Feature/lens distortion (#69)

* Lens Distortion now added as a pass for both semantic and instance segmentation by way of a LensDistortion shader.  This can be enabled either through enabling post-processing in URP or HDRP respectively or by utilizing the override although this approach is internal only currently but allows for the manipulation of the shader without having to have access to the global volume which in some test scenarios is not available.

TestProjects/PerceptionURP/ProjectSettings/ProjectSettings.asset

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   m_SplashScreenBackgroundColor: {r: 0.13725491, g: 0.12156863, b: 0.1254902, a: 1}
-  m_ShowUnitySplashScreen: 1
+  m_ShowUnitySplashScreen: 0
   m_ShowUnitySplashLogo: 1
   m_SplashScreenOverlayOpacity: 1
   m_SplashScreenAnimation: 1
   bakeCollisionMeshes: 0
   forceSingleInstance: 0
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+  resizableWindow: 1
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   macAppStoreCategory: public.app-category.games
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   visibleInBackground: 1
   allowFullscreenSwitch: 1
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+  fullscreenMode: 3
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   AndroidTargetSdkVersion: 0
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-  aotOptions: 
+  aotOptions: nimt-trampolines=1024
   stripEngineCode: 1
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   iPhoneScriptCallOptimization: 0

TestProjects/PerceptionURP/ProjectSettings/QualitySettings.asset

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

com.unity.perception/CHANGELOG.md

 
 Fixed objects being incorrectly labeled when they do not match any entries in the label config
 
+Fixed lens distortion in URP and HDRP now being applied to ground truth
+
 ### Security
 
 ## [0.3.0-preview.1] - 2020-08-07

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

 
 namespace UnityEngine.Perception.GroundTruth
 {
-    abstract class GroundTruthCrossPipelinePass : IGroundTruthGenerator
+    internal abstract class GroundTruthCrossPipelinePass : IGroundTruthGenerator
     {
         public Camera targetCamera;
 

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

 
     class SemanticSegmentationUrpPass : ScriptableRenderPass
     {
-        SemanticSegmentationCrossPipelinePass m_SemanticSegmentationCrossPipelinePass;
+        public SemanticSegmentationCrossPipelinePass m_SemanticSegmentationCrossPipelinePass;
 
         public SemanticSegmentationUrpPass(Camera camera, RenderTexture targetTexture, SemanticSegmentationLabelConfig labelConfig)
         {
         public void Cleanup()
         {
             m_SemanticSegmentationCrossPipelinePass.Cleanup();
+        }
+    }
+
+    class LensDistortionUrpPass : ScriptableRenderPass
+    {
+        public LensDistortionCrossPipelinePass m_LensDistortionCrossPipelinePass;
+
+        public LensDistortionUrpPass(Camera camera, RenderTexture targetTexture)
+        {
+            m_LensDistortionCrossPipelinePass = new LensDistortionCrossPipelinePass(camera, targetTexture);
+            ConfigureTarget(targetTexture, targetTexture.depthBuffer);
+            m_LensDistortionCrossPipelinePass.Setup();
+        }
+
+        public override void Execute(ScriptableRenderContext context, ref RenderingData renderingData)
+        {
+            var commandBuffer = CommandBufferPool.Get(nameof(SemanticSegmentationUrpPass));
+            m_LensDistortionCrossPipelinePass.Execute(context, commandBuffer, renderingData.cameraData.camera, renderingData.cullResults);
+            CommandBufferPool.Release(commandBuffer);
+        }
+
+        public void Cleanup()
+        {
+            m_LensDistortionCrossPipelinePass.Cleanup();
         }
     }
 

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

 using Unity.Simulation;
 using UnityEngine.Experimental.Rendering;
 using UnityEngine.Profiling;
+using UnityEngine.Rendering;
 using UnityEngine.UI;
 
 #if HDRP_PRESENT
         AnnotationDefinition m_SemanticSegmentationAnnotationDefinition;
         RenderTextureReader<Color32> m_SemanticSegmentationTextureReader;
 
-#if HDRP_PRESENT
+        internal bool m_fLensDistortionEnabled = false;
+
+    #if HDRP_PRESENT
-#endif
+        LensDistortionPass m_LensDistortionPass;
+    #elif URP_PRESENT
+        SemanticSegmentationUrpPass m_SemanticSegmentationPass;
+        LensDistortionUrpPass m_LensDistortionPass;
+    #endif
 
