Updating to latest capture and core packages. (#51)

* Updating to latest capture and core packages. Adding lines to configure GPU readback for perception.

* Updating package dependencies

* Updating test project dependencies

* Fix memory explosion with visualization

* Fixing dark, upside-down RGB images on HDRP with visualization enabled.

* Adding check for Deferred Only, which causes ground truth to break.

* Upgrading PerceptionHDRP to 2019.4.7f1 and switching to Lit Shader Mode "Both", fixing rendering issues.

* Fixing IdLabelConfig.asset. Adding check to RGB image generation to ensure it isn't requested multiple times in the same frame.

* Switching required version to 2019.4

* Adding "cancel_old_ci" to the Yamato trigger.

* Fixing compilation errors in URP/builtin.

* Updating PerceptionURP to 2019.4.7f1

* Fleshing out changelog. Reverting to testing on 2019.3.15f1 for stability.

* Downgrading version requirement to pass tests.

.yamato/upm-ci-full.yml

     recurring:
       - branch: master
         frequency: daily # Should run between midnight and 6AM UTC
+    cancel_old_ci: true
   artifacts:
     logs:
       paths:

TestProjects/PerceptionHDRP/Assets/HDRenderPipelineAsset.asset

   m_Script: {fileID: 11500000, guid: 0cf1dab834d4ec34195b920ea7bbf9ec, type: 3}
   m_Name: HDRenderPipelineAsset
   m_EditorClassIdentifier: 
-  m_Version: 9
+  m_Version: 14
   m_ObsoleteFrameSettings:
     overrides: 0
     enableShadow: 0
     type: 2}
   m_RenderPipelineRayTracingResources: {fileID: 0}
   m_DefaultVolumeProfile: {fileID: 0}
+  m_DefaultLookDevProfile: {fileID: 0}
-      data1: 69730941533981
-      data2: 4539628424926265344
+      data1: 70280697347933
+      data2: 4539628425463136256
     lodBias: 1
     lodBiasMode: 0
     lodBiasQualityLevel: 0
     supportVolumetrics: 1
     increaseResolutionOfVolumetrics: 0
     supportLightLayers: 0
+    lightLayerName0: Light Layer default
+    lightLayerName1: Light Layer 1
+    lightLayerName2: Light Layer 2
+    lightLayerName3: Light Layer 3
+    lightLayerName4: Light Layer 4
+    lightLayerName5: Light Layer 5
+    lightLayerName6: Light Layer 6
+    lightLayerName7: Light Layer 7
-    supportedLitShaderMode: 2
+    supportCustomPass: 1
+    customBufferFormat: 12
+    supportedLitShaderMode: 3
     supportDecals: 1
     msaaSampleCount: 1
     supportMotionVectors: 1
     supportRayTracing: 0
-    supportedRaytracingTier: 2
-      cookieSize: 128
-      cookieTexArraySize: 16
+      cookieAtlasSize: 512
+      cookieFormat: 74
-      planarReflectionProbeCacheSize: 2
-      planarReflectionTextureSize: 1024
+      cookieAtlasLastValidMip: 0
+      cookieTexArraySize: 16
+      planarReflectionAtlasSize: 4096
       reflectionProbeCacheSize: 64
       reflectionCubemapSize: 256
       reflectionCacheCompressed: 0
       maxAreaLightsOnScreen: 64
       maxEnvLightsOnScreen: 64
       maxDecalsOnScreen: 512
+      maxPlanarReflectionOnScreen: 16
     hdShadowInitParams:
       maxShadowRequests: 128
       directionalShadowsDepthBits: 32
         useDynamicViewportRescale: 1
       shadowResolutionDirectional:
         m_Values: 00010000000200000004000000080000
+        m_SchemaId:
+          m_Id: With4Levels
+        m_SchemaId:
+          m_Id: With4Levels
+        m_SchemaId:
+          m_Id: With4Levels
-      maxScreenSpaceShadows: 2
+      maxScreenSpaceShadowSlots: 4
+      screenSpaceShadowBufferFormat: 48
     decalSettings:
       drawDistance: 1000
       atlasWidth: 4096
       m_LutSize: 32
       lutFormat: 48
+      bufferFormat: 74
     dynamicResolutionSettings:
       enabled: 0
       maxPercentage: 100
       checkerboardDepthBuffer: 1
       upsampleType: 1
     xrSettings:
+      singlePass: 1
       occlusionMesh: 1
     postProcessQualitySettings:
       NearBlurSampleCount: 030000000500000008000000
       ChromaticAberrationMaxSamples: 03000000060000000c000000
     lightSettings:
       useContactShadow:
-        m_Low: 0
-        m_Medium: 0
-        m_High: 0
+        m_Values: 
+        m_SchemaId:
+          m_Id: 
-      m_Low: 0
-      m_Medium: 0
-      m_High: 0
+      m_Values: 000000000000000000000000
+      m_SchemaId:
+        m_Id: With3Levels
-      m_Low: 1
-      m_Medium: 1
-      m_High: 1
+      m_Values:
+      - 1
+      - 1
+      - 1
+      m_SchemaId:
+        m_Id: With3Levels
+    lightingQualitySettings:
+      AOStepCount: 040000000600000010000000
+      AOFullRes: 000001
+      AOMaximumRadiusPixels: 200000002800000050000000
+      AOBilateralUpsample: 000101
+      AODirectionCount: 010000000200000004000000
+      ContactShadowSampleCount: 060000000a00000010000000
+      SSRMaxRaySteps: 100000002000000040000000
-  materialQualityLevels: -1
-  m_CurrentMaterialQualityLevel: 4
+  availableMaterialQualityLevels: -1
+  m_DefaultMaterialQualityLevel: 4
   diffusionProfileSettings: {fileID: 0}
   diffusionProfileSettingsList: []
   beforeTransparentCustomPostProcesses: []

