Keypoint self occlusion (#351)

* WIP self-occlusion checks.

* More updates for self-occlusion

* Almost working using compute shaders. Need to switch to regular rendering now.

* Kind of working!

* Ok, officially working now

* Adding some tests for self-occlusion. Some fixes in KeypointLabeler

* Fix issues with orthographic views and points close to far plane

* Fixing remainder of tests.

* Removing comments

* Fixing issues in URP with orthographic view

* Updating JointLabel

* Updating JointLabel to include self-occlusion distance and drop the reference to the keypoint label config

* Adding gizmos for keypoints

* Adding and fixing remainder of tests.

* Fixing various bugs in keypoint self occlusion, including (hopefully) properly supporting player builds

* Fixing issues with large numbers of keypoints.

* Fixing issue with resizing buffers

* Add search for non-background pixel to keypoint depth check. Not perfect, but catches a few edge cases for now. Should migrate to doing all checks in shader at some point

* Apply object scale even when using the global occlusion distance.

* Make scaling of self-occlusion distance apply in every scenario

* Fix joint scale

* Moving self occlusion distance to the KeypointTemplate

* Model based occludder distance overrides

* Code cleaned up and commented

* Tests for self-occlusion scalar value

* Updated changelog file

* Updated class documentation

* Updates to documentation

* Removed added, but unneeded, import

* Mostly updated comments

* Adding some comments to the depth check shader

* Fixing test compile error and mistake in RenderTextureReader

* Fixes for PR comments

* Fix for shader to work properly in HDRP/URP

* Another attempt to fix shaders for URP & HDRP

* Tests are passing locally right now

* Setting hdrp enabled disabled again

* Another attempt

* Another try to get these shaders to compile correctly

* Magic test fix attempt

* Incorporating mohsen's test fix

* Update to fix compile error

* One more attempt at fixing the keypoint shader

* Attempt moving to newer unity version

* Upgrade projects to 2020.3.16f1.

* Updating shader to use PackageRequirements

* Fixing package name

* Updating to 2020.3.16

* Fixing keypoint depth issues on Linux

* More project updated for 2020.3 and fixing tests.

* Changing minimum version to 2020.3

* Cleaning up commented out code

Co-authored-by: Jon Hogins <[email protected]>

Author: StevenBorkman

.yamato/environments.yml

@@ -4,20 +4,20 @@ upmci_registry: https://artifactory.prd.cds.internal.unity3d.com/artifactory/api
 # sticking to 2019.4.6f1 for testing for now because Linux Editor fails to open PerceptionHDRP on 2019.4.8f1
 # see https://fogbugz.unity3d.com/default.asp?1273518_d68j5lb6eucglb84
 coverage_editors:
-  - version: 2019.4.18f1
+#   - version: 2019.4.18f1
+  - version: 2020.3.17f1
 
 per_commit_editors:
-  - version: 2019.4.18f1
-#  - version: 2020.1.15f1
+#   - version: 2019.4.18f1
+  - version: 2020.3.17f1
 
 performance_editors:
-  - version: 2019.4.18f1
-#  - version: 2020.1.3f1
+#   - version: 2019.4.18f1
+  - version: 2020.3.17f1
 
 complete_editors:
-  - version: 2019.4.18f1
-#  - version: 2020.1.15f1
-#  - version: 2020.2.0a21
+#  - version: 2019.4.18f1
+  - version: 2020.3.17f1
 
 publish_platforms:
   - name: win

.yamato/upm-ci-testprojects.yml

@@ -17,9 +17,9 @@
     - pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
     - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
     {% if suite.name == "standalone" %}
-    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}StandaloneWindows64
+    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --category=!Performance --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}StandaloneWindows64
     {% else %}
-    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}
+    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --reruncount=2 --artifacts_path=test-results --category=!Performance --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}
     {% endif %}
   artifacts:
     logs:
@@ -41,8 +41,8 @@ codecoverage_windows_{{suite.name}}_{{editor.version}}:
   commands:
     - git submodule update --init --recursive
     - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
-    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform editmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
-    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform playmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
+    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform editmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results --category=!Performance -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
+    - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -testPlatform playmode -runTests -automated -testResults test-results -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results --category=!Performance -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;assemblyFilters:+Unity.Perception.Runtime
   #  - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;
   artifacts:
     logs:
@@ -73,9 +73,9 @@ codecoverage_windows_{{suite.name}}_{{editor.version}}:
     - git clone [email protected]:unity/utr.git utr
     - unity-downloader-cli -u {{ editor.version }} -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
     {% if suite.name == "standalone" %}
-    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-vulkan" {{suite.args}}StandaloneLinux64
+    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --category=!Performance --extra-editor-arg="--force-vulkan" {{suite.args}}StandaloneLinux64
     {% else %}
-    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal  --extra-editor-arg="--force-vulkan" {{suite.args}}
+    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --reruncount=2 --artifacts_path=test-results --stdout-filter=minimal --category=!Performance  --extra-editor-arg="--force-vulkan" {{suite.args}}
     {% endif %}
   artifacts:
     logs:

