Merge pull request #216 from Unity-Technologies/missed_renames_keypoint

Committed missed renames (file names for "KeyPoint" --> "Keypoint"

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

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using Unity.Collections;
+using Unity.Entities;
+using UnityEngine.Serialization;
+
+namespace UnityEngine.Perception.GroundTruth
+{
+    /// <summary>
+    /// Produces keypoint annotations for a humanoid model. This labeler supports generic
+    /// <see cref="KeypointTemplate"/>. Template values are mapped to rigged
+    /// <see cref="Animator"/> <seealso cref="Avatar"/>. Custom joints can be
+    /// created by applying <see cref="JointLabel"/> to empty game objects at a body
+    /// part's location.
+    /// </summary>
+    [Serializable]
+    public sealed class KeypointLabeler : CameraLabeler
+    {
+        /// <summary>
+        /// The active keypoint template. Required to annotate keypoint data.
+        /// </summary>
+        public KeypointTemplate activeTemplate;
+
+        /// <inheritdoc/>
+        public override string description
+        {
+            get => "Produces keypoint annotations for all visible labeled objects that have a humanoid animation avatar component.";
+            protected set { }
+        }
+
+        ///<inheritdoc/>
+        protected override bool supportsVisualization => true;
+
+        // ReSharper disable MemberCanBePrivate.Global
+        /// <summary>
+        /// The GUID id to associate with the annotations produced by this labeler.
+        /// </summary>
+        public string annotationId = "8b3ef246-daa7-4dd5-a0e8-a943f6e7f8c2";
+        /// <summary>
+        /// The <see cref="IdLabelConfig"/> which associates objects with labels.
+        /// </summary>
+        public IdLabelConfig idLabelConfig;
+        // ReSharper restore MemberCanBePrivate.Global
+
+        AnnotationDefinition m_AnnotationDefinition;
+        EntityQuery m_EntityQuery;
+        Texture2D m_MissingTexture;
+
+        /// <summary>
+        /// Action that gets triggered when a new frame of key points are computed.
+        /// </summary>
+        public event Action<List<KeypointEntry>> KeypointsComputed;
+
+        /// <summary>
+        /// Creates a new key point labeler. This constructor creates a labeler that
+        /// is not valid until a <see cref="IdLabelConfig"/> and <see cref="KeypointTemplate"/>
+        /// are assigned.
+        /// </summary>
+        public KeypointLabeler() { }
+
+        /// <summary>
+        /// Creates a new key point labeler.
+        /// </summary>
+        /// <param name="config">The Id label config for the labeler</param>
+        /// <param name="template">The active keypoint template</param>
+        public KeypointLabeler(IdLabelConfig config, KeypointTemplate template)
+        {
+            this.idLabelConfig = config;
+            this.activeTemplate = template;
+        }
+
+        /// <summary>
+        /// Array of animation pose labels which map animation clip times to ground truth pose labels.
+        /// </summary>
+        public List<AnimationPoseConfig> animationPoseConfigs;
+
+        /// <inheritdoc/>
+        protected override void Setup()
+        {
+            if (idLabelConfig == null)
+                throw new InvalidOperationException($"{nameof(KeypointLabeler)}'s idLabelConfig field must be assigned");
+
+            m_AnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition("keypoints", new []{TemplateToJson(activeTemplate)},
+                "pixel coordinates of keypoints in a model, along with skeletal connectivity data", id: new Guid(annotationId));
+
+            m_EntityQuery = World.DefaultGameObjectInjectionWorld.EntityManager.CreateEntityQuery(typeof(Labeling), typeof(GroundTruthInfo));
+
+            m_KeypointEntries = new List<KeypointEntry>();
+
+            // Texture to use in case the template does not contain a texture for the joints or the skeletal connections
+            m_MissingTexture = new Texture2D(1, 1);
+
+            m_KnownStatus = new Dictionary<uint, CachedData>();
+        }
+
+        /// <inheritdoc/>
+        protected override void OnBeginRendering()
+        {
+            var reporter = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_AnnotationDefinition);
+
+            var entities = m_EntityQuery.ToEntityArray(Allocator.TempJob);
+            var entityManager = World.DefaultGameObjectInjectionWorld.EntityManager;
+
+            m_KeypointEntries.Clear();
+
+            foreach (var entity in entities)
+            {
+                ProcessEntity(entityManager.GetComponentObject<Labeling>(entity));
+            }
+
+            entities.Dispose();
+
+            KeypointsComputed?.Invoke(m_KeypointEntries);
+            reporter.ReportValues(m_KeypointEntries);
+        }
+
+        // ReSharper disable InconsistentNaming
+        // ReSharper disable NotAccessedField.Global
+        // ReSharper disable NotAccessedField.Local
+        /// <summary>
+        /// Record storing all of the keypoint data of a labeled gameobject.
+        /// </summary>
+        [Serializable]
+        public class KeypointEntry
+        {
+            /// <summary>
+            /// The label id of the entity
+            /// </summary>
+            public int label_id;
+            /// <summary>
+            /// The instance id of the entity
+            /// </summary>
+            public uint instance_id;
+            /// <summary>
