* Initial docs for new labelers. Updated changelog.
* Fixing IdLabelConfig import issues
* Adding support for rendering to a user-supplied render texture for semantic segmentation.
* Making default annotation/metric ids lower case. Address security issues with pip install in yamato scripts. Fix paths in dataset to make them Linux-compatible.
* Fixing tests
* Attempt #2 to fix linux
* Initial cut of labeler visualizers
* Added event system to the scene so that the UI would work
* Created a shader that can remove the background of the segmentation image
* Changed package for the shader
* Now with sliders in UI for transparency values
* Heads up display information now available
* PR fixes
Some fairly major UI architecture changes to address comments made during the initial cut PR. Things make more sense now.
* Fixes so that rendering is not a frame behind
* Graceful-ish handling of more than 1 perception camera for visualization
* Removal of expired visualization artifacts fixes for SynthDet
Removed bounding boxes and HUD entries for objects no longer being visualized, added performance improvements to handle complete scene changes every frame
* Fixes for scroll bars on HUD and UI Controls on top of UI objects
* Object pooling for HUD entries
* Adding tests for visualization in...
* Updating to latest capture and core packages. Adding lines to configure GPU readback for perception.
* Updating package dependencies
* Updating test project dependencies
* Fix memory explosion with visualization
* Fixing dark, upside-down RGB images on HDRP with visualization enabled.
* Adding check for Deferred Only, which causes ground truth to break.
* Upgrading PerceptionHDRP to 2019.4.7f1 and switching to Lit Shader Mode "Both", fixing rendering issues.
* Fixing IdLabelConfig.asset. Adding check to RGB image generation to ensure it isn't requested multiple times in the same frame.
* Switching required version to 2019.4
* Adding "cancel_old_ci" to the Yamato trigger.
* Fixing compilation errors in URP/builtin.
* Updating PerceptionURP to 2019.4.7f1
* Fleshing out changelog. Reverting to testing on 2019.3.15f1 for stability.
* Downgrading version requirement to pass tests.
* Segmentation Alpha Bug Fix
Capped the max opacity allowed in the shader to an extremely high value (0.995) to stop a weird issue caused by alpha being set to 1.0
* Segmentation Alpha Bug Fix
Capped the max opacity allowed in the shader to an extremely high value (0.995) to stop a weird issue caused by alpha being set to 1.0. Incorporated the suggestion on how to clean up shader code
Capped the max opacity allowed in the shader to an extremely high value (0.995) to stop a weird issue caused by alpha being set to 1.0. Incorporated the suggestion on how to clean up shader code
Removed bounding boxes and HUD entries for objects no longer being visualized, added performance improvements to handle complete scene changes every frame
* Update visual UI to use IMGUI system
Rework of visualization to use IMGUI system, allows for UI rendering to occur after all labelers execute.
* Fix visualization off check
* Fix for segmentation images responding to screen size changes
* Adjustments for PR requests. Fixed tests in HDRP.
* Move get uniqueLabelerId to public to fix editor tests
* Changed HUD to just use the labeler as the key
* Display no labeler enabled message
If perception is ran with show visualizations on and no labelers active, a message box will display saying that no labelers are currently active
* Do not generate any dataset if the PerceptionCamera is never enabled and no other dataset generation APIs are called.
* Fixing style and performance issues
* Do not report bounding boxes for objects that do not match the label config.
* Add test.
* Updating changelog
* Attempting to fix test
* Removing editor platforms for a test that gives unstable output in editors
* Upgrading projects and dependencies
* Adding additional editor versions for testing.
* Adding test ensuring datasets are generated on exiting play mode.
* Reducing test set for per-commit to a single editor. Removing use of IncludeTestAssemblies from BuildPlayer* tests to work around mysterious issue with shader compilation.
* Fix yaml
* Adding "All Tests" which triggers nightly
* Switching to newer 2019.4
* Fixing instance and semantic segmentation shaders in 2020.1. Bumping package version. Removing publish tests from all tests and renaming
* Promotion test rename
* Update to latest capture and core. Switch off 2020.2 testing because it is not currently supported. Switch CI back to 2019.4.6f1 due to linux editor import hang.
* Updating changelog
* Lens Distortion now added as a pass for both semantic and instance segmentation by way of a LensDistortion shader. This can be enabled either through enabling post-processing in URP or HDRP respectively or by utilizing the override although this approach is internal only currently but allows for the manipulation of the shader without having to have access to the global volume which in some test scenarios is not available.
* Fixing labeling when renderers have per-material MaterialPropertyBlocks. Also supporting refreshing labeling manually after making changes to renderers or the Labeling component.
