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Terrain support (#103)

* Adding support for labeling terrains. Does not support labeling trees or details.

* Adding terrains to test projects. Updating projects to 2019.4.12f1

* Updating docs and changelog.

* Fixing up URP SampleScene.unity

* Attempting to fix pip installs of unity-downloader-cli

* Switching to rtx2080
/main
GitHub 4 年前
当前提交
e98e8a2d
共有 27 个文件被更改,包括 988 次插入410 次删除
  1. 2
      .yamato/upm-ci-testprojects.yml
  2. 2
      TestProjects/PerceptionHDRP/Assets/IdLabelConfig.asset
  3. 355
      TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity
  4. 4
      TestProjects/PerceptionHDRP/Assets/SemanticSegmentationLabelingConfiguration.asset
  5. 11
      TestProjects/PerceptionHDRP/Packages/packages-lock.json
  6. 4
      TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt
  7. 6
      TestProjects/PerceptionURP/Assets/IdLabelConfig.asset
  8. 528
      TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity
  9. 6
      TestProjects/PerceptionURP/Assets/SemanticSegmentationLabelingConfiguration.asset
  10. 11
      TestProjects/PerceptionURP/Packages/packages-lock.json
  11. 4
      TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt
  12. 2
      TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset
  13. 1
      com.unity.perception/CHANGELOG.md
  14. 5
      com.unity.perception/Documentation~/GroundTruthLabeling.md
  15. 12
      com.unity.perception/Runtime/GroundTruth/GroundTruthLabelSetupSystem.cs
  16. 55
      com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs
  17. 260
      TestProjects/PerceptionHDRP/Assets/CrateMaterial.mat
  18. 8
      TestProjects/PerceptionHDRP/Assets/CrateMaterial.mat.meta
  19. 8
      TestProjects/PerceptionHDRP/Assets/Scenes/SampleSceneLensDistortion.meta
  20. 8
      TestProjects/PerceptionHDRP/Assets/Scenes/SampleSceneLensDistortion/Global Volume Profile.asset.meta
  21. 8
      TestProjects/PerceptionHDRP/Assets/StreamingAssets.meta
  22. 3
      TestProjects/PerceptionHDRP/Assets/Terrain Data.asset
  23. 8
      TestProjects/PerceptionHDRP/Assets/Terrain Data.asset.meta
  24. 38
      TestProjects/PerceptionHDRP/ProjectSettings/PackageManagerSettings.asset
  25. 3
      TestProjects/PerceptionURP/Assets/New Terrain.asset
  26. 8
      TestProjects/PerceptionURP/Assets/New Terrain.asset.meta
  27. 38
      TestProjects/PerceptionURP/ProjectSettings/PackageManagerSettings.asset

2
.yamato/upm-ci-testprojects.yml


name : {{project.name}} {{ suite.display_name }} tests ({{ editor.version }}, Linux)
agent:
type: Unity::VM::GPU
model: rtx2080
image: cds-ops/ubuntu-18.04-base:latest
flavor: b1.large
variables:

- pip config set global.index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
- pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade --user
- git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
- unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published

2
TestProjects/PerceptionHDRP/Assets/IdLabelConfig.asset


id: 2
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- label: Terrain
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autoAssignIds: 1
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355
TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity


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11
TestProjects/PerceptionHDRP/Packages/packages-lock.json


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4
TestProjects/PerceptionHDRP/ProjectSettings/ProjectVersion.txt


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6
TestProjects/PerceptionURP/Assets/IdLabelConfig.asset


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TestProjects/PerceptionURP/Assets/Scenes/SampleScene.unity


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6
TestProjects/PerceptionURP/Assets/SemanticSegmentationLabelingConfiguration.asset


- label: Box
color: {r: 1, g: 0, b: 0, a: 1}
- label: Cube
color: {r: 0, g: 1, b: 0.14507627, a: 1}
color: {r: 0, g: 0.024693727, b: 1, a: 1}
color: {r: 0, g: 0, b: 1, a: 1}
color: {r: 0, g: 1, b: 0.16973758, a: 1}
- label: Terrain
color: {r: 0.8207547, g: 0, b: 0.6646676, a: 1}

11
TestProjects/PerceptionURP/Packages/packages-lock.json


"com.unity.nuget.newtonsoft-json": "1.1.2",
"com.unity.render-pipelines.core": "7.1.6",
"com.unity.entities": "0.8.0-preview.8",
"com.unity.simulation.client": "0.0.10-preview.9",
"com.unity.simulation.capture": "0.0.10-preview.13",
"com.unity.simulation.core": "0.0.10-preview.19"
}

},
"url": "https://packages.unity.com"
},
"com.unity.simulation.client": {
"version": "0.0.10-preview.9",
"depth": 1,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
"com.unity.simulation.core": {
"version": "0.0.10-preview.19",
"depth": 0,

"depth": 0,
"source": "builtin",
"dependencies": {
"com.unity.modules.ui": "1.0.0"
"com.unity.modules.ui": "1.0.0",
"com.unity.modules.imgui": "1.0.0"
}
},
"nuget.castle-core": {

4
TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt


m_EditorVersion: 2019.4.8f1
m_EditorVersionWithRevision: 2019.4.8f1 (60781d942082)
m_EditorVersion: 2019.4.12f1
m_EditorVersionWithRevision: 2019.4.12f1 (225e826a680e)