         Dictionary<int, AsyncAnnotation> m_AsyncAnnotations;
 
                 name = "Labeling Pass"
             };
             customPassVolume.customPasses.Add(m_SemanticSegmentationPass);
-#endif
-#if URP_PRESENT
-            perceptionCamera.AddScriptableRenderPass(new SemanticSegmentationUrpPass(myCamera, targetTexture, labelConfig));
+
+            m_LensDistortionPass = new LensDistortionPass(myCamera, targetTexture)
+            {
+                name = "Lens Distortion Pass"
+            };
+            customPassVolume.customPasses.Add(m_LensDistortionPass);
+
+            m_fLensDistortionEnabled = true;
+#elif URP_PRESENT
+            // Semantic Segmentation
+            m_SemanticSegmentationPass = new SemanticSegmentationUrpPass(myCamera, targetTexture, labelConfig);
+            perceptionCamera.AddScriptableRenderPass(m_SemanticSegmentationPass);
+
+            // Lens Distortion
+
+            m_LensDistortionPass = new LensDistortionUrpPass(myCamera, targetTexture);
+            perceptionCamera.AddScriptableRenderPass(m_LensDistortionPass);
+
+            m_fLensDistortionEnabled = true;
 #endif
 
             var specs = labelConfig.labelEntries.Select((l) => new SemanticSegmentationSpec()

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

 using Unity.Collections;
 using UnityEngine;
 using UnityEngine.Experimental.Rendering;
-#if HDRP_PRESENT
-using UnityEngine.Rendering.HighDefinition;
-#endif
-#if URP_PRESENT
+#if HDRP_PRESENT
+    using UnityEngine.Rendering.HighDefinition;
+#elif URP_PRESENT
+    using UnityEngine.Rendering.Universal;
 #endif
 
 namespace UnityEngine.Perception.GroundTruth
         RenderTexture m_InstanceSegmentationTexture;
         RenderTextureReader<uint> m_InstanceSegmentationReader;
 
+        internal bool m_fLensDistortionEnabled = false;
+
+#if HDRP_PRESENT || URP_PRESENT
+    #if HDRP_PRESENT
+        InstanceSegmentationPass m_InstanceSegmentationPass;
+        LensDistortionPass m_LensDistortionPass;
+    #elif URP_PRESENT
+        InstanceSegmentationUrpPass m_InstanceSegmentationPass;
+        LensDistortionUrpPass m_LensDistortionPass;
+    #endif
+
+        internal void OverrideLensDistortionIntensity(float? intensity)
+        {
+            m_LensDistortionPass.m_LensDistortionCrossPipelinePass.lensDistortionOverride = intensity;
+        }
+#endif
+
         void SetupInstanceSegmentation()
         {
             var myCamera = GetComponent<Camera>();
+            m_InstanceSegmentationTexture.filterMode = FilterMode.Point;
             m_InstanceSegmentationTexture.name = "InstanceSegmentation";
 
             m_RenderedObjectInfoGenerator = new RenderedObjectInfoGenerator();
             customPassVolume.injectionPoint = CustomPassInjectionPoint.BeforeRendering;
             customPassVolume.isGlobal = true;
-            var instanceSegmentationPass = new InstanceSegmentationPass()
+            m_InstanceSegmentationPass = new InstanceSegmentationPass()
-            instanceSegmentationPass.EnsureInit();
-            customPassVolume.customPasses.Add(instanceSegmentationPass);
-#endif
-#if URP_PRESENT
-            AddScriptableRenderPass(new InstanceSegmentationUrpPass(myCamera, m_InstanceSegmentationTexture));
+            m_InstanceSegmentationPass.EnsureInit();
+            customPassVolume.customPasses.Add(m_InstanceSegmentationPass);
+
+
+            m_LensDistortionPass = new LensDistortionPass(GetComponent<Camera>(), m_InstanceSegmentationTexture)
+            {
+                name = "Instance Segmentation Lens Distortion Pass"
+            };
+            m_LensDistortionPass.EnsureInit();
+            customPassVolume.customPasses.Add(m_LensDistortionPass);
+
+            m_fLensDistortionEnabled = true;
+#elif URP_PRESENT
+            m_InstanceSegmentationPass = new InstanceSegmentationUrpPass(myCamera, m_InstanceSegmentationTexture);
+            AddScriptableRenderPass(m_InstanceSegmentationPass);
+
+            // Lens Distortion
+            m_LensDistortionPass = new LensDistortionUrpPass(myCamera, m_InstanceSegmentationTexture);
+            AddScriptableRenderPass(m_LensDistortionPass);
+
+            m_fLensDistortionEnabled = true;
 #endif
 
             m_InstanceSegmentationReader = new RenderTextureReader<uint>(m_InstanceSegmentationTexture, myCamera, (frameCount, data, tex) =>