* updating changelog
* Merge branch 'dr-test3' of https://github.com/Unity-Technologies/com.unity.perception into dr-test3
Add some tooltips and UI labels to perception camera, labelers, randomization scenarios, and parameter configurations
* making requested change
variable name case change
* added ///<inheritdoc/> to description overrides
* two more xmldoc additions to fix warnings
* changed the namespace of randomization tools to experimental
* moved randomization UI code to experimental namespace
* updated docs to emphasize that the randomization tools are experimental
* updated changelog
SequenceTimeOfNextCapture was reporting time with respect to two
different frames depending on context: either it would report absolute
time since the start of the sequence, if the first capture had not been
completed, or it would report the amount of time left until the next
capture, relative to the current time.
Removed logic which reported relative time, which seems like it was not
part of any code path, or was being corrected for elsewhere in
SimulationState's update loop. Removed some of the error correction in
the update loop and added stricter expectations for the management of
the timing code.
Added unit tests to ensure function reports time we'd expect regardless
of context.
Created follow-up task AISV-845 for making the timing code less fragile.
* Bounding box 3D
Working version of bounding box 3d with the ability to capture data in either kitti or nuscenes format. I'm going to remove it in the next commit. Just wanted to make sure that we have a commit for this
* BB3D cleaned up files
* Code commented.
* Comment fixes
* Everything appears to be work prior to code clean up
* Everything working before commit
* Cleaned up code
* Updated changelog
* Updated documentation
* Only report 3DBBs for visible, labeled objects
* Moved execution of labeler to OnBeginRenderering
* Now using rendered object info for occlusion
* Json serialization of boundingbox3d data
* Adding support for labeling terrains. Does not support labeling trees or details.
* Adding terrains to test projects. Updating projects to 2019.4.12f1
* Updating docs and changelog.
* Fixing up URP SampleScene.unity
* Attempting to fix pip installs of unity-downloader-cli
* Switching to rtx2080
* Copy to Color32 in labeler
* Finishing touches on instance segmentation labeler
* Moved away from static initialization
* Fixes for some unit tests
* Update packages for newer version of burst
* Fixed some documentation
* Updated changelog
* Updated documentation
* Fixes for PR comments
* Fix to support labelers coming on and off line
* Updates for PR comments
* Fix for instance segmentation bug
Removed check for object ID 255 to be considered an invalid ID, it shouldn't have been, the logic already supported that ID. Added tests to verify result.
* Updated changelog
Fixed an issue where the overlay panel would display a full screen semi-transparent image over the entire screen when the overlay panel is disabled in the UI
* fix for breaking change in capture refactor. FlipY is correct by default in preview.16 and later
* revert anyVisualizing change, this was a test and was not intended to be a part of this PR
- branched out from initial branch to keep the branch given to Romain untouched
- changed things so that the only available mode is "render all frames", no more "renderOnlyCapturedFrames" flag.
- Added simulation timing ability for manual camera
- more work on multi cam coordination
- changed tests to reflect new changes
* 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>
* Converge on a single name for animation pose config
* Assorted fixes for pose label config stability
* Updated for PR comments
Co-authored-by: Steven Leal <steven.leal@unity3d.com>
* Fixing bug where disabled PerceptionCameras interfere with the enabled PerceptionCamera. Note: this does not add full support for multiple simultaneous cameras.
* Adding test for instance segmentation with a separate disabled perceptioncamera
* Updating changelog
* Fix compilation and test failures
* keypoint occlusion fixes
does not report a labeled asset that is completely out of the frame, also individual keypoints are now labeled as 0 for off screen or not in model, 1 for in model and on screen but occluded by something else, and 2 everything works and is visible
* Keypoint templates now save their color info to json
* Updates for PR comments
* Partial fix for keypoint issues
* Adding human pose assets to perceptionHDRP
* Moving test assets out of resources folder. Removing baked lighting from scenes.
* Updating changelog
* Fixing test on large screens. Reverting unnecessary PerceptionURP change
* Adding human pose labeling sample to PerceptionURP
* Update HDRP PoseSample.unity
* Fixing merge issues
* Adding rendertexture to test to address issue at other resolutions
* Adding box labeling examples to PoseSample
* Adding a default color to KeypointTemplate entries.
* Adding default color to keypoint and skeleton in the inspector
* Updating docs
* Updating changelog
* Added tolerance to test to see if entity contains keypoint
* Revert "Added tolerance to test to see if entity contains keypoint"
This reverts commit ad94806af4170d21af162e8569c7ea28dc6afcec.
