Supporting semantic segmentation in unity simulation.

TestProjects/PerceptionHDRP/Assets/CrateMaterial.mat

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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/EditorSettings.asset

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   scriptingBackend:
     Standalone: 0
+  suppressCommonWarnings: 1
+  useDeterministicCompilation: 1
+  useReferenceAssemblies: 1
+  enableRoslynAnalyzers: 1
   additionalIl2CppArgs: 
   scriptingRuntimeVersion: 1
   gcIncremental: 0
   XboxOneXTitleMemory: 8
   XboxOneOverrideIdentityName: 
   XboxOneOverrideIdentityPublisher: 
-  vrEditorSettings:
-    daydream:
-      daydreamIconForeground: {fileID: 0}
-      daydreamIconBackground: {fileID: 0}
+  vrEditorSettings: {}
   cloudServicesEnabled: {}
   luminIcon:
     m_Name: 
     m_VersionCode: 1
     m_VersionName: 
   apiCompatibilityLevel: 6
+  activeInputHandler: 0
+  qualitySettingsNames: []
-  enableNativePlatformBackendsForNewInputSystem: 0
-  disableOldInputManagerSupport: 0
+  virtualTexturingSupportEnabled: 0

TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.12f1
-m_EditorVersionWithRevision: 2019.4.12f1 (225e826a680e)
+m_EditorVersion: 2020.2.0f1
+m_EditorVersionWithRevision: 2020.2.0f1 (3721df5a8b28)

TestProjects/PerceptionHDRP/ProjectSettings/QualitySettings.asset

     realtimeReflectionProbes: 1
     billboardsFaceCameraPosition: 1
     vSyncCount: 1
-    lodBias: 2
+    lodBias: 1
     maximumLODLevel: 0
     streamingMipmapsActive: 0
     streamingMipmapsAddAllCameras: 1

TestProjects/PerceptionHDRP/ProjectSettings/VFXManager.asset

   m_RenderPipeSettingsPath: 
   m_FixedTimeStep: 0.016666668
   m_MaxDeltaTime: 0.05
+  m_CompiledVersion: 2
+  m_RuntimeVersion: 12

com.unity.perception/Editor/Randomization/Editors/RunInUnitySimulationWindow.cs

             {
                 scenes = new[] { AssetDatabase.GetAssetPath(m_MainSceneField.value) },
                 locationPathName = Path.Combine(projectBuildDirectory, $"{m_RunNameField.value}.x86_64"),
+#if USE_CLOUD_RENDERING
+                target = BuildTarget.CloudRendering
+#else
+#endif
             };
             var report = BuildPipeline.BuildPlayer(buildPlayerOptions);
             var summary = report.summary;

com.unity.perception/Tests/Runtime/Randomization/RandomizerTests/ExampleTag.cs

 namespace RandomizationTests.RandomizerTests
 {
     public class ExampleTag : RandomizerTag { }
+
+    public class ExampleTag2 : ExampleTag { }
 }

com.unity.perception/Tests/Runtime/Randomization/RandomizerTests/RandomizerTagTests.cs

             for (var i = 0; i < copyCount - 1; i++)
                 Object.Instantiate(gameObject);
 
+            var gameObject2 = new GameObject();
+            gameObject2.AddComponent<ExampleTag2>();
+            for (var i = 0; i < copyCount - 1; i++)
+                Object.Instantiate(gameObject2);
+
+
+            queriedObjects = m_Scenario.tagManager.Query<ExampleTag2>().ToArray();
+            Assert.AreEqual(queriedObjects.Length, copyCount);
+
+            queriedObjects = m_Scenario.tagManager.Query<ExampleTag>(true).ToArray();
+            Assert.AreEqual(queriedObjects.Length, copyCount * 2);
         }
     }
 }

com.unity.perception/package.json

     "com.unity.burst": "1.3.9",
     "com.unity.entities": "0.8.0-preview.8",
     "com.unity.simulation.client": "0.0.10-preview.9",
-    "com.unity.simulation.capture": "0.0.10-preview.14",
+    "com.unity.simulation.capture": "0.0.10-preview.15",
     "com.unity.simulation.core": "0.0.10-preview.20"
   },
   "description": "Tools for generating large-scale data sets for perception-based machine learning training and validation",

