Fix warnings 0.2.0 (#39)

* Fixing compilation warnings and ensure warnings are treated as errors in test projects.

* Updating changelog

.yamato/publish.yml

 {% metadata_file .yamato/environments.yml %}
 
 ---
-{% for variant in package_variants %}
+
-  name: Publish {{ variant.name }} package to internal registry
+  name: Publish Perception package to internal registry
   agent:
     type: Unity::VM
     image: package-ci/win10:stable
   triggers:
     tags:
       only:
-        - "/^(r|R)(c|C)-+(-preview(+)?)?$/"
+        - /^(r|R)(c|C)-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
-    - .yamato/upm-ci-full.yml#pack_{{ variant.name }}
-    {% for editor in test_editors %}
-    {% for platform in test_platforms %}
-    - .yamato/upm-ci-full.yml#pkg_test_{{variant.name}}_{{platform.name}}_{{editor.version}}
+    - .yamato/upm-ci-full.yml#pack_Perception
+    {% for editor in publish_editors %}
+    {% for platform in publish_platforms %}
+    {% for suite in suites %}
+    {% for project in projects %}
+    - .yamato/upm-ci-full.yml#pkg_test_Perception_{{platform.name}}_{{editor.version}}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_windows_{{suite.name}}_{{editor.version}}
+    {% endfor %}
+    {% endfor %}
-{% endfor %}
+

.yamato/promote.yml

     {% for platform in publish_platforms %}
     {% for suite in suites %}
     {% for project in projects %}
-    {% for variant in package_variants %}
-    - .yamato/upm-ci-full.yml#pkg_test_{{variant.name}}_{{platform.name}}_{{editor.version}}
+    - .yamato/upm-ci-full.yml#pkg_test_Perception_{{platform.name}}_{{editor.version}}
-    {% endfor %}
     {% endfor %}
     {% endfor %}
     {% endfor %}

TestProjects/PerceptionURP/Packages/manifest.json

     "com.unity.package-validation-suite": "0.9.1-preview",
     "com.unity.perception": "file:../../../com.unity.perception",
     "com.unity.render-pipelines.universal": "7.3.1",
-    "com.unity.simulation.capture": "0.0.10-preview.6",
-    "com.unity.simulation.core": "0.0.10-preview.8",
+    "com.unity.simulation.capture": "0.0.10-preview.8",
+    "com.unity.simulation.core": "0.0.10-preview.14",
     "com.unity.test-framework": "1.1.14",
     "com.unity.textmeshpro": "2.0.1",
     "com.unity.timeline": "1.2.12",

TestProjects/PerceptionURP/Packages/packages-lock.json

         "com.unity.nuget.newtonsoft-json": "1.1.2",
         "com.unity.render-pipelines.core": "7.1.6",
         "com.unity.entities": "0.8.0-preview.8",
-        "com.unity.simulation.capture": "0.0.10-preview.6",
-        "com.unity.simulation.core": "0.0.10-preview.8"
+        "com.unity.simulation.capture": "0.0.10-preview.8",
+        "com.unity.simulation.core": "0.0.10-preview.14"
       }
     },
     "com.unity.platforms": {
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.capture": {
-      "version": "0.0.10-preview.6",
+      "version": "0.0.10-preview.8",
-        "com.unity.simulation.core": "0.0.10-preview.8"
+        "com.unity.simulation.core": "0.0.10-preview.12"
-      "version": "0.0.10-preview.8",
+      "version": "0.0.10-preview.14",
       "depth": 0,
       "source": "registry",
       "dependencies": {},

TestProjects/PerceptionURP/Assets/ExampleScripts/CustomAnnotationAndMetricReporter.cs

 [RequireComponent(typeof(PerceptionCamera))]
 public class CustomAnnotationAndMetricReporter : MonoBehaviour
 {
-    public GameObject light;
+    public GameObject targetLight;
     public GameObject target;
 
     MetricDefinition lightMetricDefinition;
     public void Update()
     {
         //Report the light's position by manually creating the json array string.
-        var lightPos = light.transform.position;
+        var lightPos = targetLight.transform.position;
         DatasetCapture.ReportMetric(lightMetricDefinition,
             $@"[{{ ""x"": {lightPos.x}, ""y"": {lightPos.y}, ""z"": {lightPos.z} }}]");
         //compute the location of the object in the camera's local space

