Merge pull request #22 from Unity-Technologies/fix_label_id_report

Fix label id report

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

                 for (var i = 0; i < renderedObjectInfos.Length; i++)
                 {
                     var objectInfo = renderedObjectInfos[i];
-                    if (!TryGetLabelIdFromInstanceId(objectInfo.instanceId, out var labelId))
+                    if (!TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry))
-                        label_id = labelId,
+                        label_id = labelEntry.id,
                         instance_id = objectInfo.instanceId,
                         visible_pixels = objectInfo.pixelCount
                     };
                 for (var i = 0; i < renderedObjectInfos.Length; i++)
                 {
                     var objectInfo = renderedObjectInfos[i];
-                    if (!TryGetLabelIdFromInstanceId(objectInfo.instanceId, out var labelId))
+                    if (!TryGetLabelEntryFromInstanceId(objectInfo.instanceId, out var labelEntry))
-                        label_id = labelId,
-                        label_name = labelingConfigurations[labelId].label,
+                        label_id = labelEntry.id,
+                        label_name = labelEntry.label,
                         instance_id = objectInfo.instanceId,
                         x = objectInfo.boundingBox.x,
                         y = objectInfo.boundingBox.y,
         /// Returns the class ID for the given instance ID resolved by <see cref="LabelingConfiguration"/>. Only valid when bounding boxes are being computed.
         /// </summary>
         /// <param name="instanceId">The instanceId of the object</param>
-        /// <param name="labelId">When this method returns, contains the labelId associated with the given instanceId, if one exists. -1 otherwise.</param>
-        /// <returns>True if a valid labelId was found for the given instanceId.</returns>
+        /// <param name="labelEntry">When this method returns, contains the LabelEntry associated with the given instanceId if one exists. default otherwise.</param>
+        /// <returns>True if a valid LabelEntry was found for the given instanceId.</returns>
-        public bool TryGetLabelIdFromInstanceId(int instanceId, out int labelId)
+        public bool TryGetLabelEntryFromInstanceId(int instanceId, out LabelEntry labelEntry)
-                throw new InvalidOperationException($"{nameof(TryGetLabelIdFromInstanceId)} can only be used when bounding box capture is enabled");
-            return m_RenderedObjectInfoGenerator.TryGetLabelIdFromInstanceId(instanceId, out labelId);
+                throw new InvalidOperationException($"{nameof(TryGetLabelEntryFromInstanceId)} can only be used when bounding box capture is enabled");
+            return m_RenderedObjectInfoGenerator.TryGetLabelEntryFromInstanceId(instanceId, out labelEntry);
         }
 
         void OnObjectCountsReceived(NativeSlice<uint> counts, IReadOnlyList<LabelEntry> entries, int frameCount)

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

 using Unity.Jobs;
 using Unity.Mathematics;
 using Unity.Profiling;
+using UnityEngine.UIElements;
 
 namespace UnityEngine.Perception.GroundTruth
 {
         /// <inheritdoc/>
         public void SetupMaterialProperties(MaterialPropertyBlock mpb, MeshRenderer meshRenderer, Labeling labeling, uint instanceId)
         {
-            if (m_LabelingConfiguration.TryGetMatchingConfigurationEntry(labeling, out var entry, out var index))
+            if (m_LabelingConfiguration.TryGetMatchingConfigurationEntry(labeling, out _, out var index))
             {
                 if (m_InstanceIdToLabelEntryIndexLookup.Length <= instanceId)
                 {
         /// Attempts to find the label id for the given instance id using the LabelingConfiguration passed into the constructor.
         /// </summary>
         /// <param name="instanceId">The instanceId of the object for which the labelId should be found</param>
-        /// <param name="labelId">The labelId of the object. -1 if not found</param>
+        /// <param name="labelEntry">The LabelEntry associated with the object. default if not found</param>
-        public bool TryGetLabelIdFromInstanceId(int instanceId, out int labelId)
+        public bool TryGetLabelEntryFromInstanceId(int instanceId, out LabelEntry labelEntry)
-            labelId = -1;
+            labelEntry = default;
-            labelId = m_InstanceIdToLabelEntryIndexLookup[instanceId];
+            var labelEntryIndex = m_InstanceIdToLabelEntryIndexLookup[instanceId];
+            labelEntry = m_LabelingConfiguration.LabelEntries[labelEntryIndex];
             return true;
         }
 

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

             yield return null;
 
             var jsonExpected = $@"            {{
-              ""label_id"": 0,
+              ""label_id"": 100,
               ""label_name"": ""label"",
               ""instance_id"": 1,
               ""x"": 0.0,
             {
                 new LabelEntry
                 {
-                    id = 1,
+                    id = 100,
                     label = label,
                     value = 500
                 }