-334e-460c-bc81-3f4e2c4871c0
   templateName: Coco
   jointTexture: {fileID: 2800000, guid: e381cbaaf29614168bafc8f7ec5dbfe9, type: 3}
   skeletonTexture: {fileID: 2800000, guid: e381cbaaf29614168bafc8f7ec5dbfe9, type: 3}
     rigLabel: 0
     color: {r: 1, g: 0, b: 0, a: 1}
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.185
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.185
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.18
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.2
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.033
+    selfOcclusionDistance: 0.033
+    selfOcclusionDistance: 0.05
+    selfOcclusionDistance: 0.05
   skeleton:
   - joint1: 0
     joint2: 1

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

 using System;
 using System.Collections.Generic;
+using System.Linq;
+using UnityEditor;
+using UnityEngine.Serialization;
 
 namespace UnityEngine.Perception.GroundTruth
 {
+    ///
+    /// These label's can also be applied to the keypoints found in the <see cref="Avatar"/> to override the self
+    /// occlusion tolerance values defined in the <see cref="KeypointTemplate"/> file. The <see cref="KeypointTemplate"/>
+    /// defines the typical tolerances for a model, but certain models may need to have specific overrides on a keypoint
+    /// for the self occlusion to work properly.
-    public class JointLabel : MonoBehaviour
+    [Serializable]
+    public class JointLabel : MonoBehaviour, ISerializationCallbackReceiver
+        static PerceptionCamera s_SinglePerceptionCamera;
+
-        public class TemplateData
+        class TemplateData
-            /// The <see cref="KeypointTemplate"/> that defines this joint.
-            /// </summary>
-            public KeypointTemplate template;
-            /// <summary>
             /// The name of the joint.
             /// </summary>
             public string label;
         /// List of all of the templates that this joint can be mapped to.
         /// </summary>
-        public List<TemplateData> templateInformation;
+        [SerializeField]
+        [HideInInspector]
+        List<TemplateData> templateInformation;
+
+        /// <summary>
+        /// List of all of the templates that this joint can be mapped to.
+        /// </summary>
+        [SerializeField]
+        public List<string> labels = new List<string>();
+
+        /// <summary>
+        /// Whether <see cref="selfOcclusionDistance"/> should be used instead of the one specified in the <see cref="KeypointTemplate"/>.
+        /// </summary>
+        public bool overrideSelfOcclusionDistance = false;
+        /// <summary>
+        /// Whether <see cref="selfOcclusionDistance"/> should be used instead of the one specified in the <see cref="KeypointTemplate"/>.
+        /// </summary>
+        public float selfOcclusionDistance = .15f;
+
+        /// <summary>
+        /// Internal method for serialization.
+        /// </summary>
+        void ISerializationCallbackReceiver.OnBeforeSerialize()
+        {
+        }
+
+        /// <summary>
+        /// Internal method for serialization.
+        /// </summary>
+        void ISerializationCallbackReceiver.OnAfterDeserialize()
+        {
+            if (templateInformation != null)
+            {
+                foreach (var data in templateInformation)
+                {
+                    labels.Add(data.label);
+                }
+
+                templateInformation = null;
+            }
+        }
+
+        private void OnDrawGizmos()
+        {
+            Gizmos.DrawIcon(transform.position, "Packages/com.unity.perception/Editor/Icons/Keypoint.png", false);
+        }
+
+        private void OnDrawGizmosSelected()
+        {
+            if (s_SinglePerceptionCamera == null)
+            {
+                s_SinglePerceptionCamera = FindObjectOfType<PerceptionCamera>();
+            }
+
+            Mesh sphereMesh = null;
+#if UNITY_EDITOR
+            var defaultAssets = UnityEditor.AssetDatabase.LoadAllAssetsAtPath("Library/unity default resources");
+            sphereMesh = (Mesh) defaultAssets.FirstOrDefault(a => a.name == "Sphere");
+
+#endif
+            float occlusionDistance;
+            if (this.overrideSelfOcclusionDistance)
+            {
+                occlusionDistance = selfOcclusionDistance;
+            }
+            else
+            {
+                if (s_SinglePerceptionCamera == null)
+                {
+                    occlusionDistance = KeypointDefinition.defaultSelfOcclusionDistance;
+                }
+                else
+                {
+                    var keypointLabeler = (KeypointLabeler) s_SinglePerceptionCamera.labelers.FirstOrDefault(l => l is KeypointLabeler);
+                    var template = keypointLabeler?.activeTemplate;
+                    if (template == null)
+                        occlusionDistance = KeypointDefinition.defaultSelfOcclusionDistance;
+                    else
+                    {
+                        KeypointDefinition matchingKeypoint = null;
+                        foreach (var k in template.keypoints)
+                        {
+                            if (this.labels.Contains(k.label))
+                            {
+                                matchingKeypoint = k;
+                                break;
+                            }
+                        }
+
+                        if (matchingKeypoint == null)
+                            occlusionDistance = KeypointDefinition.defaultSelfOcclusionDistance;
+                        else
+                            occlusionDistance = matchingKeypoint.selfOcclusionDistance;
+                    }
+                }
+            }
+
+            var occlusionDistanceScale = transform.lossyScale * occlusionDistance;
+            Gizmos.color = new Color(1, 1, 1, .25f);
+            Gizmos.DrawMesh(sphereMesh, 0, transform.position, transform.rotation, occlusionDistanceScale * 2);
+        }
     }
 }

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

 using System.Linq;
 using Unity.Collections;
 using Unity.Mathematics;
+using Unity.Profiling;
+using Unity.Simulation;
+using UnityEngine.Experimental.Rendering;
 using UnityEngine.Rendering;
 
 namespace UnityEngine.Perception.GroundTruth
     /// <see cref="Animator"/> <seealso cref="Avatar"/>. Custom joints can be
     /// created by applying <see cref="JointLabel"/> to empty game objects at a body
     /// part's location.
+    ///
+    /// Keypoints are recorded by this labeler with a state value describing if they are present on the model,
+    /// present but not visible, or visible. A keypoint can be listed as not visible for three reasons: it is outside
+    /// of the camera's view frustum, it is occluded by another object in the scene, or it is occluded by itself, for
+    /// example a raised arm in front a model's face could occlude its eyes from being visible. To calculate self
+    /// occlusion values, the keypoint labeler uses tolerances per keypoint to determine if the keypoint is blocked.
+    /// The initial tolerance value for each keypoint is set per keypoint in the <see cref="KeypointTemplate"/> file.
+    /// The tolerance of a custom keypoints can be set with the <see cref="JointLabel"/> used to create the keypoint.
+    /// Finally, a <see cref="KeypointOcclusionOverrides"/> component be added to a model to apply a universal scaling
+    /// override to all of the keypoint tolerances defined in a keypoint template.
+        // Smaller texture sizes produce assertion failures in the engine
+        const int k_MinTextureWidth = 8;
+
+        static ProfilerMarker s_OnEndRenderingMarker = new ProfilerMarker($"KeypointLabeler OnEndRendering");
+        static ProfilerMarker s_OnVisualizeMarker = new ProfilerMarker($"KeypointLabeler OnVisualize");
+
         /// <summary>
         /// The active keypoint template. Required to annotate keypoint data.
         /// </summary>
 
         AnnotationDefinition m_AnnotationDefinition;
         Texture2D m_MissingTexture;
+        Material m_MaterialDepthCheck;
+        Texture2D m_KeypointPositionsTexture;
+        Texture2D m_KeypointCheckDepthTexture;
-        Dictionary<int, (AsyncAnnotation annotation, Dictionary<uint, KeypointEntry> keypoints)> m_AsyncAnnotations;
+        struct FrameKeypointData
+        {
+            public AsyncAnnotation annotation;
+            public int pointsPerEntry;
+            public List<KeypointEntry> keypoints;
+            public bool isDepthCheckComplete;
+            public bool isInstanceSegmentationCheckComplete;
+            public NativeArray<RenderedObjectInfo> objectInfos;
+        }
+
+        Dictionary<int, FrameKeypointData> m_FrameKeypointData;
+
         List<KeypointEntry> m_KeypointEntriesToReport;
 
         int m_CurrentFrame;
         /// </summary>
         public List<AnimationPoseConfig> animationPoseConfigs;
 
+        private ComputeShader m_KeypointDepthTestShader;
+        private RenderTexture m_ResultsBuffer;
+        private RenderTextureReader<Color32> m_DepthCheckReader;
 
 
         /// <inheritdoc/>
 
             m_KnownStatus = new Dictionary<uint, CachedData>();
 
