some tests local commit only

TestProjects/PerceptionHDRP/ProjectSettings/EditorBuildSettings.asset

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TestProjects/PerceptionHDRP/ProjectSettings/GraphicsSettings.asset

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TestProjects/PerceptionURP/Assets/IdLabelConfig.asset

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TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity

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TestProjects/PerceptionURP/Assets/SemanticSegmentationLabelingConfiguration.asset

   - label: Cube
     color: {r: 0, g: 0.024693727, b: 1, a: 1}
   - label: Crate
-    color: {r: 0, g: 1, b: 0.16973758, a: 1}
+    color: {r: 0, g: 0.5471698, b: 0.09226788, a: 1}
-    color: {r: 0.8207547, g: 0, b: 0.6646676, a: 1}
+    color: {r: 0.8584906, g: 0, b: 0.5827153, a: 1}
+  - label: Create
+    color: {r: 0, g: 0.7529412, b: 1, a: 1}
+  - label: Decal
+    color: {r: 0, g: 1, b: 0, a: 1}
+  - label: Wall
+    color: {r: 1, g: 1, b: 1, a: 1}
+  - label: Block
+    color: {r: 1, g: 0.92156863, b: 0.015686275, a: 1}
   skyColor: {r: 0, g: 0, b: 0, a: 1}

TestProjects/PerceptionURP/Assets/Settings/ForwardRenderer.asset

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TestProjects/PerceptionURP/Packages/manifest.json

 {
   "dependencies": {
     "com.unity.collab-proxy": "1.2.16",
+    "com.unity.cv.datamaker": "file:/Users/mohsenkamalzadeh/Documents/GitHub/com.unity.cv.datamaker/com.unity.cv.datamaker",
     "com.unity.ide.rider": "1.1.4",
     "com.unity.ide.vscode": "1.2.3",
     "com.unity.package-validation-suite": "0.9.1-preview",

TestProjects/PerceptionURP/Packages/packages-lock.json

 {
   "dependencies": {
+    "com.unity.addressables": {
+      "version": "1.17.17",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.scriptablebuildpipeline": "1.17.0",
+        "com.unity.modules.assetbundle": "1.0.0",
+        "com.unity.modules.imageconversion": "1.0.0",
+        "com.unity.modules.jsonserialize": "1.0.0",
+        "com.unity.modules.unitywebrequest": "1.0.0",
+        "com.unity.modules.unitywebrequestassetbundle": "1.0.0"
+      },
+      "url": "https://packages.unity.com"
+    },
     "com.unity.burst": {
       "version": "1.4.6",
       "depth": 1,
         "com.unity.burst": "1.3.0-preview.12"
       },
       "url": "https://packages.unity.com"
+    },
+    "com.unity.cv.datamaker": {
+      "version": "file:/Users/mohsenkamalzadeh/Documents/GitHub/com.unity.cv.datamaker/com.unity.cv.datamaker",
+      "depth": 0,
+      "source": "local",
+      "dependencies": {
+        "com.unity.addressables": "1.17.17",
+        "com.unity.perception": "0.8.0-preview.3"
+      }
     },
     "com.unity.ext.nunit": {
       "version": "1.0.6",
         "com.unity.render-pipelines.core": "7.3.1",
         "com.unity.shadergraph": "7.3.1"
       },
+      "url": "https://packages.unity.com"
+    },
+    "com.unity.scriptablebuildpipeline": {
+      "version": "1.17.0",
+      "depth": 2,
+      "source": "registry",
+      "dependencies": {},
       "url": "https://packages.unity.com"
     },
     "com.unity.shadergraph": {

TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset

     skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 1
-    antiAliasing: 2
+    antiAliasing: 0
     softParticles: 0
     softVegetation: 1
     realtimeReflectionProbes: 1
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
     resolutionScalingFixedDPIFactor: 1
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-      type: 2}
+    customRenderPipeline: {fileID: 0}
     excludedTargetPlatforms: []
   m_PerPlatformDefaultQuality:
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com.unity.perception/Runtime/GroundTruth/Labelers/Visualization/Materials/SegmentationMaterial.mat

     - _ReplaceColor: {r: 1, g: 1, b: 1, a: 0}
     - _SoftParticleFadeParams: {r: 0, g: 0, b: 0, a: 0}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
-  m_BuildTextureStacks: []
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com.unity.perception/Runtime/GroundTruth/RenderPasses/CrossPipelinePasses/GroundTruthCrossPipelinePass.cs

