commiting changes that visualize on overlay layer

TestProjects/PerceptionURP/Packages/manifest.json

     "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.test-framework": "1.1.13",
+    "com.unity.test-framework": "1.1.14",
     "com.unity.textmeshpro": "2.0.1",
     "com.unity.timeline": "1.2.12",
     "com.unity.ugui": "1.0.0",

TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.3.13f1
-m_EditorVersionWithRevision: 2019.3.13f1 (d4ddf0d95db9)
+m_EditorVersion: 2019.3.15f1
+m_EditorVersionWithRevision: 2019.3.15f1 (59ff3e03856d)

TestProjects/PerceptionURP/ProjectSettings/TagManager.asset

   - UI
   - 
   - 
-  - 
+  - Bounds
   - 
   - 
   - 

TestProjects/PerceptionURP/Assets/ExampleLabelingConfiguration.asset

   - id: 3
     label: Crate
     value: 30000
+  - id: 4
+    label: BoxMookie
+    value: 4000
+  - id: 5
+    label: BoxKeith
+    value: 5000
+  - id: 6
+    label: BoxGooden
+    value: 6000

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

 #if HDRP_PRESENT
 using UnityEngine.Rendering.HighDefinition;
 #endif
+using UnityEngine.UI;
 
 namespace UnityEngine.Perception.GroundTruth
 {
         /// Whether object bounding boxes should be computed
         /// </summary>
         public bool produceBoundingBoxAnnotations = true;
+        public bool visualizeBoundingBoxAnnotations = true;
+        public bool visualizeSegementationTextures = true;
+        // Transparency value for the visualization texture, value needs to be between 0 and 1
+        public float visualizeSegmentationTextureTransparency = 0.5f;
+
+        public float GetVisualizeSegmentationTextureTransparency()
+        {
+            return this.visualizeSegmentationTextureTransparency;
+        }
+
+        public void SetVisualizeSegmentationTextureTransparency(float visualizeSegmentationTextureTransparency)
+        {
+            this.visualizeSegmentationTextureTransparency = visualizeSegmentationTextureTransparency;
+            if (segmentationVisualizerGameObject != null)
+            {
+                var renderer = segmentationVisualizerGameObject.GetComponent<MeshRenderer>();
+                if (renderer != null) renderer.material.SetColor("_BaseColor", new Color(1,1,1,visualizeSegmentationTextureTransparency));
+            }
+        }
+        
         /// <summary>
         /// The ID to use for bounding box annotations in the resulting dataset
         /// </summary>
             return m_PersistentSensorData.Remove(key);
         }
 
+        public void SetBoundsVisualizationEnabled(bool enable) 
+        {
+            if (boundsVisualizerHolder != null) boundsVisualizerHolder.SetActive(enable);
+            CaptureOptions.useAsyncReadbackIfSupported = !enable;
+        }
+
+        public void SetEnableSegmentationVisualization(bool enable)
+        {
+            visualizeSegementationTextures = enable;
+            if (segmentationVisualizerGameObject != null) segmentationVisualizerGameObject.SetActive(enable);
+        }
+
+        public bool IsSegmentationVisualizationEnabled()
+        {
+            return visualizeSegementationTextures;
+        }
+
+        private int frameCount = 0;
+
+        private Dictionary<string, MeshFilter> quadRenderCache = null;
+        private int visualizerLayerId = 0; 
+
+        private GameObject boundsVisualizerHolder = null;
+
+        private GameObject segmentationVisualizerGameObject = null;
+
         // Start is called before the first frame update
         void Awake()
         {
             semanticSegmentationUrpPass = new SemanticSegmentationUrpPass(myCamera, labelingTexture, LabelingConfiguration);
 #endif
 
+            if (visualizeBoundingBoxAnnotations)
+            {
+                CaptureOptions.useAsyncReadbackIfSupported = false;
+            }
+
             if (produceSegmentationImages)
             {
                 var specs = LabelingConfiguration.LabelEntries.Select((l) => new SemanticSegmentationSpec()
 
                     if (produceRenderedObjectInfoMetric)
                         ProduceRenderedObjectInfoMetric(renderedObjectInfos, frameCount);
+
+                    // TODO not sure if this is the right place for this
+                    VisualizeSegmentationTexture(labelingTexture);
+
+            
+            visualizerLayerId = LayerMask.NameToLayer("Bounds");
+
+            if (visualizeBoundingBoxAnnotations)
+            {
+                quadRenderCache = new Dictionary<string, MeshFilter>();
+            }
         }
 