TestProjects/PerceptionHDRP/Assets/IdLabelConfig.asset

   m_GameObject: {fileID: 0}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 0}
+  m_Script: {fileID: 11500000, guid: 2f09f279848e42cea259348b13bce4c5, type: 3}
-  m_EditorClassIdentifier: Unity.Perception.Runtime:UnityEngine.Perception.GroundTruth:IdLabelConfig
+  m_EditorClassIdentifier: 
   m_LabelEntries:
   - label: Crate
     id: 1

TestProjects/PerceptionHDRP/Assets/IdLabelConfig.asset.meta

 fileFormatVersion: 2
-guid: 034ffd4e09ffb7348b2fe6634259058a
+guid: 258de5b48703743468d34fc5bbdfa3aa
 NativeFormatImporter:
   externalObjects: {}
   mainObjectFileID: 0

TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity

   - id: 1
   - id: 2
   - id: 3
+  showVisualizations: 0
   references:
     version: 1
     00000000:
         enabled: 1
-        foldout: 0
-        idLabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
+        idLabelConfig: {fileID: 11400000, guid: 258de5b48703743468d34fc5bbdfa3aa,
           type: 2}
     00000001:
       type: {class: SemanticSegmentationLabeler, ns: UnityEngine.Perception.GroundTruth,
-        foldout: 0
         annotationId: 12f94d8d-5425-4deb-9b21-5e53ad957d66
         labelConfig: {fileID: 11400000, guid: c140c5aa05dd09e4fadaa26de31b1f39, type: 2}
         m_TargetTextureOverride: {fileID: 0}
         enabled: 1
-        foldout: 0
-        m_LabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
+        m_LabelConfig: {fileID: 11400000, guid: 258de5b48703743468d34fc5bbdfa3aa,
           type: 2}
     00000003:
       type: {class: RenderedObjectInfoLabeler, ns: UnityEngine.Perception.GroundTruth,
-        foldout: 0
-        idLabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
+        idLabelConfig: {fileID: 11400000, guid: 258de5b48703743468d34fc5bbdfa3aa,
           type: 2}
 --- !u!1 &1640252278
 GameObject:

TestProjects/PerceptionHDRP/Packages/manifest.json

     "com.unity.perception": "file:../../../com.unity.perception",
     "com.unity.render-pipelines.core": "7.3.1",
     "com.unity.render-pipelines.high-definition": "7.3.1",
-    "com.unity.simulation.capture": "0.0.10-preview.8",
-    "com.unity.simulation.core": "0.0.10-preview.14",
+    "com.unity.simulation.capture": "0.0.10-preview.10",
+    "com.unity.simulation.core": "0.0.10-preview.17",
     "com.unity.test-framework": "1.1.14",
     "com.unity.testtools.codecoverage": "0.2.2-preview",
     "com.unity.textmeshpro": "2.0.1",

