current code on label bug

TestProjects/PerceptionURP/Packages/packages-lock.json

         "com.unity.burst": "1.3.9",
         "com.unity.entities": "0.8.0-preview.8",
         "com.unity.simulation.client": "0.0.10-preview.10",
-        "com.unity.simulation.capture": "0.0.10-preview.16",
-        "com.unity.simulation.core": "0.0.10-preview.21"
+        "com.unity.simulation.capture": "0.0.10-preview.19",
+        "com.unity.simulation.core": "0.0.10-preview.22"
       }
     },
     "com.unity.platforms": {
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.capture": {
-      "version": "0.0.10-preview.16",
-      "depth": 0,
+      "version": "0.0.10-preview.19",
+      "depth": 1,
-        "com.unity.simulation.core": "0.0.10-preview.21"
+        "com.unity.simulation.core": "0.0.10-preview.22"
       },
       "url": "https://packages.unity.com"
     },
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.core": {
-      "version": "0.0.10-preview.21",
-      "depth": 0,
+      "version": "0.0.10-preview.22",
+      "depth": 1,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"

TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.16f1
-m_EditorVersionWithRevision: 2019.4.16f1 (e05b6e02d63e)
+m_EditorVersion: 2019.4.17f1
+m_EditorVersionWithRevision: 2019.4.17f1 (667c8606c536)

TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset

     skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 1
-    antiAliasing: 0
+    antiAliasing: 2
     softParticles: 0
     softVegetation: 1
     realtimeReflectionProbes: 1

com.unity.perception/Runtime/GroundTruth/Labelers/BoundingBox3DLabeler.cs

             entities.Dispose();
         }
 
-        void OnRenderObjectInfosCalculated(int frameCount, NativeArray<RenderedObjectInfo> renderedObjectInfos)
+        void OnRenderObjectInfosCalculated(int frameCount, NativeArray<RenderedObjectInfo> renderedObjectInfos/*, List<IdLabelEntry> labelCache*/)
         {
             if (!m_AsyncAnnotations.TryGetValue(frameCount, out var asyncAnnotation))
                 return;

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

             m_AsyncAnnotations[Time.frameCount] = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_BoundingBoxAnnotationDefinition);
         }
 
-        void OnRenderedObjectInfosCalculated(int frameCount, NativeArray<RenderedObjectInfo> renderedObjectInfos)
+        void OnRenderedObjectInfosCalculated(int frameCount, NativeArray<RenderedObjectInfo> renderedObjectInfos/*, List<IdLabelEntry> labelCache*/)
         {
             if (!m_AsyncAnnotations.TryGetValue(frameCount, out var asyncAnnotation))
                 return;

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

-using System;
+using System;
 using System.Collections.Generic;
 using System.Diagnostics.CodeAnalysis;
 using System.IO;
             this.idLabelConfig = labelConfig;
         }
 
-        void OnRenderedObjectInfosCalculated(int frame, NativeArray<RenderedObjectInfo> renderedObjectInfos)
+        void OnRenderedObjectInfosCalculated(int frame, NativeArray<RenderedObjectInfo> renderedObjectInfos/*, List<IdLabelEntry> labelCache*/)
         {
             if (!m_AsyncAnnotations.TryGetValue(frame, out var annotation))
                 return;
             }
         }
 
-        void OnImageCaptured(int frameCount, NativeArray<Color32> data, RenderTexture renderTexture)
+        void OnImageCaptured(int frameCount, NativeArray<Color32> data, RenderTexture renderTexture/*, List<IdLabelEntry> labelCache*/)
         {
             if (!m_AsyncAnnotations.ContainsKey(frameCount))
                 return;

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

-using System;
+using System;
 using System.Collections.Generic;
 using System.Diagnostics.CodeAnalysis;
 using Unity.Collections;

com.unity.perception/Runtime/GroundTruth/Labeling/IdLabelConfig.cs

-using System;
+using System;
+using System.Collections.Generic;
 using System.Diagnostics.CodeAnalysis;
 using System.Linq;
 using JetBrains.Annotations;
                 m_LabelEntryMatchCache = new LabelEntryMatchCache(this);
 
             return m_LabelEntryMatchCache.TryGetLabelEntryFromInstanceId(instanceId, out labelEntry, out index);
+        }
+
+        public static void GetIdLabelCache(out List<IdLabelEntry> cache)
+        {
+            cache = new List<IdLabelEntry>();// m_LabelEntries;
         }
 