* Added tolerance to keypoint on instance check
* Updates to address PR comments
* Removed Using.Entities that accidentally got brought back in
* Fixing two bugs in KeypointLabeler:
AISV-1254 - Some keypoints fall outside of the image bounds
AISV-1257 - Partially visible characters with no visible keypoints are not reported
* Adding JointLabelEditor with message about Labeling requirement
* Reorganizing keypoint docs and elaborating on setup requirements.
* Updating PerceptionCamera.md
* Fixing issues on 2020.2 and failing test
* Add object filtering modes to keypoint labeler
* Updating docs for object filtering
* Adding link to tutorial
* Moving KeypointLabeler.md to proper directory
* Update TUTORIAL.md
* Updating capitalization
Co-authored-by: Mohsen K <mohsen.kamalzadeh@unity3d.com>
* Apply doc suggestions
Co-authored-by: Mohsen K <mohsen.kamalzadeh@unity3d.com>
* Update PerceptionCamera.md based on feedback
* Update CHANGELOG.md
Co-authored-by: Mohsen K <mohsen.kamalzadeh@unity3d.com>
* addressed feedback
- new test for keypoint labeler
- added ClearMaterialProperties method to IGroundTruthGenerator
- Other fixes
* docs clarification
* Update CHANGELOG.md
* added missing interface method implementation for HDRP
* Amending dataset schema to describe correct coordinate system (#255)
The summary for the 3d bounding box states the coordinates are from the sensor's reference frame, but the string for the translational component says it's global. I *think* this is just a typo in the doc, so correcting the description to match the summary for this type of entry.
* Adding supported version badges (#256)
* Cloud rendering support (#227)
* Adding support for cloud rendering in the run simulation window
* minor fixes
* minor update
* Update BoundingBox3DLabeler.cs
* Update BoundingBox3DLabeler.cs
* inner mesh scaling and disabled renderes
* A fix that prevents normal sampler returning values outsi...
* Increasing color variety in instance segmentation.
* Fixing duplicated color issues in InstanceIdToColorMapping introduced after expanding range.
* Using other constants in constant for cleanliness
* Fix HDRP warnings on 2020.X (#260)
* Fix HDRP warnings on 2020.2
* Updating changelog
* Fixing HDRP version expression on 2019.4
* Fix keypoint issues (#259)
* Fixing two bugs in KeypointLabeler:
AISV-1254 - Some keypoints fall outside of the image bounds
AISV-1257 - Partially visible characters with no visible keypoints are not reported
* Adding JointLabelEditor with message about Labeling requirement
* Reorganizing keypoint docs and elaborating on setup requirements.
* Updating PerceptionCamera.md
* Fixing issues on 2020.2 and failing test
* Add object filtering modes to keypoint labeler
* Updating docs for object filtering
* Adding link to tutorial
* Moving KeypointLabeler.md to proper directory
* Update TUTORIAL.md
* Updating capitalization
Co-authored-by: Mohsen K <mohsen.kamalzadeh@unity3d.com>
* Apply doc suggestions
Co-authored-by: Mohsen K <mohsen.kamalzadeh@unity3d.com>
* Update P...
* Adding background color for semantic segmentation and bad UI. Need to come back to this later.
* Updating UI
* Changing 'background' to 'sky' and improving tests.
* some UI polish
* Updating label config and PerceptionURP
Co-authored-by: Mohsen Kamalzadeh <>
* Adding background color for semantic segmentation and bad UI. Need to come back to this later.
* Updating UI
* Changing 'background' to 'sky' and improving tests.
* some UI polish
* Updating label config and PerceptionURP
* Adding new sky label to output when sky color is set.
Co-authored-by: Mohsen Kamalzadeh <>
* Fixing keypoint bugs when visualizations are disabled (enabling async readback)
* Remove commented out code
* Pointing to stable ubuntu to work around issue in latest.
* Fixing keypoint bugs when visualizations are disabled (enabling async readback)
* Remove commented out code
* Pointing to stable ubuntu to work around issue in latest.
* 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...
- Fixed an exception that happened when semantic or instance segmentation labelers where active in the scene, causing coco export to crash
- Made it possible to test the outputFormat scenario constant locally with a json config
Jon Hogins
GitHub
Wesley Mareovich Smith
Steven Borkman
Steven Leal
Devin Miller
Priyesh Wani
Mohsen Kamalzadeh
sleal-unity
Steve Borkman
leopoldo-zugasti
RuiyuZ
You-Cyuan Jhang
Aryan Mann
GitHub Enterprise