Code cleaned up and commented

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

     associateToRig: 1
     rigLabel: 14
     color: {r: 1, g: 0.5694697, b: 0, a: 1}
-    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.185
   - label: right_elbow
     associateToRig: 1
     rigLabel: 16
     associateToRig: 1
     rigLabel: 13
     color: {r: 0.33125544, g: 1, b: 0, a: 1}
-    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.185
   - label: left_elbow
     associateToRig: 1
     rigLabel: 15
     associateToRig: 1
     rigLabel: 2
     color: {r: 0, g: 1, b: 0.36656523, a: 1}
-    selfOcclusionDistance: 0.2
+    selfOcclusionDistance: 0.18
   - label: right_knee
     associateToRig: 1
     rigLabel: 4
     associateToRig: 1
     rigLabel: 1
     color: {r: 0, g: 1, b: 1, a: 1}
-    selfOcclusionDistance: 0.3
+    selfOcclusionDistance: 0.2
   - label: left_knee
     associateToRig: 1
     rigLabel: 3

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

         /// </summary>
         public IdLabelConfig idLabelConfig;
 
-        public float visThickness = 6;
-
-        public bool drawBones = true;
-
         /// <summary>
         /// Controls which objects will have keypoints recorded in the dataset.
         /// <see cref="KeypointObjectFilter"/>
                         {
                             var bonePosition = bone.position;
 
-                            // Check to see if
-
-
+
                             InitKeypoint(bonePosition, cachedData, checkLocationsSlice, i, jointSelfOcclusionDistance);
                         }
                     }
         /// <inheritdoc/>
         protected override void OnVisualize()
         {
-            // TODO - remove this, it is just for debugging
-            hudPanel.UpdateEntry(this, "frame", m_CurrentFrame.ToString());
-            // END OF TODO
-
             if (m_KeypointEntriesToReport == null) return;
             using (k_OnVisualizeMarker.Auto())
             {
 
                 foreach (var entry in m_KeypointEntriesToReport)
                 {
-                    if (drawBones)
+                    foreach (var bone in activeTemplate.skeleton)
-                        foreach (var bone in activeTemplate.skeleton)
-                        {
-                            var joint1 = GetKeypointForJoint(entry, bone.joint1);
-                            var joint2 = GetKeypointForJoint(entry, bone.joint2);
+                        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, visThickness, skeletonTexture);
-                            }
+                        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 false
-                        var color = keypoint.state == 1 ? Color.black : activeTemplate.keypoints[keypoint.index].color;
-
-                        if (keypoint.state > 0)
-                            VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, color, visualizationBaseSize * activeTemplate.keypoints[keypoint.index].selfOcclusionDistance, jointTexture);
-#else
-                            VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, visThickness, jointTexture);
-#endif
+                            VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, 8, jointTexture);
                     }
                 }
             }

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

 using System;
-using System.Collections.Generic;
-    [Serializable]
-    public struct KeypointOcclusionOverride
-    {
-        public string label;
-        public float distance;
-    }
-
+    /// <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 float overrideDistanceScale = 1.0f;
-#if false
-        public Dictionary<string, float> overridesMap { get; private set; }
-        public List<KeypointOcclusionOverride> keypointOcclusionOverrides;
+        [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)")]
+        [SerializeField]
+        // ReSharper disable once InconsistentNaming, this needs to be human readable in the inspector
+        float distanceScale = 1.0f;
-        void Start()
+        /// <summary>
+        /// The value to use to scale the values for keypoints distances defined in <see cref="KeypointTemplate"/>
+        /// </summary>
+        public float overrideDistanceScale
-            overridesMap = new Dictionary<string, float>(keypointOcclusionOverrides.Count);
-            foreach (var kpOverride in keypointOcclusionOverrides)
-            {
-                overridesMap[kpOverride.label] = kpOverride.distance;
-            }
+            get => distanceScale;
+            private set => distanceScale = value;
-#endif
     }
 }