-            m_AsyncAnnotations = new Dictionary<int, (AsyncAnnotation, Dictionary<uint, KeypointEntry>)>();
+            m_FrameKeypointData = new Dictionary<int, FrameKeypointData>();
+            m_KeypointDepthTestShader = (ComputeShader) Resources.Load("KeypointDepthTest");
+
+            var depthCheckShader = Shader.Find("Perception/KeypointDepthCheck");
+
+            var shaderVariantCollection = new ShaderVariantCollection();
+            m_MaterialDepthCheck = new Material(depthCheckShader);
+
+            shaderVariantCollection.Add(
+                new ShaderVariantCollection.ShaderVariant(depthCheckShader, PassType.ScriptableRenderPipeline));
+            shaderVariantCollection.WarmUp();
+
+            perceptionCamera.attachedCamera.depthTextureMode = DepthTextureMode.Depth;
+#if URP_PRESENT
+            var cameraData = UnityEngine.Rendering.Universal.CameraExtensions.GetUniversalAdditionalCameraData(perceptionCamera.attachedCamera);
+            cameraData.requiresDepthOption = UnityEngine.Rendering.Universal.CameraOverrideOption.On;
+            cameraData.requiresDepthTexture = true;
+#endif
+        void SetupDepthCheckBuffers(int size)
+        {
+            var textureDimensions = TextureDimensions(size);
+            if (m_ResultsBuffer != null &&
+                textureDimensions.x == m_ResultsBuffer.width &&
+                textureDimensions.y == m_ResultsBuffer.height)
+                return;
+
+
+            if (m_ResultsBuffer != null)
+            {
+                m_ResultsBuffer.Release();
+                m_DepthCheckReader.Dispose(false);
+            }
+
+            m_KeypointPositionsTexture = new Texture2D(textureDimensions.x, textureDimensions.y, GraphicsFormat.R16G16_SFloat, TextureCreationFlags.None);
+            m_KeypointCheckDepthTexture = new Texture2D(textureDimensions.x, textureDimensions.y, GraphicsFormat.R16_SFloat, TextureCreationFlags.None);
+
+            m_ResultsBuffer = new RenderTexture(textureDimensions.x, textureDimensions.y, 0, GraphicsFormat.R8G8B8A8_UNorm);
+            m_DepthCheckReader = new RenderTextureReader<Color32>(m_ResultsBuffer);
+        }
+
-        bool PixelOnScreen(int x, int y, (int x, int y) dimensions)
+        bool PixelOnScreen(int2 pixelLocation, (int x, int y) dimensions)
-            return x >= 0 && x < dimensions.x && y >= 0 && y < dimensions.y;
+            return pixelLocation.x >= 0 && pixelLocation.x < dimensions.x && pixelLocation.y >= 0 && pixelLocation.y < dimensions.y;
         }
 
         bool PixelsMatch(int x, int y, Color32 idColor, (int x, int y) dimensions, NativeArray<Color32> data)
         static int s_PixelTolerance = 1;
 
         // Determine the state of a keypoint. A keypoint is considered visible (state = 2) if it is on screen and not occluded
-        // by another object. The way that we determine if a point is occluded is by checking the pixel location of the keypoint
+        // by itself or another object. Self-occlusion has already been checked, so the input keypoint may be state 2, 1, or 0.
+        // We determine if a point is occluded by other objects is by checking the pixel location of the keypoint
-        // object is in front of the keypoint occluding it from view. An important note here is that the keypoint is an infintely small
+        // object is in front of the keypoint occluding it from view. An important note here is that the keypoint is an infinitely small
         // point in space, which can lead to false negatives due to rounding issues if the keypoint is on the edge of an object or very
         // close to the edge of the screen. Because of this we will test not only the keypoint pixel, but also the immediate surrounding
         // pixels  to determine if the pixel is really visible. This method returns 1 if the pixel is not visible but on screen, and 0
             if (keypoint.state == 0) return 0;
 
-            var centerX = Mathf.FloorToInt(keypoint.x);
-            var centerY = Mathf.FloorToInt(keypoint.y);
+            var pixelLocation = PixelLocationFromScreenPoint(keypoint);
-            if (!PixelOnScreen(centerX, centerY, dimensions))
+            if (!PixelOnScreen(pixelLocation, dimensions))
-            for (var y = centerY - s_PixelTolerance; y <= centerY + s_PixelTolerance; y++)
+            for (var y = pixelLocation.y - s_PixelTolerance; y <= pixelLocation.y + s_PixelTolerance; y++)
-                for (var x = centerX - s_PixelTolerance; x <= centerX + s_PixelTolerance; x++)
+                for (var x = pixelLocation.x - s_PixelTolerance; x <= pixelLocation.x + s_PixelTolerance; x++)
-                    if (!PixelOnScreen(x, y, dimensions)) continue;
+                    if (!PixelOnScreen(new int2(x, y), dimensions)) continue;
-                        return 2;
+                        return keypoint.state;
                     }
                 }
             }
 
+        private static int2 PixelLocationFromScreenPoint(Keypoint keypoint)
+        {
+            var centerX = Mathf.FloorToInt(keypoint.x);
+            var centerY = Mathf.FloorToInt(keypoint.y);
+            int2 pixelLocation = new int2(centerX, centerY);
+            return pixelLocation;
+        }
+
-            if (!m_AsyncAnnotations.TryGetValue(frameCount, out var asyncAnnotation))
+            if (!m_FrameKeypointData.TryGetValue(frameCount, out var frameKeypointData))
-            foreach (var keypointSet in asyncAnnotation.keypoints)
+            foreach (var keypointEntry in frameKeypointData.keypoints)
-                if (InstanceIdToColorMapping.TryGetColorFromInstanceId(keypointSet.Key, out var idColor))
+                if (InstanceIdToColorMapping.TryGetColorFromInstanceId(keypointEntry.instance_id, out var idColor))
-                    for (var i = 0; i < keypointSet.Value.keypoints.Length; i++)
+                    for (var i = 0; i < keypointEntry.keypoints.Length; i++)
-                        var keypoint = keypointSet.Value.keypoints[i];
+                        var keypoint = keypointEntry.keypoints[i];
                         keypoint.state = DetermineKeypointState(keypoint, idColor, dimensions, data);
 
                         if (keypoint.state == 0)
                             keypoint.y = math.clamp(keypoint.y, 0, dimensions.height - .001f);
                         }
 
-                        keypointSet.Value.keypoints[i] = keypoint;
+                        keypointEntry.keypoints[i] = keypoint;
+
+            frameKeypointData.isInstanceSegmentationCheckComplete = true;
+            m_FrameKeypointData[frameCount] = frameKeypointData;
+            ReportIfComplete(frameCount, frameKeypointData);
-            if (!m_AsyncAnnotations.TryGetValue(frameCount, out var asyncAnnotation))
+            if (!m_FrameKeypointData.TryGetValue(frameCount, out var frameKeypointData))
-            m_AsyncAnnotations.Remove(frameCount);
+            frameKeypointData.objectInfos = new NativeArray<RenderedObjectInfo>(objectInfos, Allocator.Persistent);
+            m_FrameKeypointData[frameCount] = frameKeypointData;
+            ReportIfComplete(frameCount, frameKeypointData);
+        }
+
+        private void ReportIfComplete(int frameCount, FrameKeypointData frameKeypointData)
+        {
+            if (!frameKeypointData.isInstanceSegmentationCheckComplete || !frameKeypointData.isDepthCheckComplete || !frameKeypointData.objectInfos.IsCreated)
+                return;
-            foreach (var keypointSet in asyncAnnotation.keypoints)
+            foreach (var entry in frameKeypointData.keypoints)
-                var entry = keypointSet.Value;
-
-                    foreach (var objectInfo in objectInfos)
+                    foreach (var objectInfo in frameKeypointData.objectInfos)
                     {
                         if (entry.instance_id == objectInfo.instanceId)
                         {
                     }
 