TestProjects/PerceptionHDRP/Assets/CrateMaterial.mat

@@ -12,7 +12,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: da692e001514ec24dbc4cca1949ff7e8, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  version: 2
+  version: 11
 --- !u!21 &2100000
 Material:
   serializedVersion: 6
@@ -22,18 +22,19 @@ Material:
   m_PrefabAsset: {fileID: 0}
   m_Name: CrateMaterial
   m_Shader: {fileID: 4800000, guid: 6e4ae4064600d784cac1e41a9e6f2e59, type: 3}
-  m_ShaderKeywords: _NORMALMAP_TANGENT_SPACE
+  m_ShaderKeywords: _DISABLE_SSR_TRANSPARENT _NORMALMAP_TANGENT_SPACE
   m_LightmapFlags: 4
   m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
-  m_CustomRenderQueue: -1
+  m_CustomRenderQueue: 2225
   stringTagMap: {}
   disabledShaderPasses:
   - DistortionVectors
   - MOTIONVECTORS
   - TransparentDepthPrepass
   - TransparentDepthPostpass
   - TransparentBackface
+  - RayTracingPrepass
   m_SavedProperties:
     serializedVersion: 3
     m_TexEnvs:
@@ -121,6 +122,18 @@ Material:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - unity_Lightmaps:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - unity_LightmapsInd:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - unity_ShadowMasks:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
     m_Floats:
     - _AORemapMax: 1
     - _AORemapMin: 0
@@ -134,6 +147,8 @@ Material:
     - _AlphaCutoffShadow: 0.5
     - _AlphaDstBlend: 0
     - _AlphaSrcBlend: 1
+    - _AlphaToMask: 0
+    - _AlphaToMaskInspectorValue: 0
     - _Anisotropy: 0
     - _BlendMode: 0
     - _CoatMask: 0
@@ -190,14 +205,19 @@ Material:
     - _LinkDetailsWithBase: 1
     - _MaterialID: 1
     - _Metallic: 0.28
+    - _MetallicRemapMax: 0.28
+    - _MetallicRemapMin: 0
     - _NormalMapSpace: 0
     - _NormalScale: 1
+    - _OpaqueCullMode: 2
     - _PPDLodThreshold: 5
     - _PPDMaxSamples: 15
     - _PPDMinSamples: 5
     - _PPDPrimitiveLength: 1
     - _PPDPrimitiveWidth: 1
+    - _RayTracing: 0
     - _ReceivesSSR: 1
+    - _ReceivesSSRTransparent: 0
     - _RefractionModel: 0
     - _SSRefractionProjectionModel: 0
     - _Smoothness: 0.667
@@ -258,3 +278,4 @@ Material:
     - _UVDetailsMappingMask: {r: 1, g: 0, b: 0, a: 0}
     - _UVMappingMask: {r: 1, g: 0, b: 0, a: 0}
     - _UVMappingMaskEmissive: {r: 1, g: 0, b: 0, a: 0}
+  m_BuildTextureStacks: []

