Merge branch 'master' into aisv647_visualizations

TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity

         asm: Unity.Perception.Runtime}
       data:
         enabled: 1
-        annotationId: F9F22E05-443F-4602-A422-EBE4EA9B55CB
+        foldout: 0
+        annotationId: f9f22e05-443f-4602-a422-ebe4ea9b55cb
         idLabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
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         enabled: 1
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         m_TargetTextureOverride: {fileID: 0}
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+        foldout: 0
+        objectCountMetricId: 51da3c27-369d-4929-aea6-d01614635ce2
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+        foldout: 0
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         idLabelConfig: {fileID: 11400000, guid: 034ffd4e09ffb7348b2fe6634259058a,
           type: 2}
 --- !u!1 &1640252278

TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity

       type: {class: ObjectCountLabeler, ns: UnityEngine.Perception.GroundTruth, asm: Unity.Perception.Runtime}
       data:
         enabled: 1
-        objectCountMetricId: 51DA3C27-369D-4929-AEA6-D01614635CE2
+        objectCountMetricId: 51da3c27-369d-4929-aea6-d01614635ce2
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           type: 2}
     00000001:
         enabled: 1
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+        annotationId: f9f22e05-443f-4602-a422-ebe4ea9b55cb
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         enabled: 1
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 --- !u!114 &963194231

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

         /// <summary>
         /// The GUID id to associate with the annotations produced by this labeler.
         /// </summary>
-        public string annotationId = "F9F22E05-443F-4602-A422-EBE4EA9B55CB";
+        public string annotationId = "f9f22e05-443f-4602-a422-ebe4ea9b55cb";
         /// <summary>
         /// The <see cref="IdLabelConfig"/> which associates objects with labels.
         /// </summary>

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

         /// <summary>
         /// The ID to use for object count annotations in the resulting dataset
         /// </summary>
-        public string objectCountMetricId = "51DA3C27-369D-4929-AEA6-D01614635CE2";
+        public string objectCountMetricId = "51da3c27-369d-4929-aea6-d01614635ce2";
 
         /// <summary>
         /// The <see cref="IdLabelConfig"/> which associates objects with labels.

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

         /// <summary>
         /// The ID to use for visible pixels metrics in the resulting dataset
         /// </summary>
-        public string objectInfoMetricId = "5BA92024-B3B7-41A7-9D3F-C03A6A8DDD01";
+        public string objectInfoMetricId = "5ba92024-b3b7-41a7-9d3f-c03a6a8ddd01";
 
         /// <summary>
         /// The <see cref="IdLabelConfig"/> which associates objects with labels.

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

         /// The id to associate with semantic segmentation annotations in the dataset.
         /// </summary>
         [Tooltip("The id to associate with semantic segmentation annotations in the dataset.")]
-        public string annotationId = "12F94D8D-5425-4DEB-9B21-5E53AD957D66";
+        public string annotationId = "12f94d8d-5425-4deb-9b21-5e53ad957d66";
         /// <summary>
         /// The SemanticSegmentationLabelConfig which maps labels to pixel values.
         /// </summary>
 
             m_AsyncAnnotations = new Dictionary<int, AsyncAnnotation>();
 
-            var renderTextureDescriptor = new RenderTextureDescriptor(camWidth, camHeight, GraphicsFormat.R8G8B8A8_UNorm, 8);
+            {
+                if (targetTexture.sRGB)
+                {
+                    Debug.LogError("targetTexture supplied to SemanticSegmentationLabeler must be in Linear mode. Disabling labeler.");
+                    this.enabled = false;
+                }
+                var renderTextureDescriptor = new RenderTextureDescriptor(width, height, GraphicsFormat.R8G8B8A8_UNorm, 8);
+            }
-                m_TargetTextureOverride = new RenderTexture(renderTextureDescriptor);
+                m_TargetTextureOverride = new RenderTexture(width, height, 8, RenderTextureFormat.ARGB32, RenderTextureReadWrite.Linear);
 
             targetTexture.Create();
             targetTexture.name = "Labeling";
             if (!m_AsyncAnnotations.TryGetValue(frameCount, out var annotation))
                 return;
 