                     if (!include && objectFilter == KeypointObjectFilter.VisibleAndOccluded)
-                        include = keypointSet.Value.keypoints.Any(k => k.state == 1);
+                        include = entry.keypoints.Any(k => k.state == 1);
+
-
-            //This code assumes that OnRenderedObjectInfoReadback will be called immediately after OnInstanceSegmentationImageReadback
+            m_FrameKeypointData.Remove(frameCount);
-            asyncAnnotation.annotation.ReportValues(m_KeypointEntriesToReport);
+            frameKeypointData.annotation.ReportValues(m_KeypointEntriesToReport);
+            frameKeypointData.objectInfos.Dispose();
-        /// <param name="scriptableRenderContext"></param>
-            m_CurrentFrame = Time.frameCount;
+            using (s_OnEndRenderingMarker.Auto())
+            {
+                m_CurrentFrame = Time.frameCount;
+
+                var annotation = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_AnnotationDefinition);
+                var keypointEntries = new List<KeypointEntry>();
+                var checkLocations = new NativeList<float3>(512, Allocator.Persistent);
+
+                foreach (var label in LabelManager.singleton.registeredLabels)
+                    ProcessLabel(label, keypointEntries, checkLocations);
+
+                m_FrameKeypointData[m_CurrentFrame] = new FrameKeypointData
+                {
+                    annotation = annotation,
+                    keypoints = keypointEntries,
+                    pointsPerEntry = activeTemplate.keypoints.Length
+                };
+
+                if (keypointEntries.Count != 0)
+                    DoDepthCheck(scriptableRenderContext, keypointEntries, checkLocations);
+                else
+                {
+                    var frameKeypointData = m_FrameKeypointData[m_CurrentFrame];
+                    frameKeypointData.isDepthCheckComplete = true;
+                    m_FrameKeypointData[m_CurrentFrame] = frameKeypointData;
+                }
+
+                checkLocations.Dispose();
+            }
+        }
+
+        /// Check self occlusion of each keypoint by passing keypoint location (x & y in one texture) and modified distance from camera (keypoint distance - keypoint threshold distance)
+        /// in an additional texture. The computer shader checks the depth buffer at each passed in location, converts the depth at the pixel to linear space, and then compares it to
+        /// the passed in modified keypoint distance. If the modified keypoint distance is less than the depth buffer distance, the keypoint is visible, else it is blocked by itself.
+        private void DoDepthCheck(ScriptableRenderContext scriptableRenderContext, List<KeypointEntry> keypointEntries, NativeList<float3> checkLocations)
+        {
+            var keypointCount = keypointEntries.Count * activeTemplate.keypoints.Length;
+
+            var commandBuffer = CommandBufferPool.Get("KeypointDepthCheck");
+
+            var textureDimensions = TextureDimensions(keypointCount);
+
+
+            SetupDepthCheckBuffers(checkLocations.Length);
+
+            var positionsPixeldata = new NativeArray<half>(textureDimensions.x * textureDimensions.y * 2, Allocator.Temp);
+            var depthPixeldata = new NativeArray<half>(textureDimensions.x * textureDimensions.y, Allocator.Temp);
+
+            for (int i = 0; i < checkLocations.Length; i++)
+            {
+                var pos = checkLocations[i];
+                positionsPixeldata[i * 2] = new half(pos.x);
+                positionsPixeldata[i * 2 + 1] = new half(pos.y);
+                depthPixeldata[i] = new half(pos.z);
+            }
+
+            m_KeypointPositionsTexture.SetPixelData(positionsPixeldata, 0);
+            m_KeypointPositionsTexture.Apply();
+            m_KeypointCheckDepthTexture.SetPixelData(depthPixeldata, 0);
+            m_KeypointCheckDepthTexture.Apply();
-            var annotation = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_AnnotationDefinition);
-            var keypoints = new Dictionary<uint, KeypointEntry>();
+            positionsPixeldata.Dispose();
+            depthPixeldata.Dispose();
-            m_AsyncAnnotations[m_CurrentFrame] = (annotation, keypoints);
+            m_MaterialDepthCheck.SetTexture("_Positions", m_KeypointPositionsTexture);
+            m_MaterialDepthCheck.SetTexture("_KeypointCheckDepth", m_KeypointCheckDepthTexture);
+            commandBuffer.Blit(null, m_ResultsBuffer, m_MaterialDepthCheck);
-            foreach (var label in LabelManager.singleton.registeredLabels)
-                ProcessLabel(label);
+            scriptableRenderContext.ExecuteCommandBuffer(commandBuffer);
+            scriptableRenderContext.Submit();
+            CommandBufferPool.Release(commandBuffer);
+            m_DepthCheckReader.Capture(scriptableRenderContext, OnDepthCheckReadback);
+        }
+
+        private static Vector2Int TextureDimensions(int keypointCount)
+        {
+            var width = Math.Max(k_MinTextureWidth, Mathf.NextPowerOfTwo((int)Math.Ceiling(Math.Sqrt(keypointCount))));
+            var height = width;
+
+            var textureDimensions = new Vector2Int(width, height);
+            return textureDimensions;
+        }
+
+        private void OnDepthCheckReadback(int frame, NativeArray<Color32> data, RenderTexture renderTexture)
+        {
+            DoDepthCheckReadback(frame, data);
+        }
+
+        private void OnDepthCheckReadback(int frameCount, AsyncGPUReadbackRequest obj)
+        {
+            var data = obj.GetData<uint>();
+            //DoDepthCheckReadback(frameCount, data);
+        }
+
+        // Go through each keypoint and check if the depth compute shader has determined if it is visible (depth texture
+        // value of 1.
+        private void DoDepthCheckReadback(int frameCount, NativeArray<Color32> data)
+        {
+            var frameKeypointData = m_FrameKeypointData[frameCount];
+            var totalLength = frameKeypointData.pointsPerEntry * frameKeypointData.keypoints.Count;
+            Debug.Assert(totalLength < data.Length);
+            for (var i = 0; i < totalLength; i++)
+            {
+                var value = data[i];
+                if (value.r == 0)
+                {
+                    var keypoints = frameKeypointData.keypoints[i / frameKeypointData.pointsPerEntry];
+                    var indexInObject = i % frameKeypointData.pointsPerEntry;
+                    var keypoint = keypoints.keypoints[indexInObject];
+                    keypoint.state = 1;
+                    keypoints.keypoints[indexInObject] = keypoint;
+                }
+            }
+
+            frameKeypointData.isDepthCheckComplete = true;
+            m_FrameKeypointData[frameCount] = frameKeypointData;
+            ReportIfComplete(frameCount, frameKeypointData);
         }
 
         // ReSharper disable InconsistentNaming
             public Animator animator;
             public KeypointEntry keypoints;
             public List<(JointLabel, int)> overrides;
+            public float occlusionScalar;
         }
 
         Dictionary<uint, CachedData> m_KnownStatus;
             index = -1;
 
-            foreach (var jointTemplate in joint.templateInformation.Where(jointTemplate => jointTemplate.template == template))
+            foreach (var label in joint.labels)
-                    if (template.keypoints[i].label == jointTemplate.label)
+                    if (template.keypoints[i].label == label)
                     {
                         index = i;
                         return true;
 
         bool DoesTemplateContainJoint(JointLabel jointLabel)
         {
-            foreach (var template in jointLabel.templateInformation)
-            {
-                if (template.template == activeTemplate)
-                {
-                    if (activeTemplate.keypoints.Any(i => i.label == template.label))
-                    {
-                        return true;
-                    }
-                }
-            }
-
-            return false;
+            return TryToGetTemplateIndexForJoint(activeTemplate, jointLabel, out _);
-        void ProcessLabel(Labeling labeledEntity)
+        void ProcessLabel(Labeling labeledEntity, List<KeypointEntry> keypointEntries, NativeList<float3> checkLocations)
         {
             if (!idLabelConfig.TryGetLabelEntryFromInstanceId(labeledEntity.instanceId, out var labelEntry))
                 return;
                     status = false,
                     animator = null,
                     keypoints = new KeypointEntry(),
-                    overrides = new List<(JointLabel, int)>()
+                    overrides = new List<(JointLabel, int)>(),
+                    occlusionScalar = 1.0f
                 };
 
                 var entityGameObject = labeledEntity.gameObject;
                     }
                 }
 
+                var occlusionOverrider = labeledEntity.GetComponentInParent<KeypointOcclusionOverrides>();
+                if (occlusionOverrider != null)
+                {
+                    cached.occlusionScalar = occlusionOverrider.distanceScale;
+                }
+
                 m_KnownStatus[labeledEntity.instanceId] = cached;
             }
 
             {
                 var animator = cachedData.animator;
-                var keypoints = cachedData.keypoints.keypoints;
+
+                var listStart = checkLocations.Length;
+                checkLocations.Resize(checkLocations.Length + activeTemplate.keypoints.Length, NativeArrayOptions.ClearMemory);
+                //grab the slice of the list for the current object to assign positions in
+                var checkLocationsSlice = new NativeSlice<float3>(checkLocations, listStart);
+
+                var cameraPosition = perceptionCamera.transform.position;
+                var cameraforward = perceptionCamera.transform.forward;
 
                 // Go through all of the rig keypoints and get their location
                 for (var i = 0; i < activeTemplate.keypoints.Length; i++)
                         var bone = animator.GetBoneTransform(pt.rigLabel);
                         if (bone != null)
                         {
-                                InitKeypoint(bone.position, keypoints, i);
+                            var bonePosition = bone.position;
+
+                            var occlusionDistance = pt.selfOcclusionDistance * cachedData.occlusionScalar;
+                            var jointSelfOcclusionDistance = JointSelfOcclusionDistance(bone, bonePosition, cameraPosition, cameraforward, occlusionDistance);
+
+                            InitKeypoint(bonePosition, cachedData, checkLocationsSlice, i, jointSelfOcclusionDistance);
                         }
                     }
                 }
-                foreach (var (joint, idx) in cachedData.overrides)
+                foreach (var (joint, templateIdx) in cachedData.overrides)
-                        InitKeypoint(joint.transform.position, keypoints, idx);
+                    var jointTransform = joint.transform;
+                    var jointPosition = jointTransform.position;
+                    float resolvedSelfOcclusionDistance;
+                    if (joint.overrideSelfOcclusionDistance)
+                        resolvedSelfOcclusionDistance = joint.selfOcclusionDistance;
+                    else
+                        resolvedSelfOcclusionDistance = activeTemplate.keypoints[templateIdx].selfOcclusionDistance;
+
+                    resolvedSelfOcclusionDistance *= cachedData.occlusionScalar;
+
+                    var jointSelfOcclusionDistance = JointSelfOcclusionDistance(joint.transform, jointPosition, cameraPosition, cameraforward, resolvedSelfOcclusionDistance);
+
+                    InitKeypoint(jointPosition, cachedData, checkLocationsSlice, templateIdx, jointSelfOcclusionDistance);
                 }
 
                 cachedData.keypoints.pose = "unset";
                     cachedData.keypoints.pose = GetPose(cachedData.animator);
                 }
-
 
                 var cachedKeypointEntry = cachedData.keypoints;
                 var keypointEntry = new KeypointEntry()
                     pose = cachedKeypointEntry.pose,
                     template_guid = cachedKeypointEntry.template_guid
                 };
-                m_AsyncAnnotations[m_CurrentFrame].keypoints[labeledEntity.instanceId] = keypointEntry;
+                keypointEntries.Add(keypointEntry);
-        private void InitKeypoint(Vector3 position, Keypoint[] keypoints, int idx)
+        private float JointSelfOcclusionDistance(Transform transform, Vector3 jointPosition, Vector3 cameraPosition,
+            Vector3 cameraforward, float configuredSelfOcclusionDistance)
+        {
+            var depthOfJoint = Vector3.Dot(jointPosition - cameraPosition, cameraforward);
+            var cameraEffectivePosition = jointPosition - cameraforward * depthOfJoint;
+
+            var jointRelativeCameraPosition = transform.InverseTransformPoint(cameraEffectivePosition);
+            var jointRelativeCheckPosition = jointRelativeCameraPosition.normalized * configuredSelfOcclusionDistance;
+            var worldSpaceCheckVector = transform.TransformVector(jointRelativeCheckPosition);
+            return worldSpaceCheckVector.magnitude;
+        }
+
+        private void InitKeypoint(Vector3 position, CachedData cachedData, NativeSlice<float3> checkLocations, int idx,
+            float occlusionDistance)
+
+            var keypoints = cachedData.keypoints.keypoints;
             keypoints[idx].index = idx;
             if (loc.z < 0)
             {
                 keypoints[idx].y = loc.y;
                 keypoints[idx].state = 2;
             }
+
+            //TODO: move this code
+            var pixelLocation = PixelLocationFromScreenPoint(keypoints[idx]);
+            if (pixelLocation.x < 0 || pixelLocation.y < 0)
+            {
+                pixelLocation = new int2(int.MaxValue, int.MaxValue);
+            }
+
+            checkLocations[idx] = new float3(pixelLocation.x + .5f, pixelLocation.y + .5f, loc.z - occlusionDistance);
         }
 