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

 
             fixed4 frag (v2f i) : SV_Target
             {
-                return float4(UnpackUIntToFloat((uint)_SegmentationId, 0, 8), UnpackUIntToFloat(_SegmentationId, 8, 8), UnpackUIntToFloat(_SegmentationId, 16, 8), UnpackUIntToFloat(_SegmentationId, 24, 8));
+                return fixed4(
+                    UnpackUIntToFloat((uint)_SegmentationId,  0, 8),
+                    UnpackUIntToFloat((uint)_SegmentationId,  8, 8),
+                    UnpackUIntToFloat((uint)_SegmentationId, 16, 8),
+                    UnpackUIntToFloat((uint)_SegmentationId, 24, 8)
+                );
             }
             ENDCG
         }

com.unity.perception/Runtime/GroundTruth/Resources/LabeledObjectHistogram.compute

     return objectId;
 }
 
-// For each pixel in the segmentation image, set InstanceIdPresenceMask[pixelValue] to 1 
+// For each pixel in the segmentation image, set InstanceIdPresenceMask[pixelValue] to 1
 [numthreads(8,8,1)]
 void PresenseMask (uint3 id : SV_DispatchThreadID)
 {
-    
-    //Attempt at packing presense into single bits. Good for memory, bad for perf due to InterlockedOr. 
-     
+
+    //Attempt at packing presense into single bits. Good for memory, bad for perf due to InterlockedOr.
+
-    
+
     //InterlockedOr(IdPresenceMask[maskOffset], 1 << bitOffset);
 }
 
     uint mask = InstanceIdPresenceMask[id.x];
     if (mask > 0)
         InterlockedAdd(ClassCounts[InstanceIdToClassId[id.x]], 1);
-        
-    //Attempt at packing presense into single bits. Good for memory, bad for perf due to InterlockedOr in PresenseMask(...). 
-    
+
+    //Attempt at packing presense into single bits. Good for memory, bad for perf due to InterlockedOr in PresenseMask(...).
+
     //int idStart = id.x * 32;
     //for(int i = 0; i < 32 ; i++)
     //{
     //        InterlockedAdd(ClassCounts[InstanceIdToClassId[idStart + i]], 1);
     //    }
     //}
-}
+}

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

 
             CGPROGRAM
 
-            #pragma vertex vert
-            #pragma fragment frag
+            #pragma vertex semanticSegmentationVertexStage
+            #pragma fragment semanticSegmentationFragmentStage
-            struct appdata
+            struct in_vert
-            struct v2f
+            struct vertexToFragment
-            v2f vert (appdata v)
+            vertexToFragment semanticSegmentationVertexStage (in_vert vertWorldSpace)
-                v2f o;
-                o.vertex = UnityObjectToClipPos(v.vertex);
-                return o;
+                vertexToFragment vertScreenSpace;
+                vertScreenSpace.vertex = UnityObjectToClipPos(vertWorldSpace.vertex);
+                return vertScreenSpace;
-            fixed4 frag (v2f i) : SV_Target
+            fixed4 semanticSegmentationFragmentStage (vertexToFragment vertScreenSpace) : SV_Target
             {
                 return LabelingId;
             }

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

         {
             base.Setup();
             m_ClassLabelingShader = Shader.Find(k_ShaderName);
+
-            shaderVariantCollection.Add(new ShaderVariantCollection.ShaderVariant(m_ClassLabelingShader, PassType.ScriptableRenderPipeline));
-            shaderVariantCollection.WarmUp();
+
+            if (shaderVariantCollection != null)
+            {
+                shaderVariantCollection.Add(new ShaderVariantCollection.ShaderVariant(m_ClassLabelingShader, PassType.ScriptableRenderPipeline));
+            }
+
+            shaderVariantCollection.WarmUp();
         }
 
         protected override void ExecutePass(ScriptableRenderContext renderContext, CommandBuffer cmd, Camera camera, CullingResults cullingResult)

