Fix Semantic Segmentation in USim (#163)

* Updating capture package dependency to support cloud rendering

* Adding metric on iteration start for enabling reproducibility in editor from USim iterations

* Supporting semantic segmentation in unity simulation.

* Fixing tests and updating dependencies

* Updating PerceptionHDRP and regenerating package data

* Updating changelog

Co-authored-by: sleal-unity <53197518+sleal-unity@users.noreply.github.com>

.gitignore

 /.download
 **/Build/**
 **/Builds/**
+/utr

TestProjects/PerceptionHDRP/Packages/manifest.json

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com.unity.perception/CHANGELOG.md

 
 ScenarioBase.Serialize() now not only serializes scenario constants, but also all sampler member fields on randomizers attached to the scenario
 
+Semantic Segmentation Labeler now places data in folders with randomized filenames
 
 ### Deprecated
 
 Randomizer.OnCreate() is no longer called in edit-mode when adding a randomizer to a scenario
 
 Fixed a bug where removing all randomizers from a scenario caused the randomizer container UI element to overflow over the end of Scenario component UI
+
+Semantic Segmentation Labeler now produces output in the proper form for distributed data generation on Unity Simulation by placing output in randomized directory names
 
 ## [0.6.0-preview.1] - 2020-12-03
 

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

 
         const string k_SemanticSegmentationDirectory = "SemanticSegmentation";
         const string k_SegmentationFilePrefix = "segmentation_";
+        internal string m_SemanticSegmentationDirectory;
 
         /// <summary>
         /// The id to associate with semantic segmentation annotations in the dataset.
 
             targetTexture.Create();
             targetTexture.name = "Labeling";
+            m_SemanticSegmentationDirectory = k_SemanticSegmentationDirectory + Guid.NewGuid();
 
 #if HDRP_PRESENT
             var gameObject = perceptionCamera.gameObject;
             if (!m_AsyncAnnotations.TryGetValue(frameCount, out var annotation))
                 return;
 
-            var datasetRelativePath = $"{k_SemanticSegmentationDirectory}/{k_SegmentationFilePrefix}{frameCount}.png";
-            var localPath = $"{Manager.Instance.GetDirectoryFor(k_SemanticSegmentationDirectory)}/{k_SegmentationFilePrefix}{frameCount}.png";
+            var datasetRelativePath = $"{m_SemanticSegmentationDirectory}/{k_SegmentationFilePrefix}{frameCount}.png";
+            var localPath = $"{Manager.Instance.GetDirectoryFor(m_SemanticSegmentationDirectory)}/{k_SegmentationFilePrefix}{frameCount}.png";
 
             annotation.ReportFile(datasetRelativePath);
 

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

         protected override void ExecutePass(ScriptableRenderContext renderContext, CommandBuffer cmd, Camera camera, CullingResults cullingResult)
         {
             if (s_LastFrameExecuted == Time.frameCount)
-            {
-                Debug.LogError("Semantic segmentation was run twice in the same frame. Multiple semantic segmentations are not currently supported.");
-            }
+                return;
 
             s_LastFrameExecuted = Time.frameCount;
             var renderList = CreateRendererListDesc(camera, cullingResult, "FirstPass", 0, m_OverrideMaterial, -1);

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

     {
         static ScenarioBase s_ActiveScenario;
 
+        const string k_ScenarioIterationMetricDefinitionId = "DB1B258E-D1D0-41B6-8751-16F601A2E230";
+        MetricDefinition m_IterationMetricDefinition;
 
         IEnumerable<Randomizer> activeRandomizers
         {
             // Don't skip the first frame if executing on Unity Simulation
             if (Configuration.Instance.IsSimulationRunningInCloud())
                 m_SkipFrame = false;
+
+            m_IterationMetricDefinition = DatasetCapture.RegisterMetricDefinition("scenario_iteration", "Iteration information for dataset sequences",
+                Guid.Parse(k_ScenarioIterationMetricDefinitionId));
         }
 
         void OnEnable()
                 Debug.Log($"No configuration file found at {defaultConfigFilePath}. " +
                     "Proceeding with built in scenario constants and randomizer settings.");
 #endif
+        }
+
+        struct IterationMetricData
+        {
+            public int iteration;
         }
 
         void Update()
             {
                 DatasetCapture.StartNewSequence();
                 SamplerState.randomState = SamplerUtility.IterateSeed((uint)currentIteration, genericConstants.randomSeed);
+
+                DatasetCapture.ReportMetric(m_IterationMetricDefinition, new[]
+                {
+                    new IterationMetricData()
+                    {
+                        iteration = currentIteration
+                    }
+                });
                 foreach (var randomizer in activeRandomizers)
                     randomizer.IterationStart();
             }

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

         [UnityTest]
         public IEnumerator EnableSemanticSegmentation_GeneratesCorrectDataset([Values(true, false)] bool enabled)
         {
+            SemanticSegmentationLabeler semanticSegmentationLabeler = null;
-                pc.AddLabeler(new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig()));
+                semanticSegmentationLabeler = new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig());
+                pc.AddLabeler(semanticSegmentationLabeler);
             }, enabled);
 
             string expectedImageFilename = $"segmentation_{Time.frameCount}.png";
             {
                 var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
                 var capturesJson = File.ReadAllText(capturesPath);
-                var imagePath = $"SemanticSegmentation/{expectedImageFilename}";
+                var imagePath = $"{semanticSegmentationLabeler.m_SemanticSegmentationDirectory}/{expectedImageFilename}";
                 StringAssert.Contains(imagePath, capturesJson);
             }
             else
         [UnityTest]
         public IEnumerator Disabled_GeneratesCorrectDataset()
         {
+            SemanticSegmentationLabeler semanticSegmentationLabeler = null;
-                pc.AddLabeler(new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig()));
+                semanticSegmentationLabeler = new SemanticSegmentationLabeler(CreateSemanticSegmentationLabelConfig());
+                pc.AddLabeler(semanticSegmentationLabeler);
             });
 
             string expectedImageFilename = $"segmentation_{Time.frameCount}.png";
 
             var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
             var capturesJson = File.ReadAllText(capturesPath);
-            var imagePath = $"SemanticSegmentation/{expectedImageFilename}";
+            var imagePath = $"{semanticSegmentationLabeler.m_SemanticSegmentationDirectory}/{expectedImageFilename}";
             StringAssert.Contains(imagePath, capturesJson);
         }
 

com.unity.perception/package.json

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-    "com.unity.simulation.capture": "0.0.10-preview.14",
-    "com.unity.simulation.core": "0.0.10-preview.20"
+    "com.unity.simulation.client": "0.0.10-preview.10",
+    "com.unity.simulation.capture": "0.0.10-preview.16",
+    "com.unity.simulation.core": "0.0.10-preview.21"
   },
   "description": "Tools for generating large-scale data sets for perception-based machine learning training and validation",
   "displayName": "Perception",

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