         string GetPose(Animator animator)
         protected override void OnVisualize()
         {
             if (m_KeypointEntriesToReport == null) return;
+            using (s_OnVisualizeMarker.Auto())
+            {
+                var jointTexture = activeTemplate.jointTexture;
+                if (jointTexture == null) jointTexture = m_MissingTexture;
-            var jointTexture = activeTemplate.jointTexture;
-            if (jointTexture == null) jointTexture = m_MissingTexture;
+                var skeletonTexture = activeTemplate.skeletonTexture;
+                if (skeletonTexture == null) skeletonTexture = m_MissingTexture;
-            var skeletonTexture = activeTemplate.skeletonTexture;
-            if (skeletonTexture == null) skeletonTexture = m_MissingTexture;
-
-            foreach (var entry in m_KeypointEntriesToReport)
-            {
-                foreach (var bone in activeTemplate.skeleton)
+                foreach (var entry in m_KeypointEntriesToReport)
-                    var joint1 = GetKeypointForJoint(entry, bone.joint1);
-                    var joint2 = GetKeypointForJoint(entry, bone.joint2);
+                    foreach (var bone in activeTemplate.skeleton)
+                    {
+                        var joint1 = GetKeypointForJoint(entry, bone.joint1);
+                        var joint2 = GetKeypointForJoint(entry, bone.joint2);
+
+                        if (joint1 != null && joint1.Value.state == 2 && joint2 != null && joint2.Value.state == 2)
+                        {
+                            VisualizationHelper.DrawLine(joint1.Value.x, joint1.Value.y, joint2.Value.x, joint2.Value.y, bone.color, 8, skeletonTexture);
+                        }
+                    }
-                    if (joint1 != null && joint1.Value.state == 2 && joint2 != null && joint2.Value.state == 2)
+                    foreach (var keypoint in entry.keypoints)
-                        VisualizationHelper.DrawLine(joint1.Value.x, joint1.Value.y, joint2.Value.x, joint2.Value.y, bone.color, 8, skeletonTexture);
+                        if (keypoint.state == 2)
+                            VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, 8, jointTexture);
-                }
-
-                foreach (var keypoint in entry.keypoints)
-                {
-                    if (keypoint.state == 2)
-                        VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, 8, jointTexture);
                 }
             }
         }

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

     [Serializable]
     public class KeypointDefinition
     {
+        internal const float defaultSelfOcclusionDistance = 0.15f;
         /// <summary>
         /// The name of the keypoint
         /// </summary>
         /// The color of the keypoint in the visualization
         /// </summary>
         public Color color = Color.blue;
+        /// <summary>
+        /// The max distance the keypoint can be behind an object before it is considered occluded. Distance is computed
+        /// in the local space of the joint, so object scale is computed
+        /// </summary>
+        public float selfOcclusionDistance = defaultSelfOcclusionDistance;
     }
 
     /// <summary>

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

             {
                 RenderTexture.active = m_Source;
 
-                if (m_CpuTexture == null)
+                if (m_CpuTexture == null || m_CpuTexture.width != m_Source.width || m_CpuTexture.height != m_Source.height)
+                {
+                    if (m_CpuTexture != null)
+                        m_CpuTexture.Resize(m_Source.width, m_Source.height);
+
+                }
 
                 m_CpuTexture.ReadPixels(new Rect(
                     Vector2.zero,
         /// <summary>
         /// Shut down the reader, waiting for all requests to return.
         /// </summary>
-        public void Dispose()
+        public void Dispose() => Dispose(true);
+
+        /// <summary>
+        /// Shut down the reader, optionally waiting for all requests to return.
+        /// </summary>
+        /// <param name="waitForAllImages">Whether this should block on waiting for asynchronous readbacks</param>
+        public void Dispose(bool waitForAllImages)
-            WaitForAllImages();
+            if (waitForAllImages)
+                WaitForAllImages();
+            
             if (m_CpuTexture != null)
             {
                 Object.Destroy(m_CpuTexture);

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

             var simulationDeltaTime = 0.05f;
             var sensorHandle = DatasetCapture.RegisterSensor(ego, "cam", "", 0, CaptureTriggerMode.Manual, simulationDeltaTime, 0, true);
 
-            var framesToCaptureOn = new List<int>();
-
-            var startFrame = Time.frameCount;
-            var startTime = Time.time;
-
-            while (framesToCaptureOn.Count < 10)
+            var framesToCaptureOn = new List<int>()
-                var randomFrame = Random.Range(startFrame, startFrame + 100);
-                if(!framesToCaptureOn.Contains(randomFrame))
-                    framesToCaptureOn.Add(randomFrame);
-            }
+                Time.frameCount + 3,
+                Time.frameCount + 5,
+                Time.frameCount + 6,
+                Time.frameCount + 10,
+                Time.frameCount + 15,
+                Time.frameCount + 25,
+            };
 
             framesToCaptureOn.Sort();
 
             {
-                sequenceTimesExpected[i] = (framesToCaptureOn[i] - startFrame) * simulationDeltaTime;
+                sequenceTimesExpected[i] = (framesToCaptureOn[i] - Time.frameCount) * simulationDeltaTime;
             }
 
             var frameIndex = 0;

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

     public class KeyPointGroundTruthTests : GroundTruthTestBase, IPrebuildSetup, IPostBuildCleanup
     {
         private const string kAnimatedCubeScenePath = "Packages/com.unity.perception/Tests/Runtime/TestAssets/AnimatedCubeScene.unity";
+        private const string kCubeScenePath = "Packages/com.unity.perception/Tests/Runtime/TestAssets/CubeScene.unity";
         private const double k_Delta = .01;
 
         public void Setup()
             scenes.Add(new UnityEditor.EditorBuildSettingsScene(kAnimatedCubeScenePath, true));
+            scenes.Add(new UnityEditor.EditorBuildSettingsScene(kCubeScenePath, true));
             UnityEditor.EditorBuildSettings.scenes = scenes.ToArray();
 #endif
         }
 #if UNITY_EDITOR
             var scenes = UnityEditor.EditorBuildSettings.scenes;
-            scenes = scenes.Where(s => s.path != kAnimatedCubeScenePath).ToArray();
+            scenes = scenes.Where(s => s.path != kAnimatedCubeScenePath && s.path != kCubeScenePath).ToArray();
+        [UnitySetUp]
+        public IEnumerator SetupTest()
+        {
+            foreach (var p in LoadCubeScene()) yield return p;
+        }
+
         static GameObject SetupCamera(IdLabelConfig config, KeypointTemplate template, Action<int, List<KeypointLabeler.KeypointEntry>> computeListener, RenderTexture renderTexture = null, KeypointObjectFilter keypointObjectFilter = KeypointObjectFilter.Visible)
         {
             var cameraObject = new GameObject();
             return cameraObject;
         }
 
-        static KeypointTemplate CreateTestTemplate(Guid guid, string label)
+        static KeypointTemplate CreateTestTemplate(Guid guid, string label, float selfOcclusionDistance = 0.15f)
         {
             var keypoints = new[]
             {
                     associateToRig = false,
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
-                    color = Color.black
+                    color = Color.black,
+                    selfOcclusionDistance = selfOcclusionDistance
                 }
             };
 
             return cfg;
         }
 
-        static void SetupCubeJoint(GameObject cube, KeypointTemplate template, string label, float x, float y, float z)
+        static void SetupCubeJoint(GameObject cube, string label, float x, float y, float z, float? selfOcclusionDistance = null)
-            joint.transform.parent = cube.transform;
+            joint.transform.SetParent(cube.transform, false);
-            jointLabel.templateInformation = new List<JointLabel.TemplateData>();
-            var templateData = new JointLabel.TemplateData
+            jointLabel.labels.Add(label);
+            if (selfOcclusionDistance.HasValue)
-                template = template,
-                label = label
-            };
-            jointLabel.templateInformation.Add(templateData);
+                jointLabel.overrideSelfOcclusionDistance = true;
+                jointLabel.selfOcclusionDistance = selfOcclusionDistance.Value;
+            }
+            else
+                jointLabel.overrideSelfOcclusionDistance = false;
-        static void SetupCubeJoints(GameObject cube, KeypointTemplate template)
+        static void SetupCubeJoints(GameObject cube, KeypointTemplate template, float? selfOcclusionDistance = null)
-            SetupCubeJoint(cube, template, "FrontLowerLeft", -dim, -dim, -dim);
-            SetupCubeJoint(cube, template, "FrontUpperLeft", -dim, dim, -dim);
-            SetupCubeJoint(cube, template, "FrontUpperRight", dim, dim, -dim);
-            SetupCubeJoint(cube, template, "FrontLowerRight", dim, -dim, -dim);
-            SetupCubeJoint(cube, template, "BackLowerLeft", -dim, -dim, dim);
-            SetupCubeJoint(cube, template, "BackUpperLeft", -dim, dim, dim);
-            SetupCubeJoint(cube, template, "BackUpperRight", dim, dim, dim);
-            SetupCubeJoint(cube, template, "BackLowerRight", dim, -dim, dim);
+            SetupCubeJoint(cube, "FrontLowerLeft", -dim, -dim, -dim, selfOcclusionDistance);
+            SetupCubeJoint(cube, "FrontUpperLeft", -dim, dim, -dim, selfOcclusionDistance);
+            SetupCubeJoint(cube, "FrontUpperRight", dim, dim, -dim, selfOcclusionDistance);
+            SetupCubeJoint(cube, "FrontLowerRight", dim, -dim, -dim, selfOcclusionDistance);
+            SetupCubeJoint(cube, "BackLowerLeft", -dim, -dim, dim, selfOcclusionDistance);
+            SetupCubeJoint(cube, "BackUpperLeft", -dim, dim, dim, selfOcclusionDistance);
+            SetupCubeJoint(cube, "BackUpperRight", dim, dim, dim, selfOcclusionDistance);
+            SetupCubeJoint(cube, "BackLowerRight", dim, -dim, dim, selfOcclusionDistance);
         }
 