         /// <inheritdoc/>

com.unity.perception/Runtime/GroundTruth/Labeling/LabelEntryMatchCache.cs

 using System;
+using System.Collections.Generic;
 using Unity.Collections;
 using Unity.Entities;
 
         {
             World.DefaultGameObjectInjectionWorld?.GetExistingSystem<GroundTruthLabelSetupSystem>()?.Deactivate(this);
             m_InstanceIdToLabelEntryIndexLookup.Dispose();
+        }
+
+        public static implicit operator LabelEntryMatchCache(List<IdLabelEntry> v)
+        {
+            throw new NotImplementedException();
         }
     }
 }

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

-using System;
+using System;
+using Unity.Simulation;
 using UnityEngine;
 using UnityEngine.Experimental.Rendering;
 
         /// Invoked when instance segmentation images are read back from the graphics system. The first parameter is the
         /// Time.frameCount at which the objects were rendered. May be invoked many frames after the objects were rendered.
         /// </summary>
-        public event Action<int, NativeArray<Color32>, RenderTexture> InstanceSegmentationImageReadback;
+        public event Action<int, NativeArray<Color32>, RenderTexture/*, List<IdLabelEntry>*/> InstanceSegmentationImageReadback;
-        public event Action<int, NativeArray<RenderedObjectInfo>> RenderedObjectInfosCalculated;
+        public event Action<int, NativeArray<RenderedObjectInfo>/*, List<IdLabelEntry>*/> RenderedObjectInfosCalculated;
 
         RenderedObjectInfoGenerator m_RenderedObjectInfoGenerator;
         RenderTexture m_InstanceSegmentationTexture;
 
             m_InstanceSegmentationReader = new RenderTextureReader<Color32>(m_InstanceSegmentationTexture, myCamera, (frameCount, data, tex) =>
             {
-                InstanceSegmentationImageReadback?.Invoke(frameCount, data, tex);
-                if (RenderedObjectInfosCalculated != null)
+                CaptureInstanceSegmentation(data);
+            });
+
+        }
+
+        void CaptureInstanceSegmentation(NativeArray<Color32> data)
+        {
+            //var myCache = new List<IdLabelEntry>();
+            IdLabelConfig.GetIdLabelCache(out var myCache);
+            var frameCount = Time.frameCount;
+            var width = m_InstanceSegmentationTexture.width;
+
+            CaptureRenderTexture.Capture(m_InstanceSegmentationTexture, request =>
+            {
+                var colorData = new NativeArray<Color32>(data, Allocator.Temp);
+                InstanceSegmentationImageReadback?.Invoke(frameCount, colorData, m_InstanceSegmentationTexture/*, myCache*/);
+
+                if(RenderedObjectInfosCalculated != null)
-                    m_RenderedObjectInfoGenerator.Compute(data, tex.width, BoundingBoxOrigin.TopLeft, out var renderedObjectInfos, Allocator.Temp);
-                    RenderedObjectInfosCalculated?.Invoke(frameCount, renderedObjectInfos);
+                    m_RenderedObjectInfoGenerator.Compute(colorData, width,
+                        BoundingBoxOrigin.TopLeft, /*myCache,*/ out var renderedObjectInfos, Allocator.Temp);
+                    RenderedObjectInfosCalculated?.Invoke(frameCount, renderedObjectInfos/*, myCache*/);
+                
+                myCache.Clear();
+                colorData.Dispose();
+
+                if (request.error)
+                {
+                    return AsyncRequest.Result.Error;
+                }
+
+                return AsyncRequest.Result.Completed;
             });
         }
 

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

 using System;
+using System.Collections.Generic;
 using Unity.Burst;
 using Unity.Collections;
 using Unity.Collections.LowLevel.Unsafe;

com.unity.perception/Runtime/Randomization/Randomizers/RandomizerExamples/Randomizers/ForegroundObjectPlacementRandomizer.cs

-using System;
+using System;
 using System.Linq;
 using UnityEngine.Perception.Randomization.Parameters;
 using UnityEngine.Perception.Randomization.Randomizers.Utilities;