TestProjects/PerceptionHDRP/Packages/packages-lock.json

         "com.unity.nuget.newtonsoft-json": "1.1.2",
         "com.unity.render-pipelines.core": "7.1.6",
         "com.unity.entities": "0.8.0-preview.8",
-        "com.unity.simulation.capture": "0.0.10-preview.8",
-        "com.unity.simulation.core": "0.0.10-preview.14"
+        "com.unity.simulation.capture": "0.0.10-preview.10",
+        "com.unity.simulation.core": "0.0.10-preview.17"
       }
     },
     "com.unity.platforms": {
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.capture": {
-      "version": "0.0.10-preview.8",
+      "version": "0.0.10-preview.10",
-        "com.unity.simulation.core": "0.0.10-preview.12"
+        "com.unity.simulation.core": "0.0.10-preview.17"
-      "version": "0.0.10-preview.14",
+      "version": "0.0.10-preview.17",
       "depth": 0,
       "source": "registry",
       "dependencies": {},

TestProjects/PerceptionHDRP/ProjectSettings/EditorBuildSettings.asset

 EditorBuildSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 2
-  m_Scenes: []
+  m_Scenes:
+  - enabled: 1
+    path: Assets/Scenes/SampleScene.unity
+    guid: 9fc0d4010bbf28b4594072e72b8655ab
   m_configObjects: {}

TestProjects/PerceptionHDRP/ProjectSettings/ProjectSettings.asset

   switchNVNShaderPoolsGranularity: 33554432
   switchNVNDefaultPoolsGranularity: 16777216
   switchNVNOtherPoolsGranularity: 16777216
+  switchNVNMaxPublicTextureIDCount: 0
+  switchNVNMaxPublicSamplerIDCount: 0
+  stadiaPresentMode: 0
+  stadiaTargetFramerate: 0
+  vulkanEnableLateAcquireNextImage: 0
   m_SupportedAspectRatios:
     4:3: 1
     5:4: 1
   uIStatusBarHidden: 1
   uIExitOnSuspend: 0
   uIStatusBarStyle: 0
-  iPhoneSplashScreen: {fileID: 0}
-  iPhoneHighResSplashScreen: {fileID: 0}
-  iPhoneTallHighResSplashScreen: {fileID: 0}
-  iPhone47inSplashScreen: {fileID: 0}
-  iPhone55inPortraitSplashScreen: {fileID: 0}
-  iPhone55inLandscapeSplashScreen: {fileID: 0}
-  iPhone58inPortraitSplashScreen: {fileID: 0}
-  iPhone58inLandscapeSplashScreen: {fileID: 0}
-  iPadPortraitSplashScreen: {fileID: 0}
-  iPadHighResPortraitSplashScreen: {fileID: 0}
-  iPadLandscapeSplashScreen: {fileID: 0}
-  iPadHighResLandscapeSplashScreen: {fileID: 0}
-  iPhone65inPortraitSplashScreen: {fileID: 0}
-  iPhone65inLandscapeSplashScreen: {fileID: 0}
-  iPhone61inPortraitSplashScreen: {fileID: 0}
-  iPhone61inLandscapeSplashScreen: {fileID: 0}
   appleTVSplashScreen: {fileID: 0}
   appleTVSplashScreen2x: {fileID: 0}
   tvOSSmallIconLayers: []
   ps4UseResolutionFallback: 0
   ps4ReprojectionSupport: 0
   ps4UseAudio3dBackend: 0
+  ps4UseLowGarlicFragmentationMode: 1
   ps4SocialScreenEnabled: 0
   ps4ScriptOptimizationLevel: 2
   ps4Audio3dVirtualSpeakerCount: 14
   XboxOnePersistentLocalStorageSize: 0
   XboxOneXTitleMemory: 8
   XboxOneOverrideIdentityName: 
+  XboxOneOverrideIdentityPublisher: 
   vrEditorSettings:
     daydream:
       daydreamIconForeground: {fileID: 0}

TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.1f1
-m_EditorVersionWithRevision: 2019.4.1f1 (e6c045e14e4e)
+m_EditorVersion: 2019.4.7f1
+m_EditorVersionWithRevision: 2019.4.7f1 (e992b1a16e65)

TestProjects/PerceptionURP/Packages/manifest.json

     "com.unity.package-validation-suite": "0.9.1-preview",
     "com.unity.perception": "file:../../../com.unity.perception",
     "com.unity.render-pipelines.universal": "7.3.1",
-    "com.unity.simulation.capture": "0.0.10-preview.8",
-    "com.unity.simulation.core": "0.0.10-preview.14",
+    "com.unity.simulation.capture": "0.0.10-preview.10",
+    "com.unity.simulation.core": "0.0.10-preview.17",
     "com.unity.test-framework": "1.1.14",
     "com.unity.textmeshpro": "2.0.1",
     "com.unity.timeline": "1.2.12",