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

 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.IO;
 using System.Linq;
 using NUnit.Framework;
 using Unity.Collections;
+
+    using UnityEngine.Rendering.HighDefinition;
+#elif URP_PRESENT
+    using UnityEngine.Rendering.Universal;
+
 using UnityEngine.TestTools;
 using Object = UnityEngine.Object;
 
 
             Assert.AreEqual(4, timesSegmentationImageReceived);
         }
+
+        // Lens Distortion is only applicable in URP or HDRP pipelines
+        // As such, this test will always fail if URP or HDRP are not present (and also not really compile either)
+#if HDRP_PRESENT || URP_PRESENT
+        [UnityTest]
+        public IEnumerator SemanticSegmentationPass_WithLensDistortion()
+        {
+            GameObject cameraObject = null;
+            PerceptionCamera perceptionCamera;
+            bool fLensDistortionEnabled = false;
+            bool fDone = false;
+            int frames = 0;
+
+            var dataBBox = new uint[]
+            {
+                1, 1,
+                1, 1
+            };
+
+
+            Rect boundingBoxWithoutLensDistortion = new Rect();
+            Rect boundingBoxWithLensDistortion = new Rect();
+
+            void OnSegmentationImageReceived(int frameCount, NativeArray<uint> data, RenderTexture tex)
+            {
+                frames++;
+
+                if (frames < 10)
+                    return;
+
+                // Calculate the bounding box
+                if (fLensDistortionEnabled == false)
+                {
+                    fLensDistortionEnabled = true;
+
+                    var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator();
+                    renderedObjectInfoGenerator.Compute(data, tex.width, BoundingBoxOrigin.TopLeft, out var boundingBoxes, Allocator.Temp);
+
+                    boundingBoxWithoutLensDistortion = boundingBoxes[0].boundingBox;
+
+                    // Add lens distortion
+                    perceptionCamera.OverrideLensDistortionIntensity(0.715f);
+
+                    frames = 0;
+                }
+                else
+                {
+                    var renderedObjectInfoGenerator = new RenderedObjectInfoGenerator();
+                    renderedObjectInfoGenerator.Compute(data, tex.width, BoundingBoxOrigin.TopLeft, out var boundingBoxes, Allocator.Temp);
+
+                    boundingBoxWithLensDistortion = boundingBoxes[0].boundingBox;
+
+                    Assert.AreNotEqual(boundingBoxWithoutLensDistortion, boundingBoxWithLensDistortion);
+                    Assert.Greater(boundingBoxWithLensDistortion.width, boundingBoxWithoutLensDistortion.width);
+
+                    fDone = true;
+                }
+            }
+
+            cameraObject = SetupCamera(out perceptionCamera, false);
+            perceptionCamera.InstanceSegmentationImageReadback += OnSegmentationImageReceived;
+            cameraObject.SetActive(true);
+
+            // Put a plane in front of the camera
+            var planeObject = GameObject.CreatePrimitive(PrimitiveType.Plane);
+
+            planeObject.transform.SetPositionAndRotation(new Vector3(0, 0, 10), Quaternion.Euler(90, 0, 0));
+            planeObject.transform.localScale = new Vector3(0.1f, -1, 0.1f);
+            var labeling = planeObject.AddComponent<Labeling>();
+            labeling.labels.Add("label");
+
+            AddTestObjectForCleanup(planeObject);
+
+            perceptionCamera.OverrideLensDistortionIntensity(0.5f);
+
+            while (fDone != true)
+            {
+                yield return null;
+            }
+
+            // Destroy the object to force all pending segmented image readbacks to finish and events to be fired.
+            DestroyTestObject(cameraObject);
+            DestroyTestObject(planeObject);
+        }
+#endif // ! HDRP_PRESENT || URP_PRESENT
 
         [UnityTest]
         public IEnumerator SemanticSegmentationPass_WithLabeledButNotMatchingObject_ProducesBlack()

TestProjects/PerceptionHDRP/Assets/Scenes/SampleSceneLensDistortion.unity

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TestProjects/PerceptionURP/Assets/Scenes/SampleSceneLensDistortion.unity.meta

+fileFormatVersion: 2
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com.unity.perception/Runtime/GroundTruth/LensDistortionCrossPipelinePass.cs

