commiting changes that visualize on overlay layer

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

TestProjects/PerceptionURP/Assets/ExampleScripts/BoxToggleHandler.cs.meta

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TestProjects/PerceptionURP/Assets/Textures/outline_box.png.meta

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+    aniso: 1
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   spritePivot: {x: 0.5, y: 0.5}

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>
             public float height;
         }
 
-        private GameObject boxQuad = null;
-        private GameObject cubeQuad = null;
-        private GameObject crateQuad = null;
-
         ClassCountValue[] m_ClassCountValues;
         BoundingBoxValue[] m_BoundingBoxValues;
         RenderedObjectInfoValue[] m_VisiblePixelsValues;
             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");
-            boxQuad = GameObject.Find("BoxQuad");
-            cubeQuad = GameObject.Find("CubeQuad");
-            crateQuad = GameObject.Find("CrateQuad");
+            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)
         {
                         width = objectInfo.boundingBox.width,
                         height = objectInfo.boundingBox.height,
                     };
-
-                    GameObject active = crateQuad;
-                    if (labelEntry.label == "Box") active = boxQuad;
-                    else if (labelEntry.label == "Cube") active = cubeQuad;
-
-                    var cam = GetComponent<Camera>();
-                    var height = cam.pixelHeight;
-
-                    var halfHeight = height * 0.5f;
-
-                    var y = halfHeight + (halfHeight - objectInfo.boundingBox.y);
-
-                    Vector3 ll = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x, y, 1));
-                    Vector3 ul = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x, y - objectInfo.boundingBox.height, 1));
-                    Vector3 ur = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x + objectInfo.boundingBox.width, y - objectInfo.boundingBox.height, 1));
-                    Vector3 lr = cam.ScreenToWorldPoint(new Vector3(objectInfo.boundingBox.x + objectInfo.boundingBox.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) };
-
-                    var filter = active.GetComponent<MeshFilter>();
-                    Mesh mesh = new Mesh();
-                    mesh.vertices = verts;
-                    mesh.triangles = tris;
-                    mesh.uv = uvs;
-                    filter.mesh = mesh;
+                // 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;

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

             this.m_CameraRenderingToSource = cameraRenderingToSource;
             m_NextFrameToCapture = Time.frameCount;
 
-            // TODO find a better place for this but hardcoded right now to make progress
-            CaptureOptions.useAsyncReadbackIfSupported = false;
-
             if (!GraphicsUtilities.SupportsAsyncReadback())
                 m_CpuTexture = new Texture2D(m_Source.width, m_Source.height, m_Source.graphicsFormat, TextureCreationFlags.None);
 

TestProjects/PerceptionURP/Assets/Textures/Resources/OutlineMaterial.mat

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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);
+    }
+}

TestProjects/PerceptionURP/Assets/ExampleScripts/SegmentationToggleHandler.cs.meta

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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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TestProjects/PerceptionURP/Assets/ExampleScripts/BoundingBoxRenderer.cs

