Model based occludder distance overrides

com.unity.perception/Runtime/GroundTruth/Labelers/CocoKeypointTemplate.asset

   m_Script: {fileID: 11500000, guid: 37a7d6f1a40c45a2981a6291f0d03337, type: 3}
   m_Name: CocoKeypointTemplate
   m_EditorClassIdentifier: 
+  templateID: 4a7b253a-334e-460c-bc81-3f4e2c4871c0
   templateName: Coco
   jointTexture: {fileID: 2800000, guid: e381cbaaf29614168bafc8f7ec5dbfe9, type: 3}
   skeletonTexture: {fileID: 2800000, guid: e381cbaaf29614168bafc8f7ec5dbfe9, type: 3}
     rigLabel: 0
     color: {r: 1, g: 0, b: 0, a: 1}
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.2
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.3
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.15
+    selfOcclusionDistance: 0.033
+    selfOcclusionDistance: 0.033
+    selfOcclusionDistance: 0.05
+    selfOcclusionDistance: 0.05
   skeleton:
   - joint1: 0
     joint2: 1

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

         /// </summary>
         public IdLabelConfig idLabelConfig;
 
+        public float visThickness = 6;
+
+        public bool drawBones = true;
+
         /// <summary>
         /// Controls which objects will have keypoints recorded in the dataset.
         /// <see cref="KeypointObjectFilter"/>
             public Animator animator;
             public KeypointEntry keypoints;
             public List<(JointLabel, int)> overrides;
+            public float occlusionScalar;
         }
 
         Dictionary<uint, CachedData> m_KnownStatus;
                     status = false,
                     animator = null,
                     keypoints = new KeypointEntry(),
-                    overrides = new List<(JointLabel, int)>()
+                    overrides = new List<(JointLabel, int)>(),
+                    occlusionScalar = 1.0f
                 };
 
                 var entityGameObject = labeledEntity.gameObject;
                     }
                 }
 
+                var occlusionOverrider = labeledEntity.GetComponent<KeypointOcclusionOverrides>();
+                if (occlusionOverrider != null)
+                {
+                    cached.occlusionScalar = occlusionOverrider.overrideDistanceScale;
+                }
+
                 m_KnownStatus[labeledEntity.instanceId] = cached;
             }
 
                         if (bone != null)
                         {
                             var bonePosition = bone.position;
-                            var jointSelfOcclusionDistance = JointSelfOcclusionDistance(bone, bonePosition, cameraPosition, cameraforward, pt.selfOcclusionDistance);
+
+                            // Check to see if
+
+                            var occlusionDistance = pt.selfOcclusionDistance * cachedData.occlusionScalar;
+
+                            var jointSelfOcclusionDistance = JointSelfOcclusionDistance(bone, bonePosition, cameraPosition, cameraforward, occlusionDistance);
                             InitKeypoint(bonePosition, cachedData, checkLocationsSlice, i, jointSelfOcclusionDistance);
                         }
                     }
         /// <inheritdoc/>
         protected override void OnVisualize()
         {
+            // TODO - remove this, it is just for debugging
+            hudPanel.UpdateEntry(this, "frame", m_CurrentFrame.ToString());
+            // END OF TODO
+
             if (m_KeypointEntriesToReport == null) return;
             using (k_OnVisualizeMarker.Auto())
             {
 
                 foreach (var entry in m_KeypointEntriesToReport)
                 {
-                    foreach (var bone in activeTemplate.skeleton)
+                    if (drawBones)
-                        var joint1 = GetKeypointForJoint(entry, bone.joint1);
-                        var joint2 = GetKeypointForJoint(entry, bone.joint2);
+                        foreach (var bone in activeTemplate.skeleton)
+                        {
+                            var joint1 = GetKeypointForJoint(entry, bone.joint1);
+                            var joint2 = GetKeypointForJoint(entry, bone.joint2);
-                        if (joint1 != null && joint1.Value.state == 2 && joint2 != null && joint2.Value.state == 2)
-                        {
-                            VisualizationHelper.DrawLine(joint1.Value.x, joint1.Value.y, joint2.Value.x, joint2.Value.y, bone.color, 8, skeletonTexture);
+                            if (joint1 != null && joint1.Value.state == 2 && joint2 != null && joint2.Value.state == 2)
+                            {
+                                VisualizationHelper.DrawLine(joint1.Value.x, joint1.Value.y, joint2.Value.x, joint2.Value.y, bone.color, visThickness, skeletonTexture);
+                            }
+#if false
+                        var color = keypoint.state == 1 ? Color.black : activeTemplate.keypoints[keypoint.index].color;
+
+                        if (keypoint.state > 0)
+                            VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, color, visualizationBaseSize * activeTemplate.keypoints[keypoint.index].selfOcclusionDistance, jointTexture);
+#else
-                            VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, 8, jointTexture);
+                            VisualizationHelper.DrawPoint(keypoint.x, keypoint.y, activeTemplate.keypoints[keypoint.index].color, visThickness, jointTexture);
+#endif
                     }
                 }
             }

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

+using System;
+using System.Collections.Generic;
+
+namespace UnityEngine.Perception.GroundTruth
+{
+    [Serializable]
+    public struct KeypointOcclusionOverride
+    {
+        public string label;
+        public float distance;
+    }
+
+    public class KeypointOcclusionOverrides : MonoBehaviour
+    {
+        public float overrideDistanceScale = 1.0f;
+#if false
+        public Dictionary<string, float> overridesMap { get; private set; }
+        public List<KeypointOcclusionOverride> keypointOcclusionOverrides;
+
+        void Start()
+        {
+            overridesMap = new Dictionary<string, float>(keypointOcclusionOverrides.Count);
+            foreach (var kpOverride in keypointOcclusionOverrides)
+            {
+                overridesMap[kpOverride.label] = kpOverride.distance;
+            }
+        }
+#endif
+    }
+}

com.unity.perception/Runtime/GroundTruth/Labelers/KeypointOcclusionOverrides.cs.meta

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