+            /// The template that the points are based on
+            /// </summary>
+            public string template_guid;
+            /// <summary>
+            /// Pose ground truth for the current set of keypoints
+            /// </summary>
+            public string pose = "unset";
+            /// <summary>
+            /// Array of all of the keypoints
+            /// </summary>
+            public Keypoint[] keypoints;
+        }
+
+        /// <summary>
+        /// The values of a specific keypoint
+        /// </summary>
+        [Serializable]
+        public class Keypoint
+        {
+            /// <summary>
+            /// The index of the keypoint in the template file
+            /// </summary>
+            public int index;
+            /// <summary>
+            /// The keypoint's x-coordinate pixel location
+            /// </summary>
+            public float x;
+            /// <summary>
+            /// The keypoint's y-coordinate pixel location
+            /// </summary>
+            public float y;
+            /// <summary>
+            /// The state of the point,
+            /// 0 = not present,
+            /// 1 = keypoint is present but not visible,
+            /// 2 = keypoint is present and visible
+            /// </summary>
+            public int state;
+        }
+        // ReSharper restore InconsistentNaming
+        // ReSharper restore NotAccessedField.Global
+        // ReSharper restore NotAccessedField.Local
+
+        // Converts a coordinate from world space into pixel space
+        Vector3 ConvertToScreenSpace(Vector3 worldLocation)
+        {
+            var pt = perceptionCamera.attachedCamera.WorldToScreenPoint(worldLocation);
+            pt.y = Screen.height - pt.y;
+            return pt;
+        }
+
+        List<KeypointEntry> m_KeypointEntries;
+
+        struct CachedData
+        {
+            public bool status;
+            public Animator animator;
+            public KeypointEntry keypoints;
+            public List<(JointLabel, int)> overrides;
+        }
+
+        Dictionary<uint, CachedData> m_KnownStatus;
+
+        bool TryToGetTemplateIndexForJoint(KeypointTemplate template, JointLabel joint, out int index)
+        {
+            index = -1;
+
+            foreach (var jointTemplate in joint.templateInformation.Where(jointTemplate => jointTemplate.template == template))
+            {
+                for (var i = 0; i < template.keypoints.Length; i++)
+                {
+                    if (template.keypoints[i].label == jointTemplate.label)
+                    {
+                        index = i;
+                        return true;
+                    }
+                }
+            }
+
+            return false;
+        }
+
+        bool DoesTemplateContainJoint(JointLabel jointLabel)
+        {
+            foreach (var template in jointLabel.templateInformation)
+            {
+                if (template.template == activeTemplate)
+                {
+                    if (activeTemplate.keypoints.Any(i => i.label == template.label))
+                    {
+                        return true;
+                    }
+                }
+            }
+
+            return false;
+        }
+
+        void ProcessEntity(Labeling labeledEntity)
+        {
+            // Cache out the data of a labeled game object the first time we see it, this will
+            // save performance each frame. Also checks to see if a labeled game object can be annotated.
+            if (!m_KnownStatus.ContainsKey(labeledEntity.instanceId))
+            {
+                var cached = new CachedData()
+                {
+                    status = false,
+                    animator = null,
+                    keypoints = new KeypointEntry(),
+                    overrides = new List<(JointLabel, int)>()
+                };
+
+                if (idLabelConfig.TryGetLabelEntryFromInstanceId(labeledEntity.instanceId, out var labelEntry))
+                {
+                    var entityGameObject = labeledEntity.gameObject;
+
+                    cached.keypoints.instance_id = labeledEntity.instanceId;
+                    cached.keypoints.label_id = labelEntry.id;
+                    cached.keypoints.template_guid = activeTemplate.templateID.ToString();
+
+                    cached.keypoints.keypoints = new Keypoint[activeTemplate.keypoints.Length];
+                    for (var i = 0; i < cached.keypoints.keypoints.Length; i++)
+                    {
+                        cached.keypoints.keypoints[i] = new Keypoint { index = i, state = 0 };
+                    }
+
+                    var animator = entityGameObject.transform.GetComponentInChildren<Animator>();
+                    if (animator != null)
+                    {
+                        cached.animator = animator;
+                        cached.status = true;
+                    }
+
+                    foreach (var joint in entityGameObject.transform.GetComponentsInChildren<JointLabel>())
+                    {
+                        if (TryToGetTemplateIndexForJoint(activeTemplate, joint, out var idx))
+                        {
+                            cached.overrides.Add((joint, idx));
+                            cached.status = true;
+                        }
+                    }
+                }
+
+                m_KnownStatus[labeledEntity.instanceId] = cached;
+            }
+
+            var cachedData = m_KnownStatus[labeledEntity.instanceId];
+
+            if (cachedData.status)