TestProjects/PerceptionHDRP/Assets/HDRenderPipelineAsset.asset

@@ -12,7 +12,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 0cf1dab834d4ec34195b920ea7bbf9ec, type: 3}
   m_Name: HDRenderPipelineAsset
   m_EditorClassIdentifier: 
-  m_Version: 14
+  m_Version: 18
   m_ObsoleteFrameSettings:
     overrides: 0
     enableShadow: 0
@@ -151,49 +151,66 @@ MonoBehaviour:
   m_RenderPipelineResources: {fileID: 11400000, guid: 3ce144cff5783da45aa5d4fdc2da14b7,
     type: 2}
   m_RenderPipelineRayTracingResources: {fileID: 0}
-  m_DefaultVolumeProfile: {fileID: 0}
-  m_DefaultLookDevProfile: {fileID: 0}
+  m_DefaultVolumeProfile: {fileID: 11400000, guid: f940a8037e6cda542891dc1aac1fa4e8,
+    type: 2}
+  m_LensAttenuation: 0
+  m_UseRenderGraph: 1
+  m_DefaultLookDevProfile: {fileID: 11400000, guid: 254c4fe87beb7be4fa72e1681edbed02,
+    type: 2}
   m_RenderingPathDefaultCameraFrameSettings:
     bitDatas:
-      data1: 70280697347933
-      data2: 4539628425463136256
+      data1: 140649441525597
+      data2: 4539628425463136280
     lodBias: 1
     lodBiasMode: 0
     lodBiasQualityLevel: 0
     maximumLODLevel: 0
     maximumLODLevelMode: 0
     maximumLODLevelQualityLevel: 0
+    sssQualityMode: 0
+    sssQualityLevel: 0
+    sssCustomSampleBudget: 20
     materialQuality: 0
   m_RenderingPathDefaultBakedOrCustomReflectionFrameSettings:
     bitDatas:
-      data1: 64942043591453
-      data2: 4539628424389459968
+      data1: 135310787769117
+      data2: 4539628424389459992
     lodBias: 1
     lodBiasMode: 0
     lodBiasQualityLevel: 0
     maximumLODLevel: 0
     maximumLODLevelMode: 0
     maximumLODLevelQualityLevel: 0
+    sssQualityMode: 0
+    sssQualityLevel: 0
+    sssCustomSampleBudget: 20
     materialQuality: 0
   m_RenderingPathDefaultRealtimeReflectionFrameSettings:
     bitDatas:
-      data1: 69692120112925
-      data2: 4539628424657895424
+      data1: 140060864290589
+      data2: 4539628424657895448
     lodBias: 1
     lodBiasMode: 0
     lodBiasQualityLevel: 0
     maximumLODLevel: 0
     maximumLODLevelMode: 0
     maximumLODLevelQualityLevel: 0
+    sssQualityMode: 0
+    sssQualityLevel: 0
+    sssCustomSampleBudget: 20
     materialQuality: 0
   m_RenderPipelineSettings:
     supportShadowMask: 1
     supportSSR: 0
+    supportSSRTransparent: 0
     supportSSAO: 1
+    supportSSGI: 0
     supportSubsurfaceScattering: 1
-    increaseSssSampleCount: 0
+    sssSampleBudget:
+      m_Values: 140000002800000050000000
+      m_SchemaId:
+        m_Id: With3Levels
     supportVolumetrics: 1
-    increaseResolutionOfVolumetrics: 0
     supportLightLayers: 0
     lightLayerName0: Light Layer default
     lightLayerName1: Light Layer 1
@@ -211,25 +228,42 @@ MonoBehaviour:
     supportCustomPass: 1
     customBufferFormat: 12
     supportedLitShaderMode: 3
+    planarReflectionResolution:
+      m_Values: 000100000004000000080000
+      m_SchemaId:
+        m_Id: With3Levels
     supportDecals: 1
+    supportDecalLayers: 0
+    decalLayerName0: Decal Layer default
+    decalLayerName1: Decal Layer 1
+    decalLayerName2: Decal Layer 2
+    decalLayerName3: Decal Layer 3
+    decalLayerName4: Decal Layer 4
+    decalLayerName5: Decal Layer 5
+    decalLayerName6: Decal Layer 6
+    decalLayerName7: Decal Layer 7
     msaaSampleCount: 1
     supportMotionVectors: 1
     supportRuntimeDebugDisplay: 1
+    supportRuntimeAOVAPI: 0
     supportDitheringCrossFade: 1
     supportTerrainHole: 0
+    supportProbeVolume: 0
     supportRayTracing: 0
+    supportedRayTracingMode: 3
+    probeVolumeSettings:
+      atlasResolution: 128
+      atlasOctahedralDepthResolution: 2048
     lightLoopSettings:
       cookieAtlasSize: 512