-using System;
-using System.Collections;
-using System.Collections.Generic;
-using Unity.Collections;
-using UnityEngine;
-using UnityEngine.Experimental.Rendering;
-using UnityEngine.Perception.GroundTruth;
-using UnityEngine.Rendering;
-using Unity.Entities;
-using Unity.Simulation;
-
-[RequireComponent(typeof(Camera))]
-public class BoundingBoxRenderer : MonoBehaviour
-{
-    public GameObject light;
-    public GameObject target;
-
-    private PerceptionCamera perception;
-
-    private void Awake() 
-    {
-        perception = GetComponent<PerceptionCamera>();
-        CaptureOptions.useAsyncReadbackIfSupported = false;
-    }        
-}
-#if false
-    private RenderTexture renderTexture = null;
-    private Texture2D cpuTexture = null;
-
-    private AnnotationDefinition bbDef;
-
-    private RenderedObjectInfoGenerator renderedObjectInfoGenerator;
-
-    private RenderTextureReader<uint> segmentationReader;
-
-    private void Awake() 
-    {
-        var cam = GetComponent<Camera>();
-        var width = cam.pixelWidth;
-        var height = cam.pixelHeight;
-
-        renderTexture = new RenderTexture(new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8));
-        renderTexture.name = "segmentation";
-
-        cpuTexture = new Texture2D(renderTexture.width, renderTexture.height, renderTexture.graphicsFormat, TextureCreationFlags.None);
-
-        bbDef = SimulationManager.RegisterAnnotationDefinition(
-            "Target bounding box",
-            "The position of the target in the camera's local space",
-            id: Guid.Parse("C0B4A22C-0420-4D9F-BAFC-954B8F7B35A7"));
-#if false
-        renderedObjectInfoGenerator = new RenderedObjectInfoGenerator(labelingConfiguration);    
-        World.DefaultGameObjectInjectionWorld.GetExistingSystem<GroundTruthLabelSetupSystem>().Activate(renderedObjectInfoGenerator);
-
-        segmentationReader = new RenderTextureReader<uint>(segmentationTexture, cam, (frameCount, data, tex) =>
-        {
-            if (segmentationImageReceived != null)
-                segmentationImageReceived(frameCount, data);
-
-            m_RenderedObjectInfoGenerator.Compute(data, tex.width, boundingBoxOrigin, out var renderedObjectInfos, out var classCounts, Allocator.Temp);
-
-            using (s_RenderedObjectInfosCalculatedEvent.Auto())
-                renderedObjectInfosCalculated?.Invoke(frameCount, renderedObjectInfos);
-
-            if (produceObjectCountAnnotations)
-                OnObjectCountsReceived(classCounts, LabelingConfiguration.LabelEntries, frameCount);
-
-            if (produceBoundingBoxAnnotations)
-                ProduceBoundingBoxesAnnotation(renderedObjectInfos, LabelingConfiguration.LabelEntries, frameCount);
-
-            if (produceRenderedObjectInfoMetric)
-                ProduceRenderedObjectInfoMetric(renderedObjectInfos, frameCount);
-        });
-#endif
-    }
-    void Update()
-    {
-        RenderTexture.active = renderTexture;
-        cpuTexture.ReadPixels(new Rect(Vector2.zero, new Vector2(renderTexture.width, renderTexture.height)), 0, 0);
-        RenderTexture.active = null;
-        var data = cpuTexture.GetRawTextureData<uint>();
-        ImageReadCallback(Time.frameCount, data, renderTexture);
-
-        Vector3 targetPos = transform.worldToLocalMatrix * target.transform.position;
-
-        var sensorHandle = GetComponent<PerceptionCamera>().SensorHandle;
-        var anno = sensorHandle.ReportAnnotationValues(bbDef, new[] { targetPos });
-        string jsonValues = string.Empty;
-        MetricDefinition metricDef = SimulationManager.RegisterMetricDefinition()
-        anno.ReportMetric(bbDef, jsonValues);
-
- //       if (sensorHandle.ShouldCaptureThisFrame)
- //       {
- //           var anno = sensorHandle.ReportAnnotationValues(bbDef, new[] { targetPos });
- //       }
-    }
-    
-    void ProduceBoundingBoxesAnnotation(NativeArray<RenderedObjectInfo> renderedObjectInfos, List<LabelEntry> labelingConfigurations, int frameCount)
-    {
-
-
-        RenderTextureReader<short>();
-
-            using (s_BoundingBoxCallback.Auto())
-            {
-                var findResult = FindAsyncCaptureInfo(frameCount);
-                if (findResult.index == -1)
-                    return;
-                var asyncCaptureInfo = findResult.asyncCaptureInfo;
-                var boundingBoxAsyncAnnotation = asyncCaptureInfo.BoundingBoxAsyncMetric;
-                if (!boundingBoxAsyncAnnotation.IsValid)
-                    return;
-
-                if (m_BoundingBoxValues == null || m_BoundingBoxValues.Length != renderedObjectInfos.Length)
-                    m_BoundingBoxValues = new BoundingBoxValue[renderedObjectInfos.Length];
-
-                for (var i = 0; i < renderedObjectInfos.Length; i++)
-                {
-                    var objectInfo = renderedObjectInfos[i];
-                    if (!TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry))
-                        continue;
-
-                    m_BoundingBoxValues[i] = new BoundingBoxValue
-                    {
-                        label_id = labelEntry.id,
-                        label_name = labelEntry.label,
-                        instance_id = objectInfo.instanceId,
-                        x = objectInfo.boundingBox.x,
-                        y = objectInfo.boundingBox.y,
-                        width = objectInfo.boundingBox.width,
-                        height = objectInfo.boundingBox.height,
-                    };
-                }
-
-                boundingBoxAsyncAnnotation.ReportValues(m_BoundingBoxValues);
-            }
-    }
-
-    void ImageReadCallback(int frameCount, NativeArray<uint> data, RenderTexture renderTexture)
-    {
-        Debug.Log("Current frame: " + Time.frameCount + ", working frame: " + frameCount);
-
-        // First thing lets check that we are the correct frame...
-        if (frameCount == Time.frameCount)
-        {
-            Debug.Log("We are operating on the current frame");
-        }
-        else
-        {
-            Debug.Log("We are on a different frame");
-        }
-    }
-}
-#endif