         [UnityTest]
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
             Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y);
 
             for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index);
-            for (var i = 0; i < 8; i++) Assert.AreEqual(2, t.keypoints[i].state);
+            for (var i = 0; i < 4; i++) Assert.AreEqual(2, t.keypoints[i].state);
+            for (var i = 4; i < 8; i++) Assert.AreEqual(1, t.keypoints[i].state);
             Assert.Zero(t.keypoints[8].state);
             Assert.Zero(t.keypoints[8].x);
             Assert.Zero(t.keypoints[8].y);
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
             var labeling = cube.GetComponent<Labeling>();
 
             Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y);
 
             for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index);
-            for (var i = 0; i < 8; i++) Assert.AreEqual(2, t.keypoints[i].state);
+            for (var i = 0; i < 4; i++) Assert.AreEqual(2, t.keypoints[i].state);
+            for (var i = 4; i < 8; i++) Assert.AreEqual(1, t.keypoints[i].state);
             Assert.Zero(t.keypoints[8].state);
             Assert.Zero(t.keypoints[8].x);
             Assert.Zero(t.keypoints[8].y);
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             });
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             cube.transform.position = new Vector3(-1000, -1000, 0);
             }, texture);
             cam.GetComponent<PerceptionCamera>().showVisualizations = false;
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
-            SetupCubeJoint(cube, template, "Center", 0, 0, 0);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
+            SetupCubeJoint(cube, "Center", 0, 0, -.5f);
 
             cube.SetActive(true);
             cam.SetActive(true);
             var testCase2 = incoming[1];
             Assert.AreEqual(1, testCase2.Count);
             var t2 = testCase2.First();
-            Assert.AreEqual(445, t2.keypoints[0].x, 1);
+            Assert.AreEqual(416, t2.keypoints[0].x, 1);
             Assert.AreEqual(768 / 2, t2.keypoints[0].y);
         }
 
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
             cube.transform.position += Vector3.right * 13.5f;
 
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
             AddTestObjectForCleanup(cube);
 
+            //for (int i = 0; i < 10000; i++)
             yield return null;
 
             //force all async readbacks to complete
             Assert.AreEqual(t.keypoints[5].y, t.keypoints[6].y);
 
             for (var i = 0; i < 9; i++) Assert.AreEqual(i, t.keypoints[i].index);
-            for (var i = 0; i < 8; i++) Assert.AreEqual(2, t.keypoints[i].state);
+            for (var i = 0; i < 4; i++) Assert.AreEqual(2, t.keypoints[i].state);
+            for (var i = 4; i < 8; i++) Assert.AreEqual(1, t.keypoints[i].state);
             Assert.Zero(t.keypoints[8].state);
             Assert.Zero(t.keypoints[8].x);
             Assert.Zero(t.keypoints[8].y);
 
         private void CreateFullyOccludedScene(KeypointTemplate template, GameObject cam)
         {
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             var blocker = GameObject.CreatePrimitive(PrimitiveType.Cube);
                 incoming.Add(data);
             }, texture, keypointObjectFilter);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: -100);
+            var cube = SetupLabeledCube(scale: 6, z: -100);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
                 incoming.Add(data);
             }, texture, KeypointObjectFilter.All);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: -20);
+            var cube = SetupLabeledCube(scale: 6, z: -20);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
                 incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
             }, texture);
 
-            var cube = TestHelper.CreateLabeledCube(scale: 6, z: 8);
+            var cube = SetupLabeledCube(scale: 6, z: 8);
             SetupCubeJoints(cube, template);
 
             var blocker = GameObject.CreatePrimitive(PrimitiveType.Cube);
 
             Assert.AreEqual(2, t.keypoints[0].state);
             Assert.AreEqual(2, t.keypoints[1].state);
-            Assert.AreEqual(2, t.keypoints[4].state);
-            Assert.AreEqual(2, t.keypoints[5].state);
+            Assert.AreEqual(1, t.keypoints[4].state);
+            Assert.AreEqual(1, t.keypoints[5].state);
 
             Assert.AreEqual(1, t.keypoints[2].state);
             Assert.AreEqual(1, t.keypoints[3].state);
             var labeling = cube.AddComponent<Labeling>();
             labeling.labels.Add("label");
 
-            SetupCubeJoint(cube, template, "Center",0f, 0f, 0f);
+            SetupCubeJoint(cube, "Center",0f, 0f, -.5f);
 
             cube.SetActive(true);
             cam.SetActive(true);
             Assert.AreEqual(2, t.keypoints[8].state);
         }
 
-        static IEnumerable<(float scale, bool expectObject, int expectedState, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight)> Keypoint_OnBox_ReportsProperCoordinates_TestCases()
+        static IEnumerable<(float scale, bool expectObject, int expectedStateFront, int expectedStateBack, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight)> Keypoint_OnBox_ReportsProperCoordinates_TestCases()
+                1,
                 KeypointObjectFilter.Visible,
                 new Vector2(0, 0),
                 new Vector2(1023.99f, 1023.99f));
+                0,
                 0,
                 KeypointObjectFilter.Visible,
                 new Vector2(0, 0),
                 true,
                 0,
+                0,
                 KeypointObjectFilter.Visible,
                 new Vector2(0, 0),
                 new Vector2(0, 0));
+                1,
                 1,
                 KeypointObjectFilter.Visible,
                 new Vector2(512, 512),
                 true,
                 1,
+                1,
                 KeypointObjectFilter.VisibleAndOccluded,
                 new Vector2(512, 512),
                 new Vector2(512, 512));
             [ValueSource(nameof(Keypoint_OnBox_ReportsProperCoordinates_TestCases))]
-            (float scale, bool expectObject, int expectedState, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight) args)
+            (float scale, bool expectObject, int expectedStateFront, int expectedStateBack, KeypointObjectFilter keypointFilter, Vector2 expectedTopLeft, Vector2 expectedBottomRight) args)
         {
             var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
             var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate");
             camComponent.orthographic = true;
             camComponent.orthographicSize = .5f;
 
-            var cube = TestHelper.CreateLabeledCube(scale: args.scale, z: 8);
+
+            //For some reason the back of this cube is being resolved to 7.5 away from the camera, but on the CPU side it is being recorded as 18.34375
+            var cube = SetupLabeledCube(scale: args.scale, z: 0);
             SetupCubeJoints(cube, template);
 
             cube.SetActive(true);
             AddTestObjectForCleanup(cube);
 
+            //for (int i = 0; i < 10000; i++)
             yield return null;
 
             //force all async readbacks to complete
             Assert.AreEqual(template.templateID.ToString(), t.template_guid);
             Assert.AreEqual(9, t.keypoints.Length);
 
-            CollectionAssert.AreEqual(Enumerable.Repeat(args.expectedState, 8), t.keypoints.Take(8).Select(k => k.state), "State mismatch");
+            CollectionAssert.AreEqual(Enumerable.Repeat(args.expectedStateFront, 4),
+                t.keypoints.Take(4).Select(k => k.state),
+                "State mismatch on front");
+            CollectionAssert.AreEqual(Enumerable.Repeat(args.expectedStateBack, 4),
+                t.keypoints.Skip(4).Take(4).Select(k => k.state),
+                "State mismatch on front");
             Assert.AreEqual(args.expectedTopLeft.x, t.keypoints[0].x, k_Delta);
             Assert.AreEqual(args.expectedBottomRight.y, t.keypoints[0].y, k_Delta);
 