com.unity.perception/CHANGELOG.md

 
 ### Added
 
+Randomizer tags now support inheritance
+
 ### Changed
 
 ### Deprecated

com.unity.perception/Runtime/Randomization/Randomizers/RandomizerTagManager.cs

     /// </summary>
     public class RandomizerTagManager
     {
+        Dictionary<Type, List<Type>> m_TypeCache = new Dictionary<Type, List<Type>>();
+        Dictionary<GameObject, HashSet<Type>> m_ObjectTags = new Dictionary<GameObject, HashSet<Type>>();
+        /// <param name="returnSubclasses">Should this method retrieve all tags derived from the passed in tag also?</param>
-        public IEnumerable<GameObject> Query<T>() where T : RandomizerTag
+        public IEnumerable<GameObject> Query<T>(bool returnSubclasses = false) where T : RandomizerTag
+
+
-                yield return taggedObject;
+            {
+                if (returnSubclasses)
+                {
+                    yield return taggedObject.gameObject;
+                }
+                else
+                {
+                    if (m_ObjectTags.ContainsKey(taggedObject) && m_ObjectTags[taggedObject].Contains(type))
+                        yield return taggedObject.gameObject;
+                }
+            }
-            if (!m_TagMap.ContainsKey(tagType))
-                m_TagMap[tagType] = new HashSet<GameObject>();
-            m_TagMap[tagType].Add(obj);
+            // Add tag to the game object to tag map
+            if (!m_ObjectTags.ContainsKey(obj))
+                m_ObjectTags[obj] = new HashSet<Type>();
+
+            m_ObjectTags[obj].Add(tagType);
+
+            if (!m_TypeCache.ContainsKey(tagType))
+            {
+                var inheritedTags = new List<Type>();
+
+                while (tagType != null && tagType != typeof(RandomizerTag))
+                {
+                    inheritedTags.Add(tagType);
+                    tagType = tagType.BaseType;
+                }
+
+                m_TypeCache[tagType] = inheritedTags;
+            }
+
+            var tags = m_TypeCache[tagType];
+
+            foreach (var tag in tags)
+            {
+                if (!m_TagMap.ContainsKey(tag))
+                    m_TagMap[tag] = new HashSet<GameObject>();
+                m_TagMap[tag].Add(obj);
+            }
-            if (m_TagMap.ContainsKey(tagType))
-                m_TagMap[tagType].Remove(obj);
+            // Grab all of the tags from the inheritance tree, and remove
+            // the passed in object from all of them
+            if (m_TypeCache.ContainsKey(tagType))
+            {
+                var tags = m_TypeCache[tagType];
+
+                foreach (var tag in tags.Where(tag => m_TagMap.ContainsKey(tag)))
+                {
+                    m_TagMap[tag].Remove(obj);
+                }
+            }
+
+            // Remove entry from the object to tag map
+            if (m_ObjectTags.ContainsKey(obj))
+            {
+                m_ObjectTags[obj].Remove(tagType);
+
+                if (!m_ObjectTags[obj].Any())
+                    m_ObjectTags.Remove(obj);
+            }
         }
     }
 }

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()
         void Start()
         {
             Deserialize();
+        }
+
+        struct IterationMetricData
+        {
+            public int iteration;
         }
 
         void Update()
             if (currentIterationFrame == 0)
             {
                 DatasetCapture.StartNewSequence();
+
+                DatasetCapture.ReportMetric(m_IterationMetricDefinition, new[]
+                {
+                    new IterationMetricData()
+                    {
+                        iteration = currentIteration
+                    }
+                });
                 IterateParameterStates();
                 foreach (var randomizer in activeRandomizers)
                     randomizer.IterationStart();

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

         public InstanceSegmentationPass()
         {}
 
-        protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        //protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        protected override void Execute(CustomPassContext customPassContext)
-            CoreUtils.SetRenderTarget(cmd, targetTexture, ClearFlag.All);
-            m_InstanceSegmentationCrossPipelinePass.Execute(renderContext, cmd, hdCamera.camera, cullingResult);
+            CoreUtils.SetRenderTarget(customPassContext.cmd, targetTexture, ClearFlag.All);
+            m_InstanceSegmentationCrossPipelinePass.Execute(customPassContext.renderContext, customPassContext.cmd, customPassContext.hdCamera.camera, customPassContext.cullingResults);
         }
 
         public void EnsureInit()

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

             m_SemanticSegmentationCrossPipelinePass.Setup();
         }
 
-        protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        //protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        protected override void Execute(CustomPassContext customPassContext)
-            CoreUtils.SetRenderTarget(cmd, targetTexture);
-            m_SemanticSegmentationCrossPipelinePass.Execute(renderContext, cmd, hdCamera.camera, cullingResult);
+            CoreUtils.SetRenderTarget(customPassContext.cmd, targetTexture);
+            m_SemanticSegmentationCrossPipelinePass.Execute(customPassContext.renderContext, customPassContext.cmd, customPassContext.hdCamera.camera, customPassContext.cullingResults);
         }
     }
 }

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

             this.targetDepthBuffer = TargetBuffer.Custom;
         }
 
-        protected sealed override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        //protected sealed override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        protected sealed override void Execute(CustomPassContext customPassContext)
-            if (hdCamera.camera != targetCamera)
+            if (customPassContext.hdCamera.camera != targetCamera)
-            ExecutePass(renderContext, cmd, hdCamera, cullingResult);
+            ExecutePass(customPassContext.renderContext, customPassContext.cmd, customPassContext.hdCamera, customPassContext.cullingResults);
         }
 
         protected abstract void ExecutePass(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult);

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

             m_LensDistortionCrossPipelinePass.Setup();
         }
 
-        protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        //protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        protected override void Execute(CustomPassContext customPassContext)
-            CoreUtils.SetRenderTarget(cmd, targetTexture);
-            m_LensDistortionCrossPipelinePass.Execute(renderContext, cmd, hdCamera.camera, cullingResult);
+            CoreUtils.SetRenderTarget(customPassContext.cmd, targetTexture);
+            m_LensDistortionCrossPipelinePass.Execute(customPassContext.renderContext, customPassContext.cmd, customPassContext.hdCamera.camera, customPassContext.cullingResults);
         }
     }
 }

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

 
         const string k_SemanticSegmentationDirectory = "SemanticSegmentation";
         const string k_SegmentationFilePrefix = "segmentation_";
+        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);