TestProjects/PerceptionHDRP/Packages/manifest.json

     "com.unity.perception": "file:../../../com.unity.perception",
     "com.unity.render-pipelines.core": "7.3.1",
     "com.unity.render-pipelines.high-definition": "7.3.1",
-    "com.unity.simulation.capture": "0.0.10-preview.6",
-    "com.unity.simulation.core": "0.0.10-preview.8",
+    "com.unity.simulation.capture": "0.0.10-preview.8",
+    "com.unity.simulation.core": "0.0.10-preview.14",
     "com.unity.test-framework": "1.1.14",
     "com.unity.testtools.codecoverage": "0.2.2-preview",
     "com.unity.textmeshpro": "2.0.1",

TestProjects/PerceptionHDRP/Packages/packages-lock.json

         "com.unity.nuget.newtonsoft-json": "1.1.2",
         "com.unity.render-pipelines.core": "7.1.6",
         "com.unity.entities": "0.8.0-preview.8",
-        "com.unity.simulation.capture": "0.0.10-preview.6",
-        "com.unity.simulation.core": "0.0.10-preview.8"
+        "com.unity.simulation.capture": "0.0.10-preview.8",
+        "com.unity.simulation.core": "0.0.10-preview.14"
       }
     },
     "com.unity.platforms": {
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.capture": {
-      "version": "0.0.10-preview.6",
+      "version": "0.0.10-preview.8",
-        "com.unity.simulation.core": "0.0.10-preview.8"
+        "com.unity.simulation.core": "0.0.10-preview.12"
-      "version": "0.0.10-preview.8",
+      "version": "0.0.10-preview.14",
       "depth": 0,
       "source": "registry",
       "dependencies": {},

TestProjects/PerceptionHDRP/Assets/IdLabelConfig.asset

   m_Name: IdLabelConfig
   m_EditorClassIdentifier: Unity.Perception.Runtime:UnityEngine.Perception.GroundTruth:IdLabelConfig
   m_LabelEntries:
-  - label: Box
+  - label: Crate
-  - label: Crate
+  - label: Box
     id: 3
   autoAssignIds: 1
   startingLabelId: 1

TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity

         asm: Unity.Perception.Runtime}
       data:
         enabled: 1
-        foldout: 0
-        labelingConfiguration: {fileID: 11400000, guid: be3971a848968144e8d07d9136a5bf49,
+        idLabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
           type: 2}
     00000001:
       type: {class: SemanticSegmentationLabeler, ns: UnityEngine.Perception.GroundTruth,
-        foldout: 0
+        m_TargetTextureOverride: {fileID: 0}
-        foldout: 0
-        m_LabelingConfiguration: {fileID: 11400000, guid: be3971a848968144e8d07d9136a5bf49,
+        m_LabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
           type: 2}
     00000003:
       type: {class: RenderedObjectInfoLabeler, ns: UnityEngine.Perception.GroundTruth,
-        foldout: 0
-        labelingConfiguration: {fileID: 11400000, guid: be3971a848968144e8d07d9136a5bf49,
+        idLabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
           type: 2}
 --- !u!1 &1640252278
 GameObject:

com.unity.perception/package.json

     "com.unity.nuget.newtonsoft-json": "1.1.2",
     "com.unity.render-pipelines.core": "7.1.6",
     "com.unity.entities": "0.8.0-preview.8",
-    "com.unity.simulation.capture": "0.0.10-preview.6",
-    "com.unity.simulation.core": "0.0.10-preview.8"
+    "com.unity.simulation.capture": "0.0.10-preview.8",
+    "com.unity.simulation.core": "0.0.10-preview.14"
-    "version": "0.1.0-preview.4"
+    "version": "0.2.0-preview.2"
 }