+using System;
+using Unity.Mathematics;
+using UnityEngine.Experimental.Rendering;
+using UnityEngine.Rendering;
+
+#if HDRP_PRESENT
+    using UnityEngine.Rendering.HighDefinition;
+#elif URP_PRESENT
+    using UnityEngine.Rendering.Universal;
+#endif
+
+#if HDRP_PRESENT || URP_PRESENT
+
+namespace UnityEngine.Perception.GroundTruth
+{
+    /// <summary>
+    /// Custom Pass which will apply a lens distortion (per the respective volume override in URP or HDRP, or
+    /// through a custom override directly through the pass) to an incoming mask / texture.  The purpose of this
+    /// is to allow the same lens distortion being applied to the RGB image ine the perception camera to be applied
+    /// to the respective ground truths generated.
+    /// </summary>
+    internal class LensDistortionCrossPipelinePass : GroundTruthCrossPipelinePass
+    {
+        const string k_ShaderName = "Perception/LensDistortion";
+
+        //Serialize the shader so that the shader asset is included in player builds when the SemanticSegmentationPass is used.
+        //Currently commented out and shaders moved to Resources folder due to serialization crashes when it is enabled.
+        //See https://fogbugz.unity3d.com/f/cases/1187378/
+        //[SerializeField]
+
+        // Lens Distortion Shader
+        Shader m_LensDistortionShader;
+        Material m_LensDistortionMaterial;
+
+        bool m_fInitialized = false;
+
+        public static readonly int _Distortion_Params1 = Shader.PropertyToID("_Distortion_Params1");
+        public static readonly int _Distortion_Params2 = Shader.PropertyToID("_Distortion_Params2");
+
+        LensDistortion m_lensDistortion;
+        internal float? lensDistortionOverride = null;        // Largely for testing, but could be useful otherwise
+
+        RenderTexture m_TargetTexture;
+        RenderTexture m_distortedTexture;
+
+        //private LensDistortion m_LensDistortion;
+
+        public LensDistortionCrossPipelinePass(Camera targetCamera, RenderTexture targetTexture)
+            : base(targetCamera)
+        {
+            m_TargetTexture = targetTexture;
+        }
+
+
+        public override void Setup()
+        {
+            base.Setup();
+            m_LensDistortionShader = Shader.Find(k_ShaderName);
+
+            var shaderVariantCollection = new ShaderVariantCollection();
+
+            if (shaderVariantCollection != null)
+                shaderVariantCollection.Add(new ShaderVariantCollection.ShaderVariant(m_LensDistortionShader, PassType.ScriptableRenderPipeline));
+
+            m_LensDistortionMaterial = new Material(m_LensDistortionShader);
+
+            if(shaderVariantCollection != null)
+                shaderVariantCollection.WarmUp();
+
+            // Set up a new texture
+            if (m_distortedTexture == null || m_distortedTexture.width != Screen.width || m_distortedTexture.height != Screen.height) {
+
+                if (m_distortedTexture != null)
+                    m_distortedTexture.Release();
+
+                m_distortedTexture = new RenderTexture(Screen.width, Screen.height, 0, RenderTextureFormat.ARGBFloat, RenderTextureReadWrite.Linear);
+                m_distortedTexture.enableRandomWrite = true;
+                m_distortedTexture.filterMode = FilterMode.Point;
+                m_distortedTexture.Create();
+            }
+
+            // Grab the lens distortion
+#if HDRP_PRESENT
+            // Grab the Lens Distortion from Perception Camera stack
+            var hdCamera = HDCamera.GetOrCreate(targetCamera);
+            var stack = hdCamera.volumeStack;
+            m_lensDistortion = stack.GetComponent<LensDistortion>();
+#elif URP_PRESENT
+            var stack = VolumeManager.instance.stack;
+            m_lensDistortion = stack.GetComponent<LensDistortion>();
+#endif
+            m_fInitialized = true;