2
TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset


skinWeights: 2
textureQuality: 0
anisotropicTextures: 1
antiAliasing: 0
antiAliasing: 2
softParticles: 0
softVegetation: 1
realtimeReflectionProbes: 1

1
com.unity.perception/CHANGELOG.md


## Unreleased
### Added
Added support for labeling Terrain objects. Trees and details are not labeled but will occlude other objects.
### Changed

5
com.unity.perception/Documentation~/GroundTruthLabeling.md


## Labeling component
The Labeling component associates a list of string-based labels with a GameObject and its descendants. A Labeling component on a descendant overrides its parent's labels.
### Limitations
Labeling is supported on MeshRenderers, SkinnedMeshRenderers, and partially supported on Terrains.
On terrains, the labels will be applied to the entire terrain. Trees and details can not be labeled. They will always render as black or zero in instance and segmentation images and will occlude other objects in ground truth.
## Label Config
Many labelers require a Label Config asset. This asset specifies a list of all labels to be captured in the dataset along with extra information used by the various labelers.

12
com.unity.perception/Runtime/GroundTruth/GroundTruthLabelSetupSystem.cs


void InitGameObjectRecursive(GameObject gameObject, MaterialPropertyBlock mpb, Labeling labeling, uint instanceId)
{
var terrain = gameObject.GetComponent<Terrain>();
if (terrain != null)
{
terrain.GetSplatMaterialPropertyBlock(mpb);
foreach (var pass in m_ActiveGenerators)
pass.SetupMaterialProperties(mpb, null, labeling, instanceId);
terrain.SetSplatMaterialPropertyBlock(mpb);
}
var renderer = (Renderer)gameObject.GetComponent<MeshRenderer>();
if (renderer == null)
renderer = gameObject.GetComponent<SkinnedMeshRenderer>();

55
com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs


}
}
public enum RendererType
{
MeshRenderer,
SkinnedMeshRenderer,
Terrain
}
//Graphics issues with OpenGL Linux Editor. https://jira.unity3d.com/browse/AISV-422
[UnityPlatform(exclude = new[] {RuntimePlatform.LinuxEditor, RuntimePlatform.LinuxPlayer})]
public class SegmentationPassTests : GroundTruthTestBase

// `yield return null;` to skip a frame.
[UnityTest]
public IEnumerator SegmentationPassTestsWithEnumeratorPasses(
[Values(false, true)] bool useSkinnedMeshRenderer,
[Values(RendererType.MeshRenderer, RendererType.SkinnedMeshRenderer, RendererType.Terrain)] RendererType rendererType,
[Values(SegmentationKind.Instance, SegmentationKind.Semantic)] SegmentationKind segmentationKind)
{
int timesSegmentationImageReceived = 0;

break;
}
//
// // Arbitrary wait for 5 frames for shaders to load. Workaround for issue with Shader.WarmupAllShaders()
// for (int i=0 ; i<5 ; ++i)
// yield return new WaitForSeconds(1);
frameStart = Time.frameCount;
var planeObject = GameObject.CreatePrimitive(PrimitiveType.Plane);
if (useSkinnedMeshRenderer)
GameObject planeObject;
if (rendererType == RendererType.Terrain)
{
var terrainData = new TerrainData();
AddTestObjectForCleanup(terrainData);
//look down because terrains cannot be rotated
cameraObject.transform.rotation = Quaternion.LookRotation(Vector3.down, Vector3.forward);
planeObject = Terrain.CreateTerrainGameObject(terrainData);
planeObject.transform.SetPositionAndRotation(new Vector3(-10, -10, -10), Quaternion.identity);
}
else
var oldObject = planeObject;
planeObject = new GameObject();
planeObject = GameObject.CreatePrimitive(PrimitiveType.Plane);
if (rendererType == RendererType.SkinnedMeshRenderer)
{
var oldObject = planeObject;
planeObject = new GameObject();
var meshFilter = oldObject.GetComponent<MeshFilter>();
var meshRenderer = oldObject.GetComponent<MeshRenderer>();
var skinnedMeshRenderer = planeObject.AddComponent<SkinnedMeshRenderer>();
skinnedMeshRenderer.sharedMesh = meshFilter.sharedMesh;
skinnedMeshRenderer.material = meshRenderer.material;
var meshFilter = oldObject.GetComponent<MeshFilter>();
var meshRenderer = oldObject.GetComponent<MeshRenderer>();
var skinnedMeshRenderer = planeObject.AddComponent<SkinnedMeshRenderer>();
skinnedMeshRenderer.sharedMesh = meshFilter.sharedMesh;
skinnedMeshRenderer.material = meshRenderer.material;
Object.DestroyImmediate(oldObject);
Object.DestroyImmediate(oldObject);
}
planeObject.transform.SetPositionAndRotation(new Vector3(0, 0, 10), Quaternion.Euler(90, 0, 0));
planeObject.transform.localScale = new Vector3(10, -1, 10);
planeObject.transform.SetPositionAndRotation(new Vector3(0, 0, 10), Quaternion.Euler(90, 0, 0));
planeObject.transform.localScale = new Vector3(10, -1, 10);
frameStart = Time.frameCount;
AddTestObjectForCleanup(planeObject);

260
TestProjects/PerceptionHDRP/Assets/CrateMaterial.mat


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TestProjects/PerceptionHDRP/Assets/Terrain Data.asset
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