-            var datasetRelativePath = Path.Combine(k_SemanticSegmentationDirectory, k_SegmentationFilePrefix) + frameCount + ".png";
-            var localPath = Path.Combine(Manager.Instance.GetDirectoryFor(k_SemanticSegmentationDirectory), k_SegmentationFilePrefix) + frameCount + ".png";
+            var datasetRelativePath = $"{k_SemanticSegmentationDirectory}/{k_SegmentationFilePrefix}{frameCount}.png";
+            var localPath = $"{Manager.Instance.GetDirectoryFor(k_SemanticSegmentationDirectory)}/{k_SegmentationFilePrefix}{frameCount}.png";
 
             annotation.ReportFile(datasetRelativePath);
 

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

             if (!captureRgbImages)
                 return;
 
-            var captureFilename = Path.Combine(Manager.Instance.GetDirectoryFor(RgbDirectory), $"{s_RgbFilePrefix}{Time.frameCount}.png");
-            var dxRootPath = Path.Combine(RgbDirectory, $"{s_RgbFilePrefix}{Time.frameCount}.png");
+            var captureFilename = $"{Manager.Instance.GetDirectoryFor(RgbDirectory)}/{s_RgbFilePrefix}{Time.frameCount}.png";
+            var dxRootPath = $"{RgbDirectory}/{s_RgbFilePrefix}{Time.frameCount}.png";
             SensorHandle.ReportCapture(dxRootPath, SensorSpatialData.FromGameObjects(m_EgoMarker == null ? null : m_EgoMarker.gameObject, gameObject), m_PersistentSensorData.Select(kvp => (kvp.Key, kvp.Value)).ToArray());
 
             Func<AsyncRequest<CaptureCamera.CaptureState>, AsyncRequest.Result> colorFunctor;

com.unity.perception/Runtime/GroundTruth/Resources/SemanticSegmentation.shader

 {
     Properties
     {
-        [PerObjectData] LabelingId("Labeling Id", Color) = (0,0,0,1)
+        [PerObjectData] LabelingId("Labeling Id", Vector) = (0,0,0,1)
     }
 
     HLSLINCLUDE

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

 
             //Set the labeling ID so that it can be accessed in ClassSemanticSegmentationPass.shader
             if (found)
-                mpb.SetColor(k_LabelingId, entry.color);
+                mpb.SetVector(k_LabelingId, entry.color);
         }
     }
 }

com.unity.perception/Tests/Editor/PerceptionCameraEditorTests.cs

             var capturesJson = File.ReadAllText(capturesPath);
             for (int iFrameCount = expectedFirstFrame; iFrameCount <= expectedLastFrame; iFrameCount++)
             {
-                var imagePath = Path.Combine(PerceptionCamera.RgbDirectory, $"rgb_{iFrameCount}").Replace(@"\", @"\\");
+                var imagePath = $"{PerceptionCamera.RgbDirectory}/rgb_{iFrameCount}";
                 StringAssert.Contains(imagePath, capturesJson);
             }
 

com.unity.perception/Tests/Runtime/GroundTruthTests/PerceptionCameraIntegrationTests.cs

 
             var capturesPath = Path.Combine(DatasetCapture.OutputDirectory, "captures_000.json");
             var capturesJson = File.ReadAllText(capturesPath);
-            var imagePath = Path.Combine("SemanticSegmentation", expectedImageFilename).Replace(@"\", @"\\");
+            var imagePath = $"SemanticSegmentation/{expectedImageFilename}";
             StringAssert.Contains(imagePath, capturesJson);
         }
 

com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs

     [UnityPlatform(exclude = new[] {RuntimePlatform.LinuxEditor, RuntimePlatform.LinuxPlayer})]
     public class SegmentationPassTests : GroundTruthTestBase
     {
-        static readonly Color32 k_SemanticPixelValue = Color.blue;
+        static readonly Color32 k_SemanticPixelValue = new Color32(10, 20, 30, Byte.MaxValue);
 
         public enum SegmentationKind
         {
                 catch (Exception)
                 {
                     //uncomment to get RenderDoc captures while this check is failing
-                    //RenderDoc.EndCaptureRenderDoc(gameView);
+                    //UnityEditorInternal.RenderDoc.EndCaptureRenderDoc(gameView);
                     throw;
                 }
             }