+            {
+                var animator = cachedData.animator;
+                var keypoints = cachedData.keypoints.keypoints;
+
+                // Go through all of the rig keypoints and get their location
+                for (var i = 0; i < activeTemplate.keypoints.Length; i++)
+                {
+                    var pt = activeTemplate.keypoints[i];
+                    if (pt.associateToRig)
+                    {
+                        var bone = animator.GetBoneTransform(pt.rigLabel);
+                        if (bone != null)
+                        {
+                            var loc = ConvertToScreenSpace(bone.position);
+                            keypoints[i].index = i;
+                            keypoints[i].x = loc.x;
+                            keypoints[i].y = loc.y;
+                            keypoints[i].state = 2;
+                        }
+                    }
+                }
+
+                // Go through all of the additional or override points defined by joint labels and get
+                // their locations
+                foreach (var (joint, idx) in cachedData.overrides)
+                {
+                    var loc = ConvertToScreenSpace(joint.transform.position);
+                    keypoints[idx].index = idx;
+                    keypoints[idx].x = loc.x;
+                    keypoints[idx].y = loc.y;
+                    keypoints[idx].state = 2;
+                }
+
+                cachedData.keypoints.pose = "unset";
+
+                if (cachedData.animator != null)
+                {
+                    cachedData.keypoints.pose = GetPose(cachedData.animator);
+                }
+
+                m_KeypointEntries.Add(cachedData.keypoints);
+            }
+        }
+
+        string GetPose(Animator animator)
+        {
+            var info = animator.GetCurrentAnimatorClipInfo(0);
+
+            if (info != null && info.Length > 0)
+            {
+                var clip = info[0].clip;
+                var timeOffset = animator.GetCurrentAnimatorStateInfo(0).normalizedTime;
+
+                if (animationPoseConfigs != null)
+                {
+                    foreach (var p in animationPoseConfigs)
+                    {
+                        if (p != null && p.animationClip == clip)
+                        {
+                            var time = timeOffset;
+                            var label = p.GetPoseAtTime(time);
+                            return label;
+                        }
+                    }
+                }
+            }
+
+            return "unset";
+        }
+
+        /// <inheritdoc/>
+        protected override void OnVisualize()
+        {
+            var jointTexture = activeTemplate.jointTexture;
+            if (jointTexture == null) jointTexture = m_MissingTexture;
+
+            var skeletonTexture = activeTemplate.skeletonTexture;
+            if (skeletonTexture == null) skeletonTexture = m_MissingTexture;
+
+            foreach (var entry in m_KeypointEntries)
+            {
+                foreach (var bone in activeTemplate.skeleton)
+                {
+                    var joint1 = entry.keypoints[bone.joint1];
+                    var joint2 = entry.keypoints[bone.joint2];
+
+                    if (joint1.state != 0 && joint2.state != 0)
+                    {
+                        VisualizationHelper.DrawLine(joint1.x, joint1.y, joint2.x, joint2.y, bone.color, 8, skeletonTexture);
+                    }
+                }
+
+                foreach (var keypoint in entry.keypoints)
+                {
+                    if (keypoint.state != 0)
+                        VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, 8, jointTexture);
+                }
+            }
+        }
+
+        // ReSharper disable InconsistentNaming
+        // ReSharper disable NotAccessedField.Local
+        [Serializable]
+        struct JointJson
+        {
+            public string label;
+            public int index;
+        }
+
+        [Serializable]
+        struct SkeletonJson
+        {
+            public int joint1;
+            public int joint2;
+        }
+
+        [Serializable]
+        struct KeypointJson
+        {
+            public string template_id;
+            public string template_name;
+            public JointJson[] key_points;
+            public SkeletonJson[] skeleton;
+        }
+        // ReSharper restore InconsistentNaming
+        // ReSharper restore NotAccessedField.Local
+
+        KeypointJson TemplateToJson(KeypointTemplate input)
+        {
+            var json = new KeypointJson();
+            json.template_id = input.templateID.ToString();
+            json.template_name = input.templateName;
+            json.key_points = new JointJson[input.keypoints.Length];
+            json.skeleton = new SkeletonJson[input.skeleton.Length];
+
+            for (var i = 0; i < input.keypoints.Length; i++)
+            {
+                json.key_points[i] = new JointJson
+                {
+                    label = input.keypoints[i].label,
+                    index = i
+                };
+            }
+
+            for (var i = 0; i < input.skeleton.Length; i++)
+            {
+                json.skeleton[i] = new SkeletonJson()
+                {
+                    joint1 = input.skeleton[i].joint1,
+                    joint2 = input.skeleton[i].joint2
+                };
+            }
+
+            return json;
+        }
+    }
+}