 
             Assert.AreEqual(args.expectedBottomRight.x, t.keypoints[3].x, k_Delta);
             Assert.AreEqual(args.expectedBottomRight.y, t.keypoints[3].y, k_Delta);
+        }
+
+        public enum CheckDistanceType
+        {
+            Global,
+            JointLabel
+        }
+        public enum ProjectionKind
+        {
+            Orthographic,
+            Projection
+        }
+
+        public static IEnumerable<(CheckDistanceType checkDistanceType, Vector3 origin, Vector3 objectScale, Quaternion rotation,
+                float checkDistance, float pointDistance, float cameraFieldOfView, bool expectOccluded)>
+            Keypoint_InsideBox_RespectsThreshold_TestCases()
+        {
+            foreach (var checkDistanceType in new[] {CheckDistanceType.Global, CheckDistanceType.JointLabel})
+            {
+                yield return (
+                    checkDistanceType,
+                    Vector3.zero,
+                    Vector3.one,
+                    Quaternion.identity,
+                    0.1f,
+                    0.2f,
+                    60f,
+                    true);
+                yield return (
+                    checkDistanceType,
+                    Vector3.zero,
+                    Vector3.one,
+                    Quaternion.identity,
+                    0.2f,
+                    0.005f,
+                    60f,
+                    false);
+                yield return (
+                    checkDistanceType,
+                    Vector3.zero,
+                    Vector3.one,
+                    Quaternion.identity,
+                    0.1f,
+                    0.05f,
+                    60f,
+                    false);
+                yield return (
+                    checkDistanceType,
+                    new Vector3(0, 0, 88),
+                    Vector3.one,
+                    Quaternion.identity,
+                    0.1f,
+                    0.05f,
+                    1f,
+                    false);
+                //larger value here for the occluded check due to lack of depth precision close to far plane.
+                //We choose to mark points not occluded when the point depth and geometry depth are the same in the depth buffer
+                yield return (
+                    checkDistanceType,
+                    new Vector3(0, 0, 88),
+                    Vector3.one,
+                    Quaternion.identity,
+                    1f,
+                    2f,
+                    1f,
+                    true);
+            }
+            yield return (
+                CheckDistanceType.Global,
+                Vector3.zero,
+                Vector3.one * .5f,
+                Quaternion.identity,
+                0.2f,
+                0.3f,
+                60f,
+                true);
+            yield return (
+                CheckDistanceType.Global,
+                Vector3.zero,
+                new Vector3(1f, 1f, .5f),
+                Quaternion.identity,
+                0.2f,
+                0.3f,
+                60f,
+                true);
+            yield return (
+                CheckDistanceType.JointLabel,
+                Vector3.zero,
+                new Vector3(1f, 1f, .5f),
+                Quaternion.identity,
+                0.2f,
+                0.3f,
+                60f,
+                true);
+            yield return (
+                CheckDistanceType.JointLabel,
+                Vector3.zero,
+                Vector3.one * .5f,
+                Quaternion.identity,
+                0.2f,
+                0.3f,
+                60f,
+                true);
+            yield return (
+                CheckDistanceType.JointLabel,
+                Vector3.zero,
+                new Vector3(1f, 1f, .05f),
+                Quaternion.AngleAxis(45, Vector3.right),
+                0.2f,
+                0.21f,
+                60f,
+                true);
+        }
+
+        [UnityTest]
+        public IEnumerator Keypoint_InsideBox_RespectsThreshold(
+            [ValueSource(nameof(Keypoint_InsideBox_RespectsThreshold_TestCases))]
+            (CheckDistanceType checkDistanceType, Vector3 origin, Vector3 objectScale, Quaternion rotation,
+                float checkDistance, float pointDistance, float cameraFieldOfView, bool expectOccluded) args,
+            [Values(ProjectionKind.Orthographic, ProjectionKind.Projection)] ProjectionKind projectionKind)
+        {
+            var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
+            var labelerSelfOcclusionDistance =
+                args.checkDistanceType == CheckDistanceType.Global ? args.checkDistance : 0.5f;
+            var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", selfOcclusionDistance: labelerSelfOcclusionDistance);
+            var frameSize = 1024;
+            var texture = new RenderTexture(frameSize, frameSize, 16);
+            var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
+            {
+                incoming.Add(data);
+            }, texture);
+            var camComponent = cam.GetComponent<Camera>();
+            camComponent.fieldOfView = args.cameraFieldOfView;
+            camComponent.farClipPlane = 100f;
+
+            if (projectionKind == ProjectionKind.Orthographic)
+            {
+                camComponent.orthographic = true;
+                camComponent.orthographicSize = .5f;
+            }
+            var cube = GameObject.Find("Cube");
+            TestHelper.SetupLabeledCube(cube, scale: 1f, x: args.origin.x, y: args.origin.y, z: args.origin.z);
+            cube.transform.localScale = args.objectScale;
+            cube.transform.localRotation = args.rotation;
+            var localSelfOcclusionDistance = args.checkDistanceType == CheckDistanceType.JointLabel ? (float?)args.checkDistance : null;
+            SetupCubeJoint(cube, "Center", 0f, 0f, -.5f + args.pointDistance, localSelfOcclusionDistance);
+
+            cube.SetActive(true);
+            cam.SetActive(true);
+
+            AddTestObjectForCleanup(cam);
+            AddTestObjectForCleanup(cube);
+
+            //for (int i = 0; i < 10000; i++)
+             yield return null;
+
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
+            texture.Release();
+
+            var testCase = incoming.Last();
+            Assert.AreEqual(1, testCase.Count);
+            var t = testCase.First();
+            Assert.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
+        }
+
+        private IEnumerable LoadCubeScene()
+        {
+            SceneManager.LoadScene("CubeScene", LoadSceneMode.Additive);
+            AddSceneForCleanup("CubeScene");
+            yield return null;
+        }
+
+
+        public static IEnumerable<(Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, bool expectOccluded)>
+            Keypoint_OnCorner_OfRotatedScaledBox_RespectsThreshold_TestCases()
+        {
+            yield return (
+                new Vector3(90f, 90f, 10f),
+                Quaternion.identity,
+                .11f,
+                new Vector3(-.4f, -.4f, -.4f),
+                false);
+            yield return (
+                new Vector3(90f, 90f, 1f),
+                Quaternion.identity,
+                .5f,
+                new Vector3(-.4f, -.4f, .4f),
+                true);
+            yield return (
+                new Vector3(90, 90, 9),
+                Quaternion.AngleAxis(90, Vector3.right),
+                .11f,
+                new Vector3(-.4f, -.4f, -.4f),
+                false);
+            yield return (
+                new Vector3(90, 90, 90),
+                Quaternion.AngleAxis(90, Vector3.right),
+                .11f,
+                new Vector3(-.4f, -.4f, -.4f),
+                false);
+            yield return (
+                new Vector3(90, 60, 90),
+                Quaternion.AngleAxis(45, Vector3.right),
+                .11f,
+                new Vector3(-.4f, -.4f, -.4f),
+                true);
+        }
+
+        [UnityTest]
+        public IEnumerator Keypoint_OnCorner_OfRotatedScaledBox_RespectsThreshold(
+            [ValueSource(nameof(Keypoint_OnCorner_OfRotatedScaledBox_RespectsThreshold_TestCases))]
+            (Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, bool expectOccluded) args)
+        {
+            var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
+            var labelerSelfOcclusionDistance = 0.5f;
+            var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", labelerSelfOcclusionDistance);
+            var frameSize = 1024;
+            var texture = new RenderTexture(frameSize, frameSize, 16);
+            var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
+            {
+                incoming.Add(data);
+            }, texture);
+            var camComponent = cam.GetComponent<Camera>();
+            camComponent.orthographic = true;
+            camComponent.orthographicSize = 100f;
+            cam.transform.localPosition = new Vector3(0, 0, -95f);
+
+            var cube = GameObject.Find("Cube");
+            TestHelper.SetupLabeledCube(cube, scale: 1f);
+            cube.transform.localScale = args.objectScale;
+            cube.transform.localRotation = args.rotation;
+            SetupCubeJoint(cube, "Center", args.pointLocalPosition.x, args.pointLocalPosition.y, args.pointLocalPosition.z, args.checkDistance);
+
+            cube.SetActive(true);
+            cam.SetActive(true);
+
+            AddTestObjectForCleanup(cam);
+            AddTestObjectForCleanup(cube);
+
+            //for (int i = 0; i < 10000; i++)
+             yield return null;
+
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
+            texture.Release();
+
+            var testCase = incoming.Last();
+            Assert.AreEqual(1, testCase.Count);
+            var t = testCase.First();
+            Assert.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
+        }
+
+        public static IEnumerable<(Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, float overrideScalar, bool expectOccluded)>
+            Keypoint_OnCorner_OfRotatedScaledBox_RespectsModelOverrideThreshold_TestCases()
+        {
+            yield return (
+                new Vector3(90f, 90f, 10f),
+                Quaternion.identity,
+                .11f,
+                new Vector3(-.4f, -.4f, -.4f),
+                1f,
+                false);
+            yield return (
+                new Vector3(90f, 90f, 1f),
+                Quaternion.identity,
+                .5f,
+                new Vector3(-.4f, -.4f, .4f),
+                .5f,
+                true);
+            yield return (
+                new Vector3(90, 90, 9),
+                Quaternion.AngleAxis(90, Vector3.right),
+                .11f,
+                new Vector3(-.4f, -.4f, -.4f),
+                1f,
+                false);
+            yield return (
+                new Vector3(90, 90, 90),
+                Quaternion.AngleAxis(90, Vector3.right),
+                .11f,
+                new Vector3(-.4f, -.4f, -.4f),
+                .5f,
+                true);
+            yield return (
+                new Vector3(90, 90, 90),
+                Quaternion.AngleAxis(90, Vector3.right),
+                .055f,
+                new Vector3(-.4f, -.4f, -.4f),
+                1f,
+                true);
+            yield return (
+                new Vector3(90, 90, 90),
+                Quaternion.AngleAxis(90, Vector3.right),
+                .055f,
+                new Vector3(-.4f, -.4f, -.4f),
+                2f,
+                false);
+        }
+
+        [UnityTest]
+        public IEnumerator Keypoint_OnCorner_OfRotatedScaledBox_RespectsModelOverrideThreshold(
+            [ValueSource(nameof(Keypoint_OnCorner_OfRotatedScaledBox_RespectsModelOverrideThreshold_TestCases))]
+            (Vector3 objectScale, Quaternion rotation, float checkDistance, Vector3 pointLocalPosition, float overrideScalar, bool expectOccluded) args)
+        {
+            var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
+            var labelerSelfOcclusionDistance = 0.5f;
+            var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", labelerSelfOcclusionDistance);
+            var frameSize = 1024;
+            var texture = new RenderTexture(frameSize, frameSize, 16);
+            var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
+            {
+                incoming.Add(data);
+            }, texture);
+            var camComponent = cam.GetComponent<Camera>();
+            camComponent.orthographic = true;
+            camComponent.orthographicSize = 100f;
+            cam.transform.localPosition = new Vector3(0, 0, -95f);
+
+            var cube = SetupLabeledCube(scale: 1f);
+            cube.transform.localScale = args.objectScale;
+            cube.transform.localRotation = args.rotation;
+            SetupCubeJoint(cube, "Center", args.pointLocalPosition.x, args.pointLocalPosition.y, args.pointLocalPosition.z, args.checkDistance);
+
+            var kpOc = cube.AddComponent<KeypointOcclusionOverrides>();
+            kpOc.distanceScale = args.overrideScalar;
+
+            cube.SetActive(true);
+            cam.SetActive(true);
+
+            AddTestObjectForCleanup(cam);
+            AddTestObjectForCleanup(cube);
+
+            //for (int i = 0; i < 10000; i++)
+             yield return null;
+
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
+            texture.Release();
+
+            var testCase = incoming.Last();
+            Assert.AreEqual(1, testCase.Count);
+            var t = testCase.First();
+            Assert.AreEqual(args.expectOccluded ? 1 : 2, t.keypoints[8].state);
+        }
+
+        public static GameObject SetupLabeledCube(float scale = 10, string label = "label", float x = 0, float y = 0,
+            float z = 0, float roll = 0, float pitch = 0, float yaw = 0)
+        {
+            return TestHelper.SetupLabeledCube(GameObject.Find("Cube"), scale, label, x, y, z, roll, pitch, yaw);
+        }
+
+        [UnityTest]
+        public IEnumerator ManyObjects_LabelsCorrectly()
+        {
+            var incoming = new List<List<KeypointLabeler.KeypointEntry>>();
+            var labelerSelfOcclusionDistance = 0.5f;
+            var template = CreateTestTemplate(Guid.NewGuid(), "TestTemplate", selfOcclusionDistance: labelerSelfOcclusionDistance);
+            var frameSize = 1024;
+            var texture = new RenderTexture(frameSize, frameSize, 16);
+            var cam = SetupCamera(SetUpLabelConfig(), template, (frame, data) =>
+            {
+                incoming.Add(new List<KeypointLabeler.KeypointEntry>(data));
+            }, texture);
+
+            void PlaceObjects(Rect rect, float z, Vector2Int count)
+            {
+                var cubeBase = GameObject.Find("Cube");
+                for (int x = 0; x < count.x; x++)
+                {
+                    for (int y = 0; y < count.y; y++)
+                    {
+                        var cube = GameObject.Instantiate(cubeBase);
+                        TestHelper.SetupLabeledCube(
+                            cube,
+                            scale: rect.width / count.x - .001f,
+                            x: rect.width / count.x * x + rect.xMin,
+                            y: rect.height / count.y * y + rect.yMin,
+                            z: z);
+                        SetupCubeJoints(cube, template, .1f);
+                        cube.SetActive(true);
+                        AddTestObjectForCleanup(cube);
+                    }
+                }
+            }
+
+            PlaceObjects(new Rect(-2, -2, 2, 2), 0, new Vector2Int(10, 10));
+            cam.SetActive(true);
+
+            AddTestObjectForCleanup(cam);
+
+            //TestHelper.LoadAndStartRenderDocCapture();
+            yield return null;
+
+            PlaceObjects(new Rect(0, 0, 4, 4), 0, new Vector2Int(25, 25));
+
+            yield return null;
+
+            //force all async readbacks to complete
+            DestroyTestObject(cam);
+            texture.Release();
+
+            //TestHelper.EndCaptureRenderDoc();
+
+            Assert.AreEqual(2, incoming.Count);
+
+            Assert.AreEqual(10 * 10, incoming[0].Count);
+            Assert.AreEqual(10 * 10 + 25 * 25, incoming[1].Count);
+            var idx = 0;
+            foreach (var entry in incoming[0].Concat(incoming[1]))
+            {
+                Assert.AreEqual(9, entry.keypoints.Length);
+
+                CollectionAssert.AreEqual(Enumerable.Repeat(2, 4),
+                    entry.keypoints.Take(4).Select(k => k.state),
+                    $"State mismatch on front in entry {idx}");
+                CollectionAssert.AreEqual(Enumerable.Repeat(1, 4),
+                    entry.keypoints.Skip(4).Take(4).Select(k => k.state),
+                    $"State mismatch on back in entry {idx}");
+                idx++;
+            }
         }
     }
 }

