Merge branch 'master' of github.com:Unity-Technologies/com.unity.perception into 0.2.0-staging

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com.unity.perception/Documentation~/GettingStarted.md

 ## Step 1: Create a project and install Perception
 First, follow [this guide](SetupSteps.md) to install Perception in your project.
 
-## Step 2: Create a new scene and camera
+## Step 2 (for Universal Render Pipeline projects): Add GroundTruthRendererFeature
+This step can be skipped for HDRP projects.
+
+1. Select your project's `ScriptableRenderer` asset and open the inspector window. In most projects it is located at `Assets/Settings/ForwardRenderer.asset`.
+2. Click `Add Renderer Feature` and select `Ground Truth Renderer Feature`
+
+<img src="images/ScriptableRendererStep.PNG" align="middle"/>
+
+## Step 3: Create a new scene and camera
 1. Create a new scene using File -> New Scene
 2. `ctrl+s` to save the scene and give it a name
 3. Select the Main Camera and reset the Position transform to 0 
 
 <img src="images/MainCameraConfig.PNG" align="middle"/>
 
-## Step 3: Create labeled objects
+## Step 4: Create labeled objects
+
 <img src="images/CompletedScene.PNG" align="middle"/>
 
 1. On each cube, from the inspector panel add a **Labeling** component 
 	3. Add a numerical value to the value field 
 		
 		Make sure the labels all have different values, for this example use increments of 10,000 to ensure they show up as very distinct colors in the segmentation images
+
+
-## Step 4: Run simulation and generate dataset
+## Step 5: Run simulation and generate dataset
 1. Press play in the editor, allow the scene to run for a few seconds, and then exit playmode
 2. In the console log you will see a Shutdown in Progress message that will show a file path to the location of the generated dataset.
 >Example file path on a Windows PC : `C:/Users/<User Name>/AppData/LocalLow/DefaultCompany/UnityTestFramework\2e10ec21-9d97-4cee-b5a2-7e95e299afa4\RGB18f61842-ef8d-4b31-acb5-cb1da36fb7b1`

com.unity.perception/Editor/Unity.Perception.Editor.asmdef

             "name": "com.unity.render-pipelines.high-definition",
             "expression": "",
             "define": "HDRP_PRESENT"
+        },
+        {
+            "name": "com.unity.render-pipelines.universal",
+            "expression": "",
+            "define": "URP_PRESENT"
         }
     ],
     "noEngineReferences": false

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

             m_InstanceSegmentationPass.Execute(context, commandBuffer, renderingData.cameraData.camera, renderingData.cullResults);
             CommandBufferPool.Release(commandBuffer);
         }
+
+        public void Cleanup()
+        {
+            m_InstanceSegmentationPass.Cleanup();
+        }
     }
 
     class SemanticSegmentationUrpPass : ScriptableRenderPass
             m_SemanticSegmentationCrossPipelinePass.Execute(context, commandBuffer, renderingData.cameraData.camera, renderingData.cullResults);
             CommandBufferPool.Release(commandBuffer);
         }
+
+        public void Cleanup()
+        {
+            m_SemanticSegmentationCrossPipelinePass.Cleanup();
+        }
     }
 
     public class GroundTruthRendererFeature : ScriptableRendererFeature
             if (!EditorApplication.isPlaying)
                 return;
 #endif
+            perceptionCamera.OnGroundTruthRendererFeatureRun();
             foreach (var pass in perceptionCamera.passes)
                 renderer.EnqueuePass(pass);
         }

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

 #endif
 
         bool m_CapturedLastFrame;
-
+        //only used to confirm that GroundTruthRendererFeature is present in URP
+        bool m_GroundTruthRendererFeatureRun;
 
         /// <summary>
         /// The <see cref="SensorHandle"/> associated with this camera. Use this to report additional annotations and metrics at runtime.
             SetupInstanceSegmentation();
 