com.unity.perception/Runtime/GroundTruth/Labelers/KeypointLabeler.cs.meta

+fileFormatVersion: 2
+guid: 377d37b913b843b6985fa57c13cb732c
+timeCreated: 1610383503

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

+using System;
+using UnityEngine.Serialization;
+
+namespace UnityEngine.Perception.GroundTruth
+{
+    /// <summary>
+    /// A definition of a keypoint (joint).
+    /// </summary>
+    [Serializable]
+    public class KeypointDefinition
+    {
+        /// <summary>
+        /// The name of the keypoint
+        /// </summary>
+        public string label;
+        /// <summary>
+        /// Does this keypoint map directly to a <see cref="Animator"/> <see cref="Avatar"/> <see cref="HumanBodyBones"/>
+        /// </summary>
+        public bool associateToRig = true;
+        /// <summary>
+        /// The associated <see cref="HumanBodyBones"/> of the rig
+        /// </summary>
+        public HumanBodyBones rigLabel = HumanBodyBones.Head;
+        /// <summary>
+        /// The color of the keypoint in the visualization
+        /// </summary>
+        public Color color;
+    }
+
+    /// <summary>
+    /// A skeletal connection between two joints.
+    /// </summary>
+    [Serializable]
+    public class SkeletonDefinition
+    {
+        /// <summary>
+        /// The first joint
+        /// </summary>
+        public int joint1;
+        /// <summary>
+        /// The second joint
+        /// </summary>
+        public int joint2;
+        /// <summary>
+        /// The color of the skeleton in the visualization
+        /// </summary>
+        public Color color;
+    }
+
+    /// <summary>
+    /// Template used to define the keypoints of a humanoid asset.
+    /// </summary>
+    [CreateAssetMenu(fileName = "KeypointTemplate", menuName = "Perception/Keypoint Template", order = 2)]
+    public class KeypointTemplate : ScriptableObject
+    {
+        /// <summary>
+        /// The <see cref="Guid"/> of the template
+        /// </summary>
+        public string templateID = Guid.NewGuid().ToString();
+        /// <summary>
+        /// The name of the template
+        /// </summary>
+        public string templateName;
+        /// <summary>
+        /// Texture to use for the visualization of the joint.
+        /// </summary>
+        public Texture2D jointTexture;
+        /// <summary>
+        /// Texture to use for the visualization of the skeletal connection.
+        /// </summary>
+        public Texture2D skeletonTexture;
+        /// <summary>
+        /// Array of <see cref="KeypointDefinition"/> for the template.
+        /// </summary>
+        [FormerlySerializedAs("keyPoints")]
+        public KeypointDefinition[] keypoints;
+        /// <summary>
+        /// Array of the <see cref="SkeletonDefinition"/> for the template.
+        /// </summary>
+        public SkeletonDefinition[] skeleton;
+    }
+}

com.unity.perception/Runtime/GroundTruth/Labelers/KeypointTemplate.cs.meta

+fileFormatVersion: 2
+guid: 37a7d6f1a40c45a2981a6291f0d03337
+timeCreated: 1610633739

com.unity.perception/Runtime/GroundTruth/Labelers/KeyPointLabeler.cs.meta

-fileFormatVersion: 2
-guid: 377d37b913b843b6985fa57c13cb732c
-timeCreated: 1610383503

com.unity.perception/Runtime/GroundTruth/Labelers/KeyPointTemplate.cs.meta

-fileFormatVersion: 2
-guid: 37a7d6f1a40c45a2981a6291f0d03337
-timeCreated: 1610633739