TestProjects/PerceptionURP/Packages/packages-lock.json

         "com.unity.nuget.newtonsoft-json": "1.1.2",
         "com.unity.render-pipelines.core": "7.1.6",
         "com.unity.entities": "0.8.0-preview.8",
-        "com.unity.simulation.capture": "0.0.10-preview.8",
-        "com.unity.simulation.core": "0.0.10-preview.14"
+        "com.unity.simulation.capture": "0.0.10-preview.10",
+        "com.unity.simulation.core": "0.0.10-preview.17"
       }
     },
     "com.unity.platforms": {
       "url": "https://packages.unity.com"
     },
     "com.unity.simulation.capture": {
-      "version": "0.0.10-preview.8",
+      "version": "0.0.10-preview.10",
-        "com.unity.simulation.core": "0.0.10-preview.12"
+        "com.unity.simulation.core": "0.0.10-preview.17"
-      "version": "0.0.10-preview.14",
+      "version": "0.0.10-preview.17",
       "depth": 0,
       "source": "registry",
       "dependencies": {},

TestProjects/PerceptionURP/ProjectSettings/EditorBuildSettings.asset

 EditorBuildSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 2
-  m_Scenes:
-  - enabled: 1
-    path: Assets/Scenes/SampleScene.unity
-    guid: 9fc0d4010bbf28b4594072e72b8655ab
+  m_Scenes: []
   m_configObjects: {}

TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.4.1f1
-m_EditorVersionWithRevision: 2019.4.1f1 (e6c045e14e4e)
+m_EditorVersion: 2019.4.7f1
+m_EditorVersionWithRevision: 2019.4.7f1 (e992b1a16e65)

com.unity.perception/CHANGELOG.md

 ### Removed
 
 ### Fixed
-Fixed compilation warnings with latest com.unity.simulation.core package.
-## [0.3.0-preview.1] - 2020-07-31
+## [0.3.0-preview.1] - 2020-08-07
-Added visualizers for built-in labelers: Semantic Segmentation, 2D Bounding Boxes, Object Count, and Render Object Info.
+Added visualizers for built-in labelers: Semantic Segmentation, 2D Bounding Boxes, Object Count, and Rendered Object Info.
+
+Added references to example projects in manual.
+
+Added notification when an HDRP project is in Deferred Only mode, which is not supported by the labelers.
+
+### Changed
+
+Updated to com.unity.simulation.capture version 0.0.10-preview.10 and com.unity.simulation.core version 0.0.10-preview.17
+
+Changed minimum Unity Editor version to 2019.4
+
+### Fixed
+Fixed compilation warnings with latest com.unity.simulation.core package.
+
+Fixed errors in example script when exiting play mode
 
 ## [0.2.0-preview.2] - 2020-07-15
 

com.unity.perception/Editor/GroundTruth/PerceptionCameraEditor.cs

             }
             if (EditorSettings.asyncShaderCompilation)
             {
-                EditorGUILayout.HelpBox("Asynchronous shader compilation may result in invalid data in beginning frames. This can be disabled in Project Settings -> Edtior -> Asynchronous Shader Compilation", MessageType.Warning);
+                EditorGUILayout.HelpBox("Asynchronous shader compilation may result in invalid data in beginning frames. " +
+                    "This can be disabled in Project Settings -> Edtior -> Asynchronous Shader Compilation", MessageType.Warning);
+            }
+#if HDRP_PRESENT
+            var hdRenderPipelineAsset = UnityEngine.Rendering.GraphicsSettings.renderPipelineAsset as UnityEngine.Rendering.HighDefinition.HDRenderPipelineAsset;
+            if (hdRenderPipelineAsset != null &&
+                hdRenderPipelineAsset.currentPlatformRenderPipelineSettings.supportedLitShaderMode == 
+                UnityEngine.Rendering.HighDefinition.RenderPipelineSettings.SupportedLitShaderMode.DeferredOnly)
+            {
+                EditorGUILayout.HelpBox("Deferred Only shader mode is not supported by rendering-based labelers. " +
+                    "For correct labeler output, switch Lit Shader Mode to Both or Forward Only in your HD Render Pipeline Asset", MessageType.Error);
+#endif
         }
 
         CameraLabelerDrawer GetCameraLabelerDrawer(SerializedProperty element, int listIndex)

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

 
             var asyncRequest = Manager.Instance.CreateRequest<AsyncRequest<AsyncSemanticSegmentationWrite>>();
 
-            if (visualizationEnabled)
-                VisualizeSegmentationTexture(data, targetTexture);
-
             imageReadback?.Invoke(new ImageReadbackEventArgs
             {
                 data = data,
             segImage = segVisual.GetComponent<RawImage>();
             segImage.material.SetFloat("_SegmentTransparency", defaultSegmentTransparency);
             segImage.material.SetFloat("_BackTransparency", defaultBackgroundTransparency);
+            segImage.texture = targetTexture;
 