             {
                 rendererConfiguration = PerObjectData.None,
                 renderQueueRange = new RenderQueueRange { lowerBound = 0, upperBound = 5000 },
-                sortingCriteria = SortingCriteria.CommonOpaque,
+                sortingCriteria = SortingCriteria.BackToFront,
                 excludeObjectMotionVectors = false,
                 overrideMaterial = overrideMaterial,
                 overrideMaterialPassIndex = overrideMaterialPassIndex,

com.unity.perception/Runtime/GroundTruth/RenderPasses/CrossPipelinePasses/InstanceSegmentationCrossPipelinePass.cs

                 Debug.LogError($"Could not get a unique color for {instanceId}");
 
             mpb.SetVector(k_SegmentationIdProperty, (Color)color);
+
+            if (renderer && renderer.material)
+            {
+                if (renderer.material.HasProperty("_MainTex"))
+                {
+                    var maintex = renderer.material.GetTexture("_MainTex");
+                    if (maintex)
+                        mpb.SetTexture("_MainTex", renderer.material.GetTexture("_MainTex"));
+                }
+
+                mpb.SetColor("_BaseColor", renderer.material.color);
+
+            }
+
+            var segBeh = renderer? renderer.gameObject.GetComponent<SemanticSegmentationBehaviour>() : null;
+            if (segBeh)
+            {
+                if (segBeh.useSegmentationMask)
+                {
+                    mpb.SetFloat("_TextureIsSegmentationMask", 1);
+                    if (segBeh.useSegmentationMask)
+                    {
+                        mpb.SetTexture("_MainTex", segBeh.segmentationMask);
+                    }
+                }
+
+                mpb.SetFloat("_TransparencyThreshold", segBeh.opacityThreshold);
+            }
+
 #if PERCEPTION_DEBUG
             Debug.Log($"Assigning id. Frame {Time.frameCount} id {id}");
 #endif

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

             base.Setup();
             m_ClassLabelingShader = Shader.Find(k_ShaderName);
 
-            var shaderVariantCollection = new ShaderVariantCollection();
+            //var shaderVariantCollection = new ShaderVariantCollection();
-            if (shaderVariantCollection != null)
-            {
-                shaderVariantCollection.Add(
-                    new ShaderVariantCollection.ShaderVariant(m_ClassLabelingShader, PassType.ScriptableRenderPipeline));
-            }
+            // if (shaderVariantCollection != null)
+            // {
+            //     shaderVariantCollection.Add(
+            //         new ShaderVariantCollection.ShaderVariant(m_ClassLabelingShader, PassType.ScriptableRenderPipeline));
+            // }
-
-            shaderVariantCollection.WarmUp();
+            //shaderVariantCollection.WarmUp();
         }
 
         protected override void ExecutePass(
 
             // Set the labeling ID so that it can be accessed in ClassSemanticSegmentationPass.shader
             mpb.SetVector(k_LabelingId, found ? entry.color : Color.black);
+
+            if (renderer && renderer.material)
+            {
+                if (renderer.material.HasProperty("_MainTex"))
+                {
+                    var maintex = renderer.material.GetTexture("_MainTex");
+                    if (maintex)
+                        mpb.SetTexture("_MainTex", renderer.material.GetTexture("_MainTex"));
+                }
+                mpb.SetColor("_BaseColor", renderer.material.color);
+            }
+
+            var segBeh = renderer? renderer.gameObject.GetComponent<SemanticSegmentationBehaviour>() : null;
+            if (segBeh)
+            {
+                if (segBeh.useSegmentationMask)
+                {
+                    mpb.SetFloat("_TextureIsSegmentationMask", 1);
+                    if (segBeh.useSegmentationMask)
+                    {
+                        mpb.SetTexture("_MainTex", segBeh.segmentationMask);
+                    }
+                }
+
+                mpb.SetFloat("_TransparencyThreshold", segBeh.opacityThreshold);
+            }
+
         }
 
         public override void ClearMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)