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

-using System;
-using System.Collections.Generic;
-using System.Linq;
-using Unity.Collections;
-using Unity.Entities;
-using UnityEngine.Serialization;
-
-namespace UnityEngine.Perception.GroundTruth
-{
-    /// <summary>
-    /// Produces keypoint annotations for a humanoid model. This labeler supports generic
-    /// <see cref="KeypointTemplate"/>. Template values are mapped to rigged
-    /// <see cref="Animator"/> <seealso cref="Avatar"/>. Custom joints can be
-    /// created by applying <see cref="JointLabel"/> to empty game objects at a body
-    /// part's location.
-    /// </summary>
-    [Serializable]
-    public sealed class KeypointLabeler : CameraLabeler
-    {
-        /// <summary>
-        /// The active keypoint template. Required to annotate keypoint data.
-        /// </summary>
-        public KeypointTemplate activeTemplate;
-
-        /// <inheritdoc/>
-        public override string description
-        {
-            get => "Produces keypoint annotations for all visible labeled objects that have a humanoid animation avatar component.";
-            protected set { }
-        }
-
-        ///<inheritdoc/>
-        protected override bool supportsVisualization => true;
-
-        // ReSharper disable MemberCanBePrivate.Global
-        /// <summary>
-        /// The GUID id to associate with the annotations produced by this labeler.
-        /// </summary>
-        public string annotationId = "8b3ef246-daa7-4dd5-a0e8-a943f6e7f8c2";
-        /// <summary>
-        /// The <see cref="IdLabelConfig"/> which associates objects with labels.
-        /// </summary>
-        public IdLabelConfig idLabelConfig;
-        // ReSharper restore MemberCanBePrivate.Global
-
-        AnnotationDefinition m_AnnotationDefinition;
-        EntityQuery m_EntityQuery;
-        Texture2D m_MissingTexture;
-
-        /// <summary>
-        /// Action that gets triggered when a new frame of key points are computed.
-        /// </summary>
-        public event Action<List<KeypointEntry>> KeypointsComputed;
-
-        /// <summary>
-        /// Creates a new key point labeler. This constructor creates a labeler that
-        /// is not valid until a <see cref="IdLabelConfig"/> and <see cref="KeypointTemplate"/>
-        /// are assigned.
-        /// </summary>
-        public KeypointLabeler() { }
-
-        /// <summary>
-        /// Creates a new key point labeler.
-        /// </summary>
-        /// <param name="config">The Id label config for the labeler</param>
-        /// <param name="template">The active keypoint template</param>
-        public KeypointLabeler(IdLabelConfig config, KeypointTemplate template)
-        {
-            this.idLabelConfig = config;
-            this.activeTemplate = template;
-        }
-
-        /// <summary>
-        /// Array of animation pose labels which map animation clip times to ground truth pose labels.
-        /// </summary>
-        public List<AnimationPoseConfig> animationPoseConfigs;
-
-        /// <inheritdoc/>
-        protected override void Setup()
-        {
-            if (idLabelConfig == null)
-                throw new InvalidOperationException($"{nameof(KeypointLabeler)}'s idLabelConfig field must be assigned");
-
-            m_AnnotationDefinition = DatasetCapture.RegisterAnnotationDefinition("keypoints", new []{TemplateToJson(activeTemplate)},
-                "pixel coordinates of keypoints in a model, along with skeletal connectivity data", id: new Guid(annotationId));
-
-            m_EntityQuery = World.DefaultGameObjectInjectionWorld.EntityManager.CreateEntityQuery(typeof(Labeling), typeof(GroundTruthInfo));
-
-            m_KeypointEntries = new List<KeypointEntry>();
-
-            // Texture to use in case the template does not contain a texture for the joints or the skeletal connections
-            m_MissingTexture = new Texture2D(1, 1);
-
-            m_KnownStatus = new Dictionary<uint, CachedData>();
-        }
-
-        /// <inheritdoc/>
-        protected override void OnBeginRendering()
-        {
-            var reporter = perceptionCamera.SensorHandle.ReportAnnotationAsync(m_AnnotationDefinition);
-
-            var entities = m_EntityQuery.ToEntityArray(Allocator.TempJob);
-            var entityManager = World.DefaultGameObjectInjectionWorld.EntityManager;
-
-            m_KeypointEntries.Clear();
-
-            foreach (var entity in entities)
-            {
-                ProcessEntity(entityManager.GetComponentObject<Labeling>(entity));
-            }
-
-            entities.Dispose();
-
-            KeypointsComputed?.Invoke(m_KeypointEntries);
-            reporter.ReportValues(m_KeypointEntries);
-        }
-
-        // ReSharper disable InconsistentNaming
-        // ReSharper disable NotAccessedField.Global
-        // ReSharper disable NotAccessedField.Local
-        /// <summary>
-        /// Record storing all of the keypoint data of a labeled gameobject.
-        /// </summary>
-        [Serializable]
-        public class KeypointEntry
-        {
-            /// <summary>
-            /// The label id of the entity
-            /// </summary>
-            public int label_id;
-            /// <summary>
-            /// The instance id of the entity
-            /// </summary>
-            public uint instance_id;
-            /// <summary>
-            /// The template that the points are based on
-            /// </summary>