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

 using System.Diagnostics;
 using System.Text.RegularExpressions;
 using Unity.Collections;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
 using UnityEngine;
 using UnityEngine.Experimental.Rendering;
 using UnityEngine.Perception.GroundTruth;
     static class TestHelper
     {
+        #if UNITY_EDITOR
+        private static EditorWindow s_GameView;
+        #endif
+
         public static GameObject CreateLabeledPlane(float scale = 10, string label = "label")
         {
             GameObject planeObject;
         public static GameObject CreateLabeledCube(float scale = 10, string label = "label", float x = 0, float y = 0, float z = 0, float roll = 0, float pitch = 0, float yaw = 0)
         {
             var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
+
+            return SetupLabeledCube(cube, scale, label, x, y, z, roll, pitch, yaw);
+        }
+
+        public static GameObject SetupLabeledCube(GameObject cube, float scale = 10, string label = "label", float x = 0, float y = 0, float z = 0, float roll = 0, float pitch = 0, float yaw = 0)
+        {
             cube.transform.SetPositionAndRotation(new Vector3(x, y, z), Quaternion.Euler(pitch, yaw, roll));
             cube.transform.localScale = new Vector3(scale, scale, scale);
             var labeling = cube.AddComponent<Labeling>();
         }
 
 #if UNITY_EDITOR
-        public static void LoadAndStartRenderDocCapture(out UnityEditor.EditorWindow gameView)
+        public static void LoadAndStartRenderDocCapture()
-            gameView = UnityEditor.EditorWindow.GetWindow(type);
-            UnityEditorInternal.RenderDoc.BeginCaptureRenderDoc(gameView);
+            s_GameView = UnityEditor.EditorWindow.GetWindow(type);
+            UnityEditorInternal.RenderDoc.BeginCaptureRenderDoc(s_GameView);
+        }
+        [Conditional("UNITY_EDITOR")]
+        public static void EndCaptureRenderDoc()
+        {
+            UnityEditorInternal.RenderDoc.EndCaptureRenderDoc(s_GameView);
+#endif
-#endif
         public static string NormalizeJson(string json, bool normalizeFormatting = false)
         {
             if (normalizeFormatting)

com.unity.perception/package.json

   "description": "Tools for generating large-scale data sets for perception-based machine learning training and validation",
   "displayName": "Perception",
   "name": "com.unity.perception",
-  "unity": "2019.4",
+  "unity": "2020.3",
   "version": "0.8.0-preview.4",
   "samples": [
     {

TestProjects/PerceptionHDRP/Assets/Resources.meta

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+guid: 84124422de45a3326b14584597f95f58
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

TestProjects/PerceptionHDRP/Assets/Scenes/PoseSampleSettings.lighting

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!850595691 &4890085278179872738
+LightingSettings:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_Name: PoseSampleSettings
+  serializedVersion: 2
+  m_GIWorkflowMode: 0
+  m_EnableBakedLightmaps: 0
+  m_EnableRealtimeLightmaps: 1
+  m_RealtimeEnvironmentLighting: 1
+  m_BounceScale: 1
+  m_AlbedoBoost: 1
+  m_IndirectOutputScale: 1
+  m_UsingShadowmask: 1
+  m_BakeBackend: 1
+  m_LightmapMaxSize: 1024
+  m_BakeResolution: 40
+  m_Padding: 2
+  m_TextureCompression: 1
+  m_AO: 0
+  m_AOMaxDistance: 1
+  m_CompAOExponent: 1
+  m_CompAOExponentDirect: 0
+  m_ExtractAO: 0
+  m_MixedBakeMode: 2
+  m_LightmapsBakeMode: 1
+  m_FilterMode: 1
+  m_LightmapParameters: {fileID: 0}
+  m_ExportTrainingData: 0
+  m_TrainingDataDestination: TrainingData
+  m_RealtimeResolution: 2
+  m_ForceWhiteAlbedo: 0
+  m_ForceUpdates: 0
+  m_FinalGather: 0
+  m_FinalGatherRayCount: 256
+  m_FinalGatherFiltering: 1
+  m_PVRCulling: 1
+  m_PVRSampling: 1
+  m_PVRDirectSampleCount: 32
+  m_PVRSampleCount: 500
+  m_PVREnvironmentSampleCount: 500
+  m_PVREnvironmentReferencePointCount: 2048
+  m_LightProbeSampleCountMultiplier: 4
+  m_PVRBounces: 2
+  m_PVRRussianRouletteStartBounce: 2
+  m_PVREnvironmentMIS: 0
+  m_PVRFilteringMode: 2
+  m_PVRDenoiserTypeDirect: 0
+  m_PVRDenoiserTypeIndirect: 0
+  m_PVRDenoiserTypeAO: 0
+  m_PVRFilterTypeDirect: 0
+  m_PVRFilterTypeIndirect: 0
+  m_PVRFilterTypeAO: 0
+  m_PVRFilteringGaussRadiusDirect: 1
+  m_PVRFilteringGaussRadiusIndirect: 5
+  m_PVRFilteringGaussRadiusAO: 2
+  m_PVRFilteringAtrousPositionSigmaDirect: 0.5
+  m_PVRFilteringAtrousPositionSigmaIndirect: 2
+  m_PVRFilteringAtrousPositionSigmaAO: 1

TestProjects/PerceptionHDRP/Assets/Scenes/PoseSampleSettings.lighting.meta

+fileFormatVersion: 2
+guid: eb57ebdf6f5d99d6fbce6972a2916ca8
+NativeFormatImporter:
+  externalObjects: {}
+  mainObjectFileID: 0
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