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

 {
     Properties
     {
+        _MainTex ("Texture", 2D) = "white" {}
+        _BaseColor("Color", Color) = (1,1,1,1)
+        _EnableTransparency ("Enable Transparency", Range(0,1)) = 1
+        _TransparencyThreshold ("Transparency Threshold", Range(0,1)) = 1
+        _TextureIsSegmentationMask ("Use Texture as Segmentation Mask", Range(0,1)) = 0
-        Tags { "RenderType"="Opaque" }
+        Tags { "Queue"="Transparent" "RenderType"="Transparent" }
+        Blend SrcAlpha OneMinusSrcAlpha
+        ZWrite Off
+
 
             CGPROGRAM
             #pragma vertex vert
             #include "Packing.hlsl"
 
+            sampler2D _MainTex;
+            fixed4 _BaseColor;
+            float4 _MainTex_ST;
+            float _TransparencyThreshold;
+            float _TextureIsSegmentationMask;
+            float _EnableTransparency;
+
+                float2 uv : TEXCOORD0;
+                float2 uv : TEXCOORD0;
             };
 
             float4 _SegmentationId;
                 v2f o;
                 o.vertex = UnityObjectToClipPos(v.vertex);
+                o.uv = TRANSFORM_TEX(v.uv, _MainTex);
-                return _SegmentationId;
+                fixed4 col = tex2D(_MainTex, i.uv);
+                fixed4 outColor = _SegmentationId;
+
+                if (_TextureIsSegmentationMask == 1)
+                {
+                    if (col.r == 0 && col.g == 0 && col.b == 0)
+                    {
+                        outColor = fixed4(0,0,0,1);
+                    }
+                    return outColor;
+                }
+
+                float opacity = 1 * _BaseColor.a;
+                if (opacity < _TransparencyThreshold)
+                    outColor.a = 0;
+                else
+                    outColor.a = 1;
+                return outColor;
             }
             ENDCG
         }

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

 {
     Properties
     {
+        _MainTex ("Texture", 2D) = "white" {}
+        _BaseColor("Color", Color) = (1,1,1,1)
+        _EnableTransparency ("Enable Transparency", Range(0,1)) = 1
+        _TransparencyThreshold ("Transparency Threshold", Range(0,1)) = 1
+        _TextureIsSegmentationMask ("Use Texture as Segmentation Mask", Range(0,1)) = 0
-    HLSLINCLUDE
+    //HLSLINCLUDE
-    #pragma target 4.5
-    #pragma only_renderers d3d11 ps4 xboxone vulkan metal switch
+    // #pragma target 4.5
+    // #pragma only_renderers d3d11 ps4 xboxone vulkan metal switch
-    #pragma multi_compile_instancing
+    //#pragma multi_compile_instancing
-    ENDHLSL
+    //ENDHLSL
-        Tags { "RenderType"="Opaque" }
+        Tags { "Queue"="Transparent" "RenderType"="Transparent" }
+        Blend SrcAlpha OneMinusSrcAlpha
+        ZWrite Off
+        //Cull Off
+
+//        Pass
+//        {
+//            ZWrite On
+//            ColorMask 0
+//        }
-            Tags { "LightMode" = "SRP" }
-
-            Blend Off
-            ZWrite On
-            ZTest LEqual
-
-            Cull Back
 
             CGPROGRAM
 
             #include "UnityCG.cginc"
 
             float4 LabelingId;
+            sampler2D _MainTex;
+            float4 _MainTex_ST;
+            fixed4 _BaseColor;
+            float _TransparencyThreshold;
+            float _TextureIsSegmentationMask;
+                float2 uv : TEXCOORD0;
+                float2 uv : TEXCOORD0;
                 float4 vertex : SV_POSITION;
             };
 
                 vertScreenSpace.vertex = UnityObjectToClipPos(vertWorldSpace.vertex);
+                vertScreenSpace.uv = TRANSFORM_TEX(vertWorldSpace.uv, _MainTex);
-                return LabelingId;
+                fixed4 col = tex2D(_MainTex, vertScreenSpace.uv);
+                //LabelingId = _BaseColor;
+                fixed4 outColor = LabelingId;
+
+                // if (_TextureIsSegmentationMask == 1)
+                // {
+                //     if (col.r == 0 && col.g == 0 && col.b == 0)
+                //         outColor = fixed4(0,0,0,1);
+                //
+                //     return outColor;
+                // }
+
+                //float opacity = col.a * _BaseColor.a;
+                float opacity = 2;
+                if (opacity < _TransparencyThreshold)
+                    outColor.a = 0;
+                else
+                    outColor.a = 1;
+
+                return outColor;
             }
 
             ENDCG

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