-            public string template_guid;
-            /// <summary>
-            /// Pose ground truth for the current set of keypoints
-            /// </summary>
-            public string pose = "unset";
-            /// <summary>
-            /// Array of all of the keypoints
-            /// </summary>
-            public Keypoint[] keypoints;
-        }
-
-        /// <summary>
-        /// The values of a specific keypoint
-        /// </summary>
-        [Serializable]
-        public class Keypoint
-        {
-            /// <summary>
-            /// The index of the keypoint in the template file
-            /// </summary>
-            public int index;
-            /// <summary>
-            /// The keypoint's x-coordinate pixel location
-            /// </summary>
-            public float x;
-            /// <summary>
-            /// The keypoint's y-coordinate pixel location
-            /// </summary>
-            public float y;
-            /// <summary>
-            /// The state of the point,
-            /// 0 = not present,
-            /// 1 = keypoint is present but not visible,
-            /// 2 = keypoint is present and visible
-            /// </summary>
-            public int state;
-        }
-        // ReSharper restore InconsistentNaming
-        // ReSharper restore NotAccessedField.Global
-        // ReSharper restore NotAccessedField.Local
-
-        // Converts a coordinate from world space into pixel space
-        Vector3 ConvertToScreenSpace(Vector3 worldLocation)
-        {
-            var pt = perceptionCamera.attachedCamera.WorldToScreenPoint(worldLocation);
-            pt.y = Screen.height - pt.y;
-            return pt;
-        }
-
-        List<KeypointEntry> m_KeypointEntries;
-
-        struct CachedData
-        {
-            public bool status;
-            public Animator animator;
-            public KeypointEntry keypoints;
-            public List<(JointLabel, int)> overrides;
-        }
-
-        Dictionary<uint, CachedData> m_KnownStatus;
-
-        bool TryToGetTemplateIndexForJoint(KeypointTemplate template, JointLabel joint, out int index)
-        {
-            index = -1;
-
-            foreach (var jointTemplate in joint.templateInformation.Where(jointTemplate => jointTemplate.template == template))
-            {
-                for (var i = 0; i < template.keypoints.Length; i++)
-                {
-                    if (template.keypoints[i].label == jointTemplate.label)
-                    {
-                        index = i;
-                        return true;
-                    }
-                }
-            }
-
-            return false;
-        }
-
-        bool DoesTemplateContainJoint(JointLabel jointLabel)
-        {
-            foreach (var template in jointLabel.templateInformation)
-            {
-                if (template.template == activeTemplate)
-                {
-                    if (activeTemplate.keypoints.Any(i => i.label == template.label))
-                    {
-                        return true;
-                    }
-                }
-            }
-
-            return false;
-        }
-
-        void ProcessEntity(Labeling labeledEntity)
-        {
-            // Cache out the data of a labeled game object the first time we see it, this will
-            // save performance each frame. Also checks to see if a labeled game object can be annotated.
-            if (!m_KnownStatus.ContainsKey(labeledEntity.instanceId))
-            {
-                var cached = new CachedData()
-                {
-                    status = false,
-                    animator = null,
-                    keypoints = new KeypointEntry(),
-                    overrides = new List<(JointLabel, int)>()
-                };
-
-                if (idLabelConfig.TryGetLabelEntryFromInstanceId(labeledEntity.instanceId, out var labelEntry))
-                {
-                    var entityGameObject = labeledEntity.gameObject;
-
-                    cached.keypoints.instance_id = labeledEntity.instanceId;
-                    cached.keypoints.label_id = labelEntry.id;
-                    cached.keypoints.template_guid = activeTemplate.templateID.ToString();
-
-                    cached.keypoints.keypoints = new Keypoint[activeTemplate.keypoints.Length];
-                    for (var i = 0; i < cached.keypoints.keypoints.Length; i++)
-                    {
-                        cached.keypoints.keypoints[i] = new Keypoint { index = i, state = 0 };
-                    }
-
-                    var animator = entityGameObject.transform.GetComponentInChildren<Animator>();
-                    if (animator != null)
-                    {
-                        cached.animator = animator;
-                        cached.status = true;
-                    }
-
-                    foreach (var joint in entityGameObject.transform.GetComponentsInChildren<JointLabel>())
-                    {
-                        if (TryToGetTemplateIndexForJoint(activeTemplate, joint, out var idx))
-                        {
-                            cached.overrides.Add((joint, idx));
-                            cached.status = true;
-                        }
-                    }
-                }
-
-                m_KnownStatus[labeledEntity.instanceId] = cached;
-            }
-
-            var cachedData = m_KnownStatus[labeledEntity.instanceId];
-
-            if (cachedData.status)
-            {