TestProjects/PerceptionHDRP/ProjectSettings/SceneTemplateSettings.json

+{
+    "templatePinStates": [],
+    "dependencyTypeInfos": [
+        {
+            "userAdded": false,
+            "type": "UnityEngine.AnimationClip",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEditor.Animations.AnimatorController",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.AnimatorOverrideController",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEditor.Audio.AudioMixerController",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.ComputeShader",
+            "ignore": true,
+            "defaultInstantiationMode": 1,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Cubemap",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.GameObject",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEditor.LightingDataAsset",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": false
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.LightingSettings",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Material",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEditor.MonoScript",
+            "ignore": true,
+            "defaultInstantiationMode": 1,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.PhysicMaterial",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.PhysicsMaterial2D",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Rendering.PostProcessing.PostProcessProfile",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Rendering.PostProcessing.PostProcessResources",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Rendering.VolumeProfile",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEditor.SceneAsset",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": false
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Shader",
+            "ignore": true,
+            "defaultInstantiationMode": 1,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.ShaderVariantCollection",
+            "ignore": true,
+            "defaultInstantiationMode": 1,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Texture",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Texture2D",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
+            "supportsModification": true
+        },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.Timeline.TimelineAsset",
+            "ignore": false,
+            "defaultInstantiationMode": 0,
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+        }
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com.unity.perception/Runtime/GroundTruth/Labelers/KeypointOcclusionOverrides.cs

+using System;
+
+namespace UnityEngine.Perception.GroundTruth
+{
+    /// <summary>
+    /// When attached to a model used by the <see cref="KeypointLabeler"/> overrides the distance values
+    /// for each keypoint defined in <see cref="KeypointTemplate"/> by multiplying them by this overrideDistanceScale
+    /// scalar. The values in <see cref="KeypointTemplate"/> are generally set for a typical adult model, which makes it
+    /// so that these values do not meet the needs of models with different body types (i.e. children, different heights, different weights).
+    /// Changing the value of the scalar will help to get keypoint occlusion working properly for these models. A value of 1.0
+    /// will use the template values as is.
+    /// </summary>
+    public class KeypointOcclusionOverrides : MonoBehaviour
+    {
+        [Tooltip("Overrides the default occlusion distance values by a scalar. This is necessary for bodies with different body types (i.e. children should be less than one)")]
+        public float distanceScale = 1.0f;
+    }
+}

com.unity.perception/Runtime/GroundTruth/Labelers/KeypointOcclusionOverrides.cs.meta

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com.unity.perception/Runtime/GroundTruth/Resources/KeypointDepthCheck.shader

+//This shader takes in keypoint positions and minimum depth values as pixels
+//in a pair of textures and compares them with the depth image to see if any
+//objects are occluding the keypoint
+Shader "Perception/KeypointDepthCheck"
+{
+    Properties
+    {
+        //2d position in screen space of each keypoint
+        _Positions("Positions", 2D) = "defaultTexture" {}
+        //minimum allowable depth of geometry in the direction ot each keypoint
+        _KeypointCheckDepth("KeypointCheckDepth", 2D) = "defaultTexture" {}
+        //The rendered depth texture
+        _DepthTexture("Depth", 2DArray) = "defaultTexture" {}
+    }
+
+    HLSLINCLUDE
+
+    #pragma target 4.5
+    //#pragma only_renderers d3d11 ps4 xboxone vulkan metal switch
+
+    //enable GPU instancing support
+    #pragma multi_compile_instancing
+
+    ENDHLSL
+
+    SubShader
+    {
+        Pass
+        {
+            PackageRequirements {
+                "com.unity.render-pipelines.high-definition"
+            }
+            Tags { "LightMode" = "SRP" }
+
+            Name "KeypointDepthCheck"
+            ZWrite Off
+            ZTest Always
+            Blend SrcAlpha OneMinusSrcAlpha
+            Cull Off
+
+            HLSLPROGRAM
+//            #pragma only_renderers d3d11 vulkan metal
+            #pragma target 4.5
+            #pragma vertex Vert
+            #pragma fragment Frag
+
+
+            static const float2 checkOffsets[9] = {
+                float2( 0,  0),
+                float2(-1, -1),
+                float2( 0, -1),
+                float2( 1, -1),
+                float2(-1,  0),
+                float2( 1,  0),
+                float2(-1,  1),
+                float2( 0,  1),
+                float2( 1,  1)};
+
+            Texture2D _Positions;
+            Texture2D _KeypointCheckDepth;
+
+            #pragma enable_d3d11_debug_symbols
+
+            #include "Packages/com.unity.render-pipelines.high-definition/Runtime/RenderPipeline/RenderPass/CustomPass/CustomPassCommon.hlsl"
+
+            float4 Frag(Varyings varyings) : SV_Target
+            {
+                UNITY_SETUP_STEREO_EYE_INDEX_POST_VERTEX(varyings);
+
+                float checkDepth = _KeypointCheckDepth.Load(float3(varyings.positionCS.xy, 0)).r;
+
+                float2 checkPosition = _Positions.Load(float3(varyings.positionCS.xy, 0)).xy;
+                checkPosition = float2(checkPosition.x, _ScreenSize.y - checkPosition.y);
+
+                float2 checkPositionResolved;
+                float depth;
+                for (int i = 0; i < 9; i++)
+                {
+                    checkPositionResolved = checkPosition + checkOffsets[i];
+                    depth = LoadCameraDepth(checkPositionResolved);
+                    if (depth > 0)
+                        break;
+                }
+
+                PositionInputs positionInputs = GetPositionInput(checkPosition, _ScreenSize.zw, depth, UNITY_MATRIX_I_VP, UNITY_MATRIX_V);
+                depth = positionInputs.linearDepth;
+
+                uint result = depth >= checkDepth ? 1 : 0;
+                return float4(result, result, result, 1);
+            }
+            ENDHLSL
+        }
+        Pass
+        {
+            PackageRequirements {
+                "com.unity.render-pipelines.universal"
+            }
+            Tags { "LightMode" = "SRP" }
+
+            Name "KeypointDepthCheck"
+            ZWrite Off
+            ZTest Always
+            Blend SrcAlpha OneMinusSrcAlpha
+            Cull Off
+
+            HLSLPROGRAM
+            //#pragma only_renderers d3d11 vulkan metal
+            #pragma target 4.5
+            #pragma vertex Vert
+            #pragma fragment Frag
+
+
+            static const float2 checkOffsets[9] = {
+                float2( 0,  0),
+                float2(-1, -1),
+                float2( 0, -1),
+                float2( 1, -1),
+                float2(-1,  0),
+                float2( 1,  0),
+                float2(-1,  1),
+                float2( 0,  1),
+                float2( 1,  1)};
+
+            Texture2D _Positions;
+            Texture2D _KeypointCheckDepth;
+            #include "UnityCG.cginc"
+
+            //copied from UnityInput.hlsl
+            float4x4 _InvViewProjMatrix;
+            float4x4 _InvProjMatrix;
+
+            //#include "Packages/com.unity.render-pipelines.core/ShaderLibrary/Common.hlsl"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 uv : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float2 uv : TEXCOORD0;
+                float4 vertex : SV_POSITION;
+            };
+
+            v2f Vert (appdata v)
+            {
+                v2f o;
+                o.vertex = UnityObjectToClipPos(v.vertex);
+                o.uv = v.uv;
+                return o;
+            }
+
+            bool IsPerspectiveProjection()
+            {
+                return unity_OrthoParams.w == 0;
+            }
+            float ViewSpaceDepth(float depth)
+            {
+                if (IsPerspectiveProjection())
+                    return LinearEyeDepth(depth);
+                else
+                    return _ProjectionParams.y + (_ProjectionParams.z - _ProjectionParams.y) * (1 - depth);
+            }
+
+            float EncodeAndDecodeDepth(float vsDepth)
+            {
+                if (IsPerspectiveProjection())
+                {
+                    //derived from vsDepth = 1.0 / (_ZBufferParams.z * dtDepth + _ZBufferParams.w);
+                    float dtDepth = (1.0 / vsDepth - _ZBufferParams.w) / _ZBufferParams.z;
+                    dtDepth = dtDepth;
+                    return LinearEyeDepth(dtDepth);
+                }
+                else //in orthographic projections depth is linear so there is no loss of precision.
+                    return vsDepth;
+            }
+
+            Texture2D _CameraDepthTexture;
+
+            float LoadSceneDepth(uint2 uv)
+            {
+                return _CameraDepthTexture.Load(float3(uv, 0)).r;
+            }
+
+            float4 ComputeClipSpacePosition(float2 positionNDC, float deviceDepth)
+            {
+                float4 positionCS = float4(positionNDC * 2.0 - 1.0, deviceDepth, 1.0);
+
+            #if UNITY_UV_STARTS_AT_TOP
+                // Our world space, view space, screen space and NDC space are Y-up.
+                // Our clip space is flipped upside-down due to poor legacy Unity design.
+                // The flip is baked into the projection matrix, so we only have to flip
+                // manually when going from CS to NDC and back.
+                positionCS.y = -positionCS.y;
+            #endif
+
+                return positionCS;
+            }
+
+            float3 ComputeWorldSpacePosition(float2 positionNDC, float deviceDepth, float4x4 invViewProjMatrix)
+            {
+                float4 positionCS  = ComputeClipSpacePosition(positionNDC, deviceDepth);
+                float4 hpositionWS = mul(invViewProjMatrix, positionCS);
+                return hpositionWS.xyz / hpositionWS.w;
+            }
+            fixed4 Frag (v2f i) : SV_Target
+            {
+                float depthVSToCheck = _KeypointCheckDepth.Load(float3(i.vertex.xy, 0)).r;
+
+                float2 checkPosition = _Positions.Load(float3(i.vertex.xy, 0)).xy;
+                checkPosition = float2(checkPosition.x, _ScreenParams.y - checkPosition.y);
+
+                float2 checkPositionResolved;
+                float depth;
+                for (int i = 0; i < 9; i++)
+                {
+                    checkPositionResolved = checkPosition + checkOffsets[i];
+                    depth = LoadSceneDepth(checkPositionResolved);
+                    if (depth > 0)
+                        break;
+                }
+
+                float depthVSActual = ViewSpaceDepth(depth);
+
+                uint result = depthVSActual >= depthVSToCheck  ? 1 : 0;
+                return float4(result, result, result, 1);
+            }
+            ENDHLSL
+        }
+    }
+    Fallback Off
+}

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