com.unity.perception/CHANGELOG.md

 The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
-## [Unreleased] 
+## [Unreleased]
+
-Added CameraLabeler, an extensible base type for all forms of dataset output from a camera.
-Added LabelConfig\<T\>, a base class for mapping labels to data used by a labeler. There are two new derived types - ID label config and semantic segmentation label config.
+
-Moved the various forms of ground truth from PerceptionCamera into various subclasses of CameraLabeler.
-Renamed SimulationManager to DatasetCapture.
-Changed Semantic Segmentation to take a SemanticSegmentationLabelConfig, which maps labels to color pixel values.
+
+Fixed compilation warnings with latest com.unity.simulation.core package.
+
+## [0.2.0-preview.2] - 2020-07-15
+### Fixed
+Fixed bug that prevented RGB captures to be written out to disk
+Fixed compatibility with com.unity.simulation.capture@0.0.10-preview.8
+
+## [0.2.0-preview.1] - 2020-07-02
+### Added
+Added CameraLabeler, an extensible base type for all forms of dataset output from a camera.
+Added LabelConfig\<T\>, a base class for mapping labels to data used by a labeler. There are two new derived types - ID label config and semantic segmentation label config.
+### Changed
+Moved the various forms of ground truth from PerceptionCamera into various subclasses of CameraLabeler.
+Renamed SimulationManager to DatasetCapture.
+Changed Semantic Segmentation to take a SemanticSegmentationLabelConfig, which maps labels to color pixel values.
 
 ## [0.1.0] - 2020-06-24
 ### This is the first release of the _Perception_ package

com.unity.perception/Documentation~/GettingStarted.md

 1. Select your project's `ScriptableRenderer` asset and open the inspector window. In most projects it is located at `Assets/Settings/ForwardRenderer.asset`.
 2. Click `Add Renderer Feature` and select `Ground Truth Renderer Feature`
 
-<img src="images/ScriptableRendererStep.PNG" align="middle"/>
+<img src="images/ScriptableRendererStep.png" align="middle"/>
 
 ## Step 3: Create a new scene and camera
 1. Create a new scene using File -> New Scene
 	1. In the inspector panel of the main camera select Add Component
 	2. Add a **Perception Camera** component
 
-<img src="images/MainCameraConfig.PNG" align="middle"/>
+<img src="images/PerceptionCameraFinished.png" align="middle"/>
-1. Create 2 more cubes this way
-1. Change the names of the cubes to Cube, Box, and Crate
-1. Position the Cubes in front of the main Camera
+2. Create 2 more cubes this way
+3. Change the names of the cubes to Cube, Box, and Crate
+4. Position the Cubes in front of the main Camera
-1. On each cube, from the inspector panel add a **Labeling** component 
+5. On each cube, from the inspector panel add a **Labeling** component 
+
-1. In the Project panel right click -> Perception -> Labeling Configuration
-1. Select the new **Labeling Configuration**
+6. In the Project panel right click -> Perception -> Labeling Configuration
+7. Select the new **ID Label Config**
-	3. Add a numerical value to the value field 
-		Make sure the labels all have different values, for this example use increments of 10,000 to ensure they show up as very distinct colors in the segmentation images
-
-<img src="images/LabelingConfigurationFinished.PNG" align="middle"/>
+<img src="images/IDLabelingConfigurationFinished.PNG" align="middle"/>
-1. Select the Main Camera in the Hierarchy panel 
-1. In the Perception Camera attach the Labeling Configuration created in previous step 
+8. Select the Main Camera in the Hierarchy panel 
+9. In the Perception Camera attach the ID Label Config created in previous step for each ID Label config 
-<img src="images/MainCameraConfig.PNG" align="middle"/>
+<img src="images/MainCameraLabelConfig.PNG" align="middle"/>
 
 ## Step 5: Run simulation and generate dataset
 1. Press play in the editor, allow the scene to run for a few seconds, and then exit playmode

com.unity.perception/Documentation~/DatasetCapture.md

 [RequireComponent(typeof(PerceptionCamera))]
 public class CustomAnnotationAndMetricReporter : MonoBehaviour
 {
-    public GameObject light;
+    public GameObject targetLight;
     public GameObject target;
 
     MetricDefinition lightMetricDefinition;
     public void Update()
     {
         //Report the light's position by manually creating the json array string.
-        var lightPos = light.transform.position;
+        var lightPos = targetLight.transform.position;
         DatasetCapture.ReportMetric(lightMetricDefinition,
             $@"[{{ ""x"": {lightPos.x}, ""y"": {lightPos.y}, ""z"": {lightPos.z} }}]");
         //compute the location of the object in the camera's local space