+        }
+
+        protected override void ExecutePass(ScriptableRenderContext renderContext, CommandBuffer cmd, Camera camera, CullingResults cullingResult)
+        {
+            if (m_fInitialized == false)
+                return;
+
+            if (SetLensDistortionShaderParameters() == false)
+                return;
+
+                // Blitmayhem
+            cmd.Blit(m_TargetTexture, m_distortedTexture, m_LensDistortionMaterial);
+            cmd.Blit(m_distortedTexture, m_TargetTexture);
+
+            renderContext.ExecuteCommandBuffer(cmd);
+            cmd.Clear();
+        }
+
+        public bool SetLensDistortionShaderParameters()
+        {
+            if (m_fInitialized == false)
+                return false;
+
+            // This code is lifted from the SetupLensDistortion() function in
+            // https://github.com/Unity-Technologies/Graphics/blob/257b08bba6c11de0f894e42e811124247a522d3c/com.unity.render-pipelines.universal/Runtime/Passes/PostProcessPass.cs
+            // This is in UnityEngine.Rendering.Universal.Internal.PostProcessPass::SetupLensDistortion so it's
+            // unclear how to re-use this code
+
+            float intensity = 0.5f;
+            float scale = 1.0f;
+            var center = new Vector2(0.0f, 0.0f);
+            var mult = new Vector2(1.0f, 1.0f);
+
+        #if HDRP_PRESENT
+            if(m_lensDistortion == null)
+                return false;
+        #elif URP_PRESENT
+            if(targetCamera == null)
+                return false;
+
+            if(targetCamera.GetUniversalAdditionalCameraData().renderPostProcessing == false && lensDistortionOverride.HasValue == false)
+                return false;
+        #else
+            return false;
+        #endif
+
+            if (lensDistortionOverride.HasValue)
+            {
+                intensity = lensDistortionOverride.Value;
+            }
+            else if (m_lensDistortion != null)
+            {
+                // This is a bit finicky for URP - since Lens Distortion comes off the VolumeManager stack as active
+                // even if post processing is not enabled.  An intensity of 0.0f is untenable, so the below checks
+                // ensures post processing hasn't been enabled but Lens Distortion actually overriden
+                if (m_lensDistortion.intensity.value != 0.0f)
+                {
+                    intensity = m_lensDistortion.intensity.value;
+                    center = m_lensDistortion.center.value * 2f - Vector2.one;
+                    mult.x = Mathf.Max(m_lensDistortion.xMultiplier.value, 1e-4f);
+                    mult.y = Mathf.Max(m_lensDistortion.yMultiplier.value, 1e-4f);
+                    scale = 1.0f / m_lensDistortion.scale.value;
+                }
+            }
+
+            float amount = 1.6f * Mathf.Max(Mathf.Abs(intensity * 100.0f), 1.0f);
+            float theta = Mathf.Deg2Rad * Mathf.Min(160f, amount);
+            float sigma = 2.0f * Mathf.Tan(theta * 0.5f);
+
+            var p1 = new Vector4(
+                center.x,
+                center.y,
+                mult.x,
+                mult.y
+            );
+
+            var p2 = new Vector4(
+                intensity >= 0f ? theta : 1f / theta,
+                sigma,
+                scale,
+                intensity * 100.0f
+            );
+
+            // Set Shader Constants
+            m_LensDistortionMaterial.SetVector(_Distortion_Params1, p1);
+            m_LensDistortionMaterial.SetVector(_Distortion_Params2, p2);
+
+            return true;
+        }
+
+        public override void SetupMaterialProperties(MaterialPropertyBlock mpb, Renderer renderer, Labeling labeling, uint instanceId)
+        {
+            SetLensDistortionShaderParameters();
+        }
+    }
+}
+
+#endif // ! HDRP_PRESENT || URP_PRESENT