         // ReSharper disable InconsistentNaming
         }
 
 #endif
+        MeshFilter GetVisualizationQuad(string label)
+        {
+            if (boundsVisualizerHolder == null)
+            {
+                boundsVisualizerHolder = new GameObject("BoundsVisualizerHolder");
+            }
+
+            if (!quadRenderCache.ContainsKey(label))
+            {
+                var go = new GameObject(label + "Quad");
+                go.layer = visualizerLayerId;
+                var meshRenderer = go.AddComponent<MeshRenderer>();
+                var filter = go.AddComponent<MeshFilter>();
+                meshRenderer.material = Resources.Load<Material>("OutlineMaterial");
+                quadRenderCache[label] = filter;
+
+                go.transform.parent = boundsVisualizerHolder.transform;
+            }
+
+            return quadRenderCache[label];
+        }
+
+        void VisualizeSegmentationTexture(RenderTexture texture)
+        {
+            MeshRenderer mr = null;
+
+            if (segmentationVisualizerGameObject == null) 
+            {
+                segmentationVisualizerGameObject = new GameObject("SegmentationTextureRenderer");
+                segmentationVisualizerGameObject.layer = visualizerLayerId;
+                
+                var mf = segmentationVisualizerGameObject.AddComponent<MeshFilter>();
+                mr = segmentationVisualizerGameObject.AddComponent<MeshRenderer>();
+                mr.material = Resources.Load<Material>("SegmentationMaterial");
+                
+                var cam = GetComponent<Camera>();
+                var ll = cam.ScreenToWorldPoint(new Vector3(0, 0, 10));
+                var ul = cam.ScreenToWorldPoint(new Vector3(0, cam.pixelHeight, 10));
+                var ur = cam.ScreenToWorldPoint(new Vector3(cam.pixelWidth, cam.pixelHeight, 10));
+                var lr = cam.ScreenToWorldPoint(new Vector3(cam.pixelWidth, 0, 10));
+
+                // Set up the mesh to project the segmentation render texture on
+                mf.mesh.vertices = new Vector3[] { ll, ul, ur, lr };
+                mf.mesh.triangles = new int[] { 0, 1, 2, 0, 2, 3 };
+                mf.mesh.uv = new Vector2[] { Vector2.zero, new Vector2(0, 1), new Vector2(1, 1), new Vector2(1, 0) };
+
+                if (mr != null) 
+                {
+                    mr.material.SetColor("_BaseColor", new Color(1,1,1,visualizeSegmentationTextureTransparency));
+                    mr.material.SetTexture("_BaseMap", texture);
+                }
+            }
+        }
+
+        void VisualizeBoundingBoxes(BoundingBoxValue[] inBoxes)
+        {
+            if (!visualizeBoundingBoxAnnotations) return;
+
+            foreach (var box in inBoxes)
+            {
+                var filter = GetVisualizationQuad(box.label_name);
+
+                var cam = GetComponent<Camera>();
+                var height = cam.pixelHeight * 0.5f;
+                var y = height + (height - box.y);
+
+                Vector3 ll = cam.ScreenToWorldPoint(new Vector3(box.x, y, 1));
+                Vector3 ul = cam.ScreenToWorldPoint(new Vector3(box.x, y - box.height, 1));
+                Vector3 ur = cam.ScreenToWorldPoint(new Vector3(box.x + box.width, y - box.height, 1));
+                Vector3 lr = cam.ScreenToWorldPoint(new Vector3(box.x + box.width, y, 1));
+                    
+                Vector3[] verts = new Vector3[4] {ll, ul, ur, lr};
+                int[] tris = new int[6] {0, 2, 1, 0, 3, 2};
+                Vector2[] uvs = new Vector2[4] {Vector2.zero, new Vector2(0, 1), new Vector2(1, 1), new Vector2(1, 0) };
+
+                Mesh mesh = new Mesh();
+                mesh.vertices = verts;
+                mesh.triangles = tris;
+                mesh.uv = uvs;
+                filter.mesh = mesh;
+            }
+        }
 
         void ProduceBoundingBoxesAnnotation(NativeArray<RenderedObjectInfo> renderedObjectInfos, List<LabelEntry> labelingConfigurations, int frameCount)
         {
                     };
                 }
 
+                // TODO I'm not sure that I'm calling this from the right place
+                VisualizeBoundingBoxes(m_BoundingBoxValues);
+                
                 boundingBoxAsyncAnnotation.ReportValues(m_BoundingBoxValues);
             }
         }
 
             var dxLocalPath = Path.Combine(k_SemanticSegmentationDirectory, k_SegmentationFilePrefix) + frameCount + ".png";
             var path = Path.Combine(Manager.Instance.GetDirectoryFor(k_SemanticSegmentationDirectory), k_SegmentationFilePrefix) + frameCount + ".png";
+            
             var annotation = asyncCaptureInfo.SegmentationAsyncAnnotation;
             if (!annotation.IsValid)
                 return;

TestProjects/PerceptionURP/Assets/Textures.meta

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+folderAsset: yes
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+  externalObjects: {}
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TestProjects/PerceptionURP/Assets/ExampleScripts/BoxToggleHandler.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+
+public class BoxToggleHandler : MonoBehaviour
+{
+    public PerceptionCamera perceptionCamera;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+
+    public void OnToggle(bool enabled)
+    {
+        perceptionCamera.SetBoundsVisualizationEnabled(enabled);
+    }
+}

TestProjects/PerceptionURP/Assets/ExampleScripts/SegmentationToggleHandler.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+
+public class SegmentationToggleHandler : MonoBehaviour
+{
+    public PerceptionCamera perceptionCamera;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        // TODO set up the default toggle state based on 
+        // the perception cameras default values
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+
+    public void OnToggled(bool enabled)
+    {
+        perceptionCamera.SetEnableSegmentationVisualization(enabled);
+    }
+}

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TestProjects/PerceptionURP/Assets/ExampleScripts/TransparencySlider.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+using UnityEngine.UI;
+
+public class TransparencySlider : MonoBehaviour
+{
+    public PerceptionCamera camera;
+    private Slider slider;
+
+    private bool dontEcho = false;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        slider = GetComponent<Slider>();
+        dontEcho = true;
+        slider.value = camera.GetVisualizeSegmentationTextureTransparency();
+        dontEcho = false;
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+
+    public void OnValueChanged(float updated)
+    {
+        if (!dontEcho) camera.SetVisualizeSegmentationTextureTransparency(slider.value);
+    }
+}

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