             RectTransform rt = segVisual.transform as RectTransform;
             rt.SetSizeWithCurrentAnchors(RectTransform.Axis.Horizontal, camWidth);
-        }
-
-        void VisualizeSegmentationTexture(NativeArray<Color32> data, RenderTexture texture)
-        {
-            var cpuTexture = new Texture2D(texture.width, texture.height, GraphicsFormat.R8G8B8A8_UNorm, TextureCreationFlags.None);
-            cpuTexture.LoadRawTextureData(data);
-            cpuTexture.Apply();
-            segImage.texture = cpuTexture;
         }
 
         /// <inheritdoc/>

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

         List<CameraLabeler> m_Labelers = new List<CameraLabeler>();
         Dictionary<string, object> m_PersistentSensorData = new Dictionary<string, object>();
 
-        bool m_CapturedLastFrame;
+        int m_LastFrameCaptured = -1;
         Ego m_EgoMarker;
 
 #pragma warning disable 414
             var ego = m_EgoMarker == null ? DatasetCapture.RegisterEgo("") : m_EgoMarker.EgoHandle;
             SensorHandle = DatasetCapture.RegisterSensor(ego, "camera", description, period, startTime);
 
+            AsyncRequest.maxJobSystemParallelism = 0; // Jobs are not chained to one another in any way, maximizing parallelism
+            AsyncRequest.maxAsyncRequestFrameAge = 4; // Ensure that readbacks happen before Allocator.TempJob allocations get stale
+
             SetupInstanceSegmentation();
             var cam = GetComponent<Camera>();
 
             s_VisualizedPerceptionCamera = this;
 
             // set up to render to a render texture instead of the screen
-            var visualizationRenderTexture = new RenderTexture(new RenderTextureDescriptor(cam.pixelWidth, cam.pixelHeight, UnityEngine.Experimental.Rendering.GraphicsFormat.R8G8B8A8_UNorm, 8));
+            var visualizationRenderTexture = new RenderTexture(cam.pixelWidth, cam.pixelHeight, 8, RenderTextureFormat.ARGB32, RenderTextureReadWrite.sRGB);
             visualizationRenderTexture.name = cam.name + "_visualization_texture";
             cam.targetTexture = visualizationRenderTexture;
 
                 }
             };
 
-            CaptureCamera.Capture(cam, colorFunctor, flipY: flipY);
+            CaptureCamera.Capture(cam, colorFunctor, flipY: ShouldFlipY(cam));
 
             Profiler.EndSample();
         }
             var hdAdditionalCameraData = GetComponent<HDAdditionalCameraData>();
 
             //Based on logic in HDRenderPipeline.PrepareFinalBlitParameters
-            return camera.targetTexture != null || hdAdditionalCameraData.flipYMode == HDAdditionalCameraData.FlipYMode.ForceFlipY || camera.cameraType == CameraType.Game;
+            return hdAdditionalCameraData.flipYMode == HDAdditionalCameraData.FlipYMode.ForceFlipY || (camera.targetTexture == null && camera.cameraType == CameraType.Game);
 #elif URP_PRESENT
             return (SystemInfo.graphicsDeviceType == GraphicsDeviceType.Direct3D11 || SystemInfo.graphicsDeviceType == GraphicsDeviceType.Metal) &&
                 (camera.targetTexture == null && camera.cameraType == CameraType.Game);
                 return;
             if (!SensorHandle.ShouldCaptureThisFrame)
                 return;
+            //there are cases when OnBeginCameraRendering is called multiple times in the same frame. Ignore the subsequent calls.
+            if (m_LastFrameCaptured == Time.frameCount)
+                return;
+
+            m_LastFrameCaptured = Time.frameCount;
 #if UNITY_EDITOR
             if (UnityEditor.EditorApplication.isPaused)
                 return;

com.unity.perception/package.json

     "com.unity.nuget.newtonsoft-json": "1.1.2",
     "com.unity.render-pipelines.core": "7.1.6",
     "com.unity.entities": "0.8.0-preview.8",
-    "com.unity.simulation.capture": "0.0.10-preview.8",
-    "com.unity.simulation.core": "0.0.10-preview.14"
+    "com.unity.simulation.capture": "0.0.10-preview.10",
+    "com.unity.simulation.core": "0.0.10-preview.17"
   }, 
     "description": "Tools for authoring and executing autonomous vehicle simulations.", 
     "displayName": "Perception",