-                var animator = cachedData.animator;
-                var keypoints = cachedData.keypoints.keypoints;
-
-                // Go through all of the rig keypoints and get their location
-                for (var i = 0; i < activeTemplate.keypoints.Length; i++)
-                {
-                    var pt = activeTemplate.keypoints[i];
-                    if (pt.associateToRig)
-                    {
-                        var bone = animator.GetBoneTransform(pt.rigLabel);
-                        if (bone != null)
-                        {
-                            var loc = ConvertToScreenSpace(bone.position);
-                            keypoints[i].index = i;
-                            keypoints[i].x = loc.x;
-                            keypoints[i].y = loc.y;
-                            keypoints[i].state = 2;
-                        }
-                    }
-                }
-
-                // Go through all of the additional or override points defined by joint labels and get
-                // their locations
-                foreach (var (joint, idx) in cachedData.overrides)
-                {
-                    var loc = ConvertToScreenSpace(joint.transform.position);
-                    keypoints[idx].index = idx;
-                    keypoints[idx].x = loc.x;
-                    keypoints[idx].y = loc.y;
-                    keypoints[idx].state = 2;
-                }
-
-                cachedData.keypoints.pose = "unset";
-
-                if (cachedData.animator != null)
-                {
-                    cachedData.keypoints.pose = GetPose(cachedData.animator);
-                }
-
-                m_KeypointEntries.Add(cachedData.keypoints);
-            }
-        }
-
-        string GetPose(Animator animator)
-        {
-            var info = animator.GetCurrentAnimatorClipInfo(0);
-
-            if (info != null && info.Length > 0)
-            {
-                var clip = info[0].clip;
-                var timeOffset = animator.GetCurrentAnimatorStateInfo(0).normalizedTime;
-
-                if (animationPoseConfigs != null)
-                {
-                    foreach (var p in animationPoseConfigs)
-                    {
-                        if (p != null && p.animationClip == clip)
-                        {
-                            var time = timeOffset;
-                            var label = p.GetPoseAtTime(time);
-                            return label;
-                        }
-                    }
-                }
-            }
-
-            return "unset";
-        }
-
-        /// <inheritdoc/>
-        protected override void OnVisualize()
-        {
-            var jointTexture = activeTemplate.jointTexture;
-            if (jointTexture == null) jointTexture = m_MissingTexture;
-
-            var skeletonTexture = activeTemplate.skeletonTexture;
-            if (skeletonTexture == null) skeletonTexture = m_MissingTexture;
-
-            foreach (var entry in m_KeypointEntries)
-            {
-                foreach (var bone in activeTemplate.skeleton)
-                {
-                    var joint1 = entry.keypoints[bone.joint1];
-                    var joint2 = entry.keypoints[bone.joint2];
-
-                    if (joint1.state != 0 && joint2.state != 0)
-                    {
-                        VisualizationHelper.DrawLine(joint1.x, joint1.y, joint2.x, joint2.y, bone.color, 8, skeletonTexture);
-                    }
-                }
-
-                foreach (var keypoint in entry.keypoints)
-                {
-                    if (keypoint.state != 0)
-                        VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, 8, jointTexture);
-                }
-            }
-        }
-
-        // ReSharper disable InconsistentNaming
-        // ReSharper disable NotAccessedField.Local
-        [Serializable]
-        struct JointJson
-        {
-            public string label;
-            public int index;
-        }
-
-        [Serializable]
-        struct SkeletonJson
-        {
-            public int joint1;
-            public int joint2;
-        }
-
-        [Serializable]
-        struct KeypointJson
-        {
-            public string template_id;
-            public string template_name;
-            public JointJson[] key_points;
-            public SkeletonJson[] skeleton;
-        }
-        // ReSharper restore InconsistentNaming
-        // ReSharper restore NotAccessedField.Local
-
-        KeypointJson TemplateToJson(KeypointTemplate input)
-        {
-            var json = new KeypointJson();
-            json.template_id = input.templateID.ToString();
-            json.template_name = input.templateName;
-            json.key_points = new JointJson[input.keypoints.Length];
-            json.skeleton = new SkeletonJson[input.skeleton.Length];
-
-            for (var i = 0; i < input.keypoints.Length; i++)
-            {
-                json.key_points[i] = new JointJson
-                {
-                    label = input.keypoints[i].label,
-                    index = i
-                };
-            }
-
-            for (var i = 0; i < input.skeleton.Length; i++)
-            {
-                json.skeleton[i] = new SkeletonJson()
-                {
-                    joint1 = input.skeleton[i].joint1,
-                    joint2 = input.skeleton[i].joint2
-                };
-            }
-
-            return json;
-        }
-    }
-}

