Merge branch 'coco_perception_output_hybrid' into h-i

com.unity.perception/Runtime/GroundTruth/Exporters/Coco/CocoExporter.cs

             var boxJson = string.Empty;
             var keypointJson = string.Empty;
 
-            foreach (var cap in pendingCaptures)
+            try
-                var boxes = new Dictionary<int, CocoTypes.ObjectDetectionAnnotation>();
-
-                foreach (var annotation in cap.Annotations)
+                foreach (var cap in pendingCaptures)
-                    var tmp = ProcessBoundingBoxAnnotations(annotation.Item2.RawValues);
+                    var boxes = new Dictionary<int, CocoTypes.ObjectDetectionAnnotation>();
-                    foreach (var box in tmp.Values)
+                    foreach (var annotation in cap.Annotations)
-                        boxes[box.id] = box;
+                        if (annotation.Item2.RawValues == null)
+                            continue;
+
+                        var tmp = ProcessBoundingBoxAnnotations(annotation.Item2.RawValues);
-                        if (m_FirstBoxAnnotation)
+                        foreach (var box in tmp.Values)
-                            boxJson = "[";
-                            m_FirstBoxAnnotation = false;
+                            boxes[box.id] = box;
+
+                            if (m_FirstBoxAnnotation)
+                            {
+                                boxJson = "[";
+                                m_FirstBoxAnnotation = false;
+                            }
+                            else
+                                boxJson += ",";
+
+                            boxJson += JsonUtility.ToJson(box);
-                        else
-                            boxJson += ",";
-                        boxJson += JsonUtility.ToJson(box);
-                }
+                    foreach (var annotation in cap.Annotations)
+                    {
+                        if (annotation.Item2.RawValues == null)
+                            continue;
-                foreach (var annotation in cap.Annotations)
-                {
-                    var keypoints = ProcessKeypointAnnotations(annotation.Item2.RawValues, boxes);
+                        var keypoints = ProcessKeypointAnnotations(annotation.Item2.RawValues, boxes);
-                    foreach (var kp in keypoints.Values)
-                    {
-                        if (m_FirstKeypointAnnotation)
+                        foreach (var kp in keypoints.Values)
-                            keypointJson = "[";
-                            m_FirstKeypointAnnotation = false;
-                        }
-                        else
-                            keypointJson += ",";
+                            if (m_FirstKeypointAnnotation)
+                            {
+                                keypointJson = "[";
+                                m_FirstKeypointAnnotation = false;
+                            }
+                            else
+                                keypointJson += ",";
-                        var builder = new StringBuilder();
-                        var stringWriter = new StringWriter(builder);
+                            var builder = new StringBuilder();
+                            var stringWriter = new StringWriter(builder);
-                        var serializer = new JsonSerializer();
+                            var serializer = new JsonSerializer();
-                        using (var writer = new JsonTextWriter(stringWriter))
-                        {
-                            serializer.Serialize(writer, kp);
-                        }
+                            using (var writer = new JsonTextWriter(stringWriter))
+                            {
+                                serializer.Serialize(writer, kp);
+                            }
-                        keypointJson += builder.ToString();
+                            keypointJson += builder.ToString();
+                        }
-            }
-            if (m_ObjectDetectionWritingTask != null)
-                await m_ObjectDetectionWritingTask;
+                if (m_ObjectDetectionWritingTask != null)
+                    await m_ObjectDetectionWritingTask;
-            if (boxJson != string.Empty)
-            {
-                InitializeCaptureFiles();
-                m_ObjectDetectionWritingTask = m_ObjectDetectionStream.WriteAsync(boxJson);
-            }
+                if (boxJson != string.Empty)
+                {
+                    InitializeCaptureFiles();
+                    m_ObjectDetectionWritingTask = m_ObjectDetectionStream.WriteAsync(boxJson);
+                }
-            if (m_KeypointDetectionWritingTask != null)
-                await m_KeypointDetectionWritingTask;
+                if (m_KeypointDetectionWritingTask != null)
+                    await m_KeypointDetectionWritingTask;
-            if (keypointJson != string.Empty)
+                if (keypointJson != string.Empty)
+                {
+                    InitializeCaptureFiles();
+                    m_KeypointDetectionWritingTask = m_KeypointDetectionStream.WriteAsync(keypointJson);
+                }
+            }
+            catch (Exception e)
-                InitializeCaptureFiles();
-                m_KeypointDetectionWritingTask = m_KeypointDetectionStream.WriteAsync(keypointJson);
+                Debug.LogException(e);
             }
         }
 

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

                 }
             }
 
-            List<object> values2 = null;
-            if (values != null)
-            {
-                values2 = new List<object>();
-                foreach (var v in values)
-                {
-                    values2.Add(v);
-                }
-            }
-
-            ReportAsyncAnnotationResult(asyncAnnotation, filename, jArray, values:values2);
+            ReportAsyncAnnotationResult(asyncAnnotation, filename, jArray, values?.Cast<object>().ToList() ?? null);
         }
 
         void ReportAsyncAnnotationResult(AsyncAnnotation asyncAnnotation, string filename, JArray jArray, IEnumerable<object> values = null)

com.unity.perception/Runtime/Randomization/Scenarios/UnitySimulationScenario.cs

             {
                 var filePath = new Uri(Configuration.Instance.SimulationConfig.app_param_uri).LocalPath;
                 LoadConfigurationFromFile(filePath);
-                PlayerPrefs.SetString(SimulationState.outputFormatMode, constants.outputFormat);
             }
             else
             {
             base.DeserializeConfiguration();
             if (Configuration.Instance.IsSimulationRunningInCloud())
                 constants.instanceIndex = int.Parse(Configuration.Instance.GetInstanceId()) - 1;
+
+            if (constants.outputFormat != string.Empty)
+                PlayerPrefs.SetString(SimulationState.outputFormatMode, constants.outputFormat);
+
             currentIteration = constants.instanceIndex;
         }