       cookieFormat: 74
-      pointCookieSize: 128
-      cubeCookieTexArraySize: 16
       cookieAtlasLastValidMip: 0
       cookieTexArraySize: 16
       planarReflectionAtlasSize: 4096
       reflectionProbeCacheSize: 64
       reflectionCubemapSize: 256
       reflectionCacheCompressed: 0
-      planarReflectionCacheCompressed: 0
+      reflectionProbeFormat: 74
       skyReflectionSize: 256
       skyLightingOverrideLayerMask:
         serializedVersion: 2
@@ -241,6 +275,7 @@ MonoBehaviour:
       maxEnvLightsOnScreen: 64
       maxDecalsOnScreen: 512
       maxPlanarReflectionOnScreen: 16
+      maxLightsPerClusterCell: 8
     hdShadowInitParams:
       maxShadowRequests: 128
       directionalShadowsDepthBits: 32
@@ -253,6 +288,8 @@ MonoBehaviour:
         shadowAtlasResolution: 4096
         shadowAtlasDepthBits: 32
         useDynamicViewportRescale: 1
+      cachedPunctualLightShadowAtlas: 2048
+      cachedAreaLightShadowAtlas: 1024
       shadowResolutionDirectional:
         m_Values: 00010000000200000004000000080000
         m_SchemaId:
@@ -295,6 +332,7 @@ MonoBehaviour:
     xrSettings:
       singlePass: 1
       occlusionMesh: 1
+      cameraJitter: 0
     postProcessQualitySettings:
       NearBlurSampleCount: 030000000500000008000000
       NearBlurMaxRadius:
@@ -308,9 +346,11 @@ MonoBehaviour:
       - 13
       DoFResolution: 040000000200000001000000
       DoFHighQualityFiltering: 000101
+      DoFPhysicallyBased: 000000
       MotionBlurSampleCount: 04000000080000000c000000
       BloomRes: 040000000200000002000000
       BloomHighQualityFiltering: 000101
+      BloomHighQualityPrefiltering: 000001
       ChromaticAberrationMaxSamples: 03000000060000000c000000
     lightSettings:
       useContactShadow:
@@ -336,6 +376,66 @@ MonoBehaviour:
       AODirectionCount: 010000000200000004000000
       ContactShadowSampleCount: 060000000a00000010000000
       SSRMaxRaySteps: 100000002000000040000000
+      RTAORayLength:
+      - 0.5
+      - 3
+      - 20
+      RTAOSampleCount: 010000000200000008000000
+      RTAODenoise: 010101
+      RTAODenoiserRadius:
+      - 0.25
+      - 0.5
+      - 0.65
+      RTGIRayLength:
+      - 50
+      - 50
+      - 50
+      RTGIFullResolution: 000001
+      RTGIClampValue:
+      - 0.5
+      - 0.8
+      - 1.5
+      RTGIUpScaleRadius: 040000000400000004000000
+      RTGIDenoise: 010101
+      RTGIHalfResDenoise: 010000
+      RTGIDenoiserRadius:
+      - 0.75
+      - 0.5
+      - 0.25
+      RTGISecondDenoise: 010101
+      RTGISecondDenoiserRadius:
+      - 0
+      - 0
+      - 0
+      RTRMinSmoothness:
+      - 0.6
+      - 0.4
+      - 0
+      RTRSmoothnessFadeStart:
+      - 0.7
+      - 0.5
+      - 0
+      RTRRayLength:
+      - 50
+      - 50
+      - 50
+      RTRClampValue:
+      - 0.8
+      - 1
+      - 1.2
+      RTRUpScaleRadius: 040000000400000003000000
+      RTRFullResolution: 000001
+      RTRDenoise: 010101
+      RTRDenoiserRadius: 080000000c00000010000000
+      Fog_ControlMode: 000000000000000000000000
+      Fog_Budget:
+      - 0.166
+      - 0.33
+      - 0.666
+      Fog_DepthRatio:
+      - 0.666
+      - 0.666
+      - 0.5
   allowShaderVariantStripping: 1
   enableSRPBatcher: 1
   shaderVariantLogLevel: 0
@@ -344,5 +444,11 @@ MonoBehaviour:
   diffusionProfileSettings: {fileID: 0}
   diffusionProfileSettingsList: []
   beforeTransparentCustomPostProcesses: []
+  beforeTAACustomPostProcesses: []
   beforePostProcessCustomPostProcesses: []
   afterPostProcessCustomPostProcesses: []
+  virtualTexturingSettings:
+    streamingCpuCacheSizeInMegaBytes: 256
+    streamingGpuCacheSettings:
+    - format: 0
+      sizeInMegaBytes: 128