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

-using System;
-using UnityEngine.Serialization;
-
-namespace UnityEngine.Perception.GroundTruth
-{
-    /// <summary>
-    /// A definition of a keypoint (joint).
-    /// </summary>
-    [Serializable]
-    public class KeypointDefinition
-    {
-        /// <summary>
-        /// The name of the keypoint
-        /// </summary>
-        public string label;
-        /// <summary>
-        /// Does this keypoint map directly to a <see cref="Animator"/> <see cref="Avatar"/> <see cref="HumanBodyBones"/>
-        /// </summary>
-        public bool associateToRig = true;
-        /// <summary>
-        /// The associated <see cref="HumanBodyBones"/> of the rig
-        /// </summary>
-        public HumanBodyBones rigLabel = HumanBodyBones.Head;
-        /// <summary>
-        /// The color of the keypoint in the visualization
-        /// </summary>
-        public Color color;
-    }
-
-    /// <summary>
-    /// A skeletal connection between two joints.
-    /// </summary>
-    [Serializable]
-    public class SkeletonDefinition
-    {
-        /// <summary>
-        /// The first joint
-        /// </summary>
-        public int joint1;
-        /// <summary>
-        /// The second joint
-        /// </summary>
-        public int joint2;
-        /// <summary>
-        /// The color of the skeleton in the visualization
-        /// </summary>
-        public Color color;
-    }
-
-    /// <summary>
-    /// Template used to define the keypoints of a humanoid asset.
-    /// </summary>
-    [CreateAssetMenu(fileName = "KeypointTemplate", menuName = "Perception/Keypoint Template", order = 2)]
-    public class KeypointTemplate : ScriptableObject
-    {
-        /// <summary>
-        /// The <see cref="Guid"/> of the template
-        /// </summary>
-        public string templateID = Guid.NewGuid().ToString();
-        /// <summary>
-        /// The name of the template
-        /// </summary>
-        public string templateName;
-        /// <summary>
-        /// Texture to use for the visualization of the joint.
-        /// </summary>
-        public Texture2D jointTexture;
-        /// <summary>
-        /// Texture to use for the visualization of the skeletal connection.
-        /// </summary>
-        public Texture2D skeletonTexture;
-        /// <summary>
-        /// Array of <see cref="KeypointDefinition"/> for the template.
-        /// </summary>
-        [FormerlySerializedAs("keyPoints")]
-        public KeypointDefinition[] keypoints;
-        /// <summary>
-        /// Array of the <see cref="SkeletonDefinition"/> for the template.
-        /// </summary>
-        public SkeletonDefinition[] skeleton;
-    }
-}