             RenderPipelineManager.beginCameraRendering += OnBeginCameraRendering;
+            RenderPipelineManager.endCameraRendering += CheckForRendererFeature;
+
+        void CheckForRendererFeature(ScriptableRenderContext context, Camera camera)
+        {
+            if (camera == GetComponent<Camera>())
+            {
+#if URP_PRESENT
+                if (!m_GroundTruthRendererFeatureRun)
+                {
+                    Debug.LogError("GroundTruthRendererFeature must be present on the ScriptableRenderer associated with the camera. The ScriptableRenderer can be accessed through Edit -> Project Settings... -> Graphics -> Scriptable Render Pipeline Settings -> Renderer List.");
+                    enabled = false;
+                }
+#endif
+                RenderPipelineManager.endCameraRendering -= CheckForRendererFeature;
+            }
+        }
         // Update is called once per frame
         void Update()
         {
                 return true;
             }
             return false;
+        }
+
+        internal void OnGroundTruthRendererFeatureRun()
+        {
+            //only used to confirm that GroundTruthRendererFeature is present in URP
+            m_GroundTruthRendererFeatureRun = true;
         }
     }
 }

com.unity.perception/Tests/Editor/Unity.Perception.Editor.Tests.asmdef

         "Unity.Collections",
         "Unity.Entities",
         "Unity.Simulation.Core",
-        "Unity.RenderPipelines.HighDefinition.Runtime"
+        "Unity.RenderPipelines.HighDefinition.Runtime",
+        "Unity.RenderPipelines.Universal.Runtime"
     ],
     "includePlatforms": [
         "Editor"
             "name": "com.unity.render-pipelines.high-definition",
             "expression": "",
             "define": "HDRP_PRESENT"
+        },
+        {
+            "name": "com.unity.render-pipelines.universal",
+            "expression": "",
+            "define": "URP_PRESENT"
         },
         {
             "name": "nuget.moq",

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

         static IdLabelConfig CreateLabelingConfiguration()
         {
             var label = "label";
-            var labelingConfiguration = ScriptableObject.CreateInstance<IdLabelConfig>();
+            var labelConfig = ScriptableObject.CreateInstance<IdLabelConfig>();
-            labelingConfiguration.Init(new List<IdLabelEntry>
+            labelConfig.Init(new List<IdLabelEntry>
             {
                 new IdLabelEntry
                 {
             });
-            return labelingConfiguration;
+            return labelConfig;
         }
         static SemanticSegmentationLabelConfig CreateSemanticSegmentationLabelConfig()
         {

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TestProjects/PerceptionURP/Assets/Tests/Editor/PerceptionCameraEditorUrpTests.cs

+using System;
+using System.Collections;
+using System.IO;
+using NUnit.Framework;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using UnityEngine;
+using UnityEngine.Perception.GroundTruth;
+using UnityEngine.Rendering;
+using UnityEngine.Rendering.Universal;
+using UnityEngine.SceneManagement;
+using UnityEngine.TestTools;
+
+namespace EditorTests
+{
+    [TestFixture]
+    public class PerceptionCameraEditorUrpTests
+    {
+        [TearDown]
+        public void TearDown()
+        {
+            GraphicsSettings.renderPipelineAsset = AssetDatabase.LoadAssetAtPath<UniversalRenderPipelineAsset>("Assets/Settings/UniversalRPAsset.asset");
+        }
+
+        [UnityTest]
+        public IEnumerator MissingRendererFeature_ProducesLogError()
+        {
+            int sceneCount = SceneManager.sceneCount;
+            for (int i = sceneCount - 1; i >= 0; i--)
+            {
+                EditorSceneManager.CloseScene(SceneManager.GetSceneAt(i), true);
+            }
+
+            EditorSceneManager.NewScene(NewSceneSetup.EmptyScene);
+
+            var urpAsset = AssetDatabase.LoadAssetAtPath<UniversalRenderPipelineAsset>("Assets/Settings/NoGroundTruthURPAsset.asset");
+            GraphicsSettings.renderPipelineAsset = urpAsset;
+
+            yield return new EnterPlayMode();
+
+            var gameObject = new GameObject();
+            gameObject.SetActive(false);
+            gameObject.AddComponent<Camera>();
+            var perceptionCamera = gameObject.AddComponent<PerceptionCamera>();
+            gameObject.SetActive(true);
+            LogAssert.Expect(LogType.Error, "GroundTruthRendererFeature must be present on the ScriptableRenderer associated with the camera. The ScriptableRenderer can be accessed through Edit -> Project Settings... -> Graphics -> Scriptable Render Pipeline Settings -> Renderer List.");
+            yield return null;
+            Assert.IsFalse(perceptionCamera.enabled);
+            yield return new ExitPlayMode();
+            GraphicsSettings.renderPipelineAsset = AssetDatabase.LoadAssetAtPath<UniversalRenderPipelineAsset>("Assets/Settings/UniversalRPAsset.asset");
+        }
+    }
+}

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