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

                 height = targetTexture.height,
                 path = localPath
             };
-            asyncRequest.Start((r) =>
+            asyncRequest.Enqueue((r) =>
             {
                 Profiler.BeginSample("Encode");
                 var pngBytes = ImageConversion.EncodeArrayToPNG(r.data.data.ToArray(), GraphicsFormat.R8G8B8A8_UNorm, (uint)r.data.width, (uint)r.data.height);
                 r.data.data.Dispose();
                 return AsyncRequest.Result.Completed;
             });
+            asyncRequest.Execute();
         }
 
         /// <inheritdoc/>

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

 
         bool m_CapturedLastFrame;
         Ego m_EgoMarker;
+
+#pragma warning disable 414
+#pragma warning restore 414
 
         /// <summary>
         /// The <see cref="SensorHandle"/> associated with this camera. Use this to report additional annotations and metrics at runtime.
                 using (s_WriteFrame.Auto())
                 {
                     var dataColorBuffer = (byte[])r.data.colorBuffer;
-                    if (flipY)
-                        FlipImageY(dataColorBuffer, height);
 
                     byte[] encodedData;
                     using (s_EncodeAndSave.Auto())
                 }
             };
 
-            CaptureCamera.Capture(cam, colorFunctor);
+            CaptureCamera.Capture(cam, colorFunctor, flipY: flipY);
 
             Profiler.EndSample();
         }
 #else
             return false;
 #endif
-        }
-
-        static unsafe void FlipImageY(byte[] dataColorBuffer, int height)
-        {
-            using (s_FlipY.Auto())
-            {
-                var stride = dataColorBuffer.Length / height;
-                var buffer = new NativeArray<byte>(stride, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
-                fixed(byte* colorBufferPtr = &dataColorBuffer[0])
-                {
-                    var unsafePtr = (byte*)buffer.GetUnsafePtr();
-                    for (var row = 0; row < height / 2; row++)
-                    {
-                        var nearRowStartPtr = colorBufferPtr + stride * row;
-                        var oppositeRowStartPtr = colorBufferPtr + stride * (height - row - 1);
-                        UnsafeUtility.MemCpy(unsafePtr, oppositeRowStartPtr, stride);
-                        UnsafeUtility.MemCpy(oppositeRowStartPtr, nearRowStartPtr, stride);
-                        UnsafeUtility.MemCpy(nearRowStartPtr, unsafePtr, stride);
-                    }
-                }
-                buffer.Dispose();
-            }
         }
 
         void OnSimulationEnding()

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

                     PendingCaptures = pendingCapturesToWrite,
                     SimulationState = this
                 };
-                req.Start(r =>
+                req.Enqueue(r =>
+                req.Execute(AsyncRequest.ExecutionContext.JobSystem);
             }
 
             m_SerializeCapturesSampler.End();
                     MetricFileIndex = m_MetricsFileIndex,
                     PendingMetrics = pendingMetricsToWrite
                 };
-                req.Start(r =>
+                req.Enqueue(r =>
+                req.Execute();
             }
 
             m_MetricsFileIndex++;

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

 using NUnit.Framework;
 using Unity.Collections;
 using UnityEngine;
-using UnityEngine.Experimental.Rendering;
-using UnityEngine.Rendering.HighDefinition;
-using UnityEngine.Experimental.Rendering;
-using UnityEngine.UIElements;
 using Object = UnityEngine.Object;
 
 namespace GroundTruthTests
         [UnityTest]
         public IEnumerator SemanticSegmentationPass_WithTextureOverride_RendersToOverride()
         {
-            int timesSegmentationImageReceived = 0;
             var expectedPixelValue = new Color32(0, 0, 255, 255);
             var targetTextureOverride = new RenderTexture(2, 2, 1, RenderTextureFormat.R8);
 

TestProjects/PerceptionURP/Assets/csc.rsp

+-warnaserror+

TestProjects/PerceptionURP/Assets/csc.rsp.meta

+fileFormatVersion: 2
+guid: 1800f44b598c0b647bf3fad2f5c9b957
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

TestProjects/PerceptionHDRP/Assets/csc.rsp

+-warnaserror+

TestProjects/PerceptionHDRP/Assets/csc.rsp.meta

+fileFormatVersion: 2
+guid: b590f0b421136b44098ad7e92fc45f3e
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: