initial visualization, needs rework

TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity

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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
   - 
   - 
   - 

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

             public float height;
         }
 
+        private GameObject boxQuad = null;
+        private GameObject cubeQuad = null;
+        private GameObject crateQuad = null;
+
         ClassCountValue[] m_ClassCountValues;
         BoundingBoxValue[] m_BoundingBoxValues;
         RenderedObjectInfoValue[] m_VisiblePixelsValues;
 
             RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering;
             SimulationManager.SimulationEnding += OnSimulationEnding;
+
+            boxQuad = GameObject.Find("BoxQuad");
+            cubeQuad = GameObject.Find("CubeQuad");
+            crateQuad = GameObject.Find("CrateQuad");
         }
 
         // ReSharper disable InconsistentNaming
                         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;
                 }
 
                 boundingBoxAsyncAnnotation.ReportValues(m_BoundingBoxValues);

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/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

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

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