com.unity.perception/Runtime/GroundTruth/LensDistortionCrossPipelinePass.cs.meta

+fileFormatVersion: 2
+guid: ad37b813e25c450fbc65b2820a7d9dc2
+timeCreated: 1598041907

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

+#if HDRP_PRESENT
+
+using System;
+using UnityEngine.Rendering;
+using UnityEngine.Rendering.HighDefinition;
+
+namespace UnityEngine.Perception.GroundTruth
+{
+    /// <summary>
+    /// Custom Pass which renders labeled images where each object with a Labeling component is drawn with the value
+    /// specified by the given LabelingConfiguration.
+    /// </summary>
+    public class LensDistortionPass : CustomPass
+    {
+        public RenderTexture targetTexture;
+        public Camera targetCamera;
+
+        internal LensDistortionCrossPipelinePass m_LensDistortionCrossPipelinePass;
+
+        public LensDistortionPass(Camera targetCamera, RenderTexture targetTexture)
+        {
+            this.targetTexture = targetTexture;
+            this.targetCamera = targetCamera;
+            EnsureInit();
+        }
+
+        public void EnsureInit()
+        {
+            if (m_LensDistortionCrossPipelinePass == null)
+            {
+                m_LensDistortionCrossPipelinePass = new LensDistortionCrossPipelinePass(targetCamera, targetTexture);
+                m_LensDistortionCrossPipelinePass.EnsureActivated();
+            }
+        }
+
+        public LensDistortionPass()
+        {
+            //
+        }
+
+        protected override void Setup(ScriptableRenderContext renderContext, CommandBuffer cmd)
+        {
+            EnsureInit();
+            m_LensDistortionCrossPipelinePass.Setup();
+        }
+
+        protected override void Execute(ScriptableRenderContext renderContext, CommandBuffer cmd, HDCamera hdCamera, CullingResults cullingResult)
+        {
+            CoreUtils.SetRenderTarget(cmd, targetTexture);
+            m_LensDistortionCrossPipelinePass.Execute(renderContext, cmd, hdCamera.camera, cullingResult);
+        }
+    }
+}
+#endif

com.unity.perception/Runtime/GroundTruth/LensDistortionPass.cs.meta

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

+Shader "Perception/LensDistortion"
+{
+
+    Properties
+    {
+        _MainTex ("Texture", 2D) = "white" {}
+    }
+
+    SubShader
+    {
+        Tags { "RenderType" = "Opaque" "LightMode" = "SRP" }
+        LOD 100
+        ZTest Always ZWrite Off Cull Off
+
+        Pass
+        {
+
+            Name "LensDistortion"
+
+            CGPROGRAM
+                #pragma vertex vert
+                #pragma fragment frag
+
+                #include "UnityCG.cginc"
+
+                struct appdata
+                {
+                    float4 vertex : POSITION;
+                    float2 uv : TEXCOORD0;
+                };
+
+                struct v2f
+                {
+                    float2 uv : TEXCOORD0;
+                    float4 vertex : SV_POSITION;
+                };
+
+                v2f vert (appdata v)
+                {
+                    v2f o;
+                    o.vertex = UnityObjectToClipPos(v.vertex);
+                    o.uv = v.uv;
+                    return o;
+                }
+
+                // Note: This is taken from the HDRP UberPost shader:
+                // https://github.com/Unity-Technologies/Graphics/blob/master/com.unity.render-pipelines.universal/Shaders/PostProcessing/UberPost.shader
+                // https://github.com/Unity-Technologies/Graphics/blob/257b08bba6c11de0f894e42e811124247a522d3c/com.unity.render-pipelines.universal/Runtime/Passes/PostProcessPass.cs
+
+                // TODO: Include this code somehow since we're really only using the DistortUV call
+
+                float4 _Distortion_Params1;
+                float4 _Distortion_Params2;
+
+                #define DistCenter              _Distortion_Params1.xy
+                #define DistAxis                _Distortion_Params1.zw
+                #define DistTheta               _Distortion_Params2.x
+                #define DistSigma               _Distortion_Params2.y
+                #define DistScale               _Distortion_Params2.z
+                #define DistIntensity           _Distortion_Params2.w
+
+                float2 DistortUV(float2 uv)
+                {
+                    uv = (uv - 0.5) * DistScale + 0.5;
+                    float2 ruv = DistAxis * (uv - 0.5 - DistCenter);
+                    float ru = length(float2(ruv));
+
+                    UNITY_BRANCH
+                    if (DistIntensity > 0.0)
+                    {
+                        float wu = ru * DistTheta;
+                        ru = tan(wu) * (rcp(ru * DistSigma));
+                        uv = uv + ruv * (ru - 1.0);
+                    }
+                    else
+                    {
+                        ru = rcp(ru) * DistTheta * atan(ru * DistSigma);
+                        uv = uv + ruv * (ru - 1.0);
+                    }
+
+                    return uv;
+                }
+
+                sampler2D _MainTex;
+
+                fixed4 frag(v2f input) : SV_Target
+                {
+                    float2 uvDistorted = input.uv;
+                    uvDistorted = DistortUV(uvDistorted);
+                    float4 texValue = tex2D(_MainTex, uvDistorted);
+
+                    return texValue;
+                }
+
+            ENDCG
+        }
+    }
+}

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