Initial commit

.gitattributes

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+*.manifest text !filter !merge !diff
+*.css text !filter !merge !diff
+*.js text !filter !merge !diff
+*.yml text !filter !merge !diff
+*.txt text !filter !merge !diff
+*.json text !filter !merge !diff
+*.hlsl text !filter !merge !diff
+*.asmdef text !filter !merge !diff
+*.npmignore text !filter !merge !diff
+*.md text !filter !merge !diff
+*.cginc text !filter !merge !diff
+*.shader text !filter !merge !diff
+*.compute text !filter !merge !diff
+*.cs text !filter !merge !diff
+*.meta text !filter !merge !diff

.github/pull_request_template.md

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+# Peer Review Information:
+Information on any code, feature, documentation changes here
+
+## Editor / Package versioning:
+**Editor Version Target (i.e. 19.3, 20.1)**: 2019.3
+
+## Dev Testing:
+**Tests Added**: 
+<br>
+**Package Tests (Pass/Fail)**: 
+[X] - Make sure automation passes 
+<br>
+**Core Scenario Tested**: 
+<br>
+**At Risk Areas**: 
+<br>
+**Notes + Expectations**: 

.gitignore

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+artifacts/**
+build/**
+**/.vs/**
+.build_script/**
+node_modules/**
+**/Temp/**/*
+**/obj/**/*
+**/Library/**/*
+**/TestProjects/Public/Logs/**
+**/TestProjects/PerceptionTest/utr
+**/TestProjects/PerceptionTest/Build
+**/*Results/**
+**/Logs/**
+**/.vscode/**
+**/.idea/**
+.DS_Store
+.npmrc
+!Documentation~
+!.Documentation
+npm-debug.log
+build.sh.meta
+build.bat.meta
+.idea/
+.Editor/*
+upm-ci~/*
+
+*.csproj
+*.sln
+
+*.lib*
+*.pdb*
+**/.Editor
+**/upm-ci~
+**/.bin
+CodeCoverage
+/.download
+/TestProjects/PerceptionURP/Build

.npmignore

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+artifacts/**
+build/**
+.build_script/**
+node_modules/**
+TestProjects/**
+.DS_Store
+.npmrc
+.npmignore
+.gitignore
+.gitlab-ci.yml
+build.sh
+build.sh.meta
+build.bat
+build.bat.meta

.yamato/promotion.yml

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+# The Yamato build step `publish` will publish the com.unity.perception package to the `upm-candidates` registry. To see which versions of the package have been published, see 
+#   * https://artifactory.prd.cds.internal.unity3d.com/artifactory/webapp/#/artifacts/browse/tree/General/upm-candidates/com.unity.perception
+#   * https://bintray.com/unity
+#test_editors:
+#  - version: 2019.1
+#test_platforms:
+#  - name: win
+#    type: Unity::VM
+#    image: package-ci/win10:stable
+#    flavor: b1.large
+#---
+#{% for editor in test_editors %}
+#{% for platform in test_platforms %}
+#promotion_test_{{ platform.name }}_{{ editor.version }}:
+#  name : Promotion Test {{ editor.version }} on {{ platform.name }}
+#  agent:
+#    type: {{ platform.type }}
+#    image: {{ platform.image }}
+#    flavor: {{ platform.flavor}}
+#  variables:
+#    UPMCI_PROMOTION: 1
+#  commands:
+#    - npm install upm-ci-utils@latest -g --registry https://api.bintray.com/npm/unity/unity-npm
+#    - upm-ci package test --unity-version {{ editor.version }}
+#  artifacts:
+#    logs:
+#      paths:
+#        - "upm-ci~/test-results/**/*"
+#  dependencies:
+#    - .yamato/upm-ci.yml#pack
+#{% endfor %}
+#{% endfor %}
+#
+#promotion_test_trigger:
+#  name: Promotion Tests Trigger
+#  agent:
+#    type: Unity::VM
+#    image: package-ci/win10:stable
+#    flavor: b1.large
+#  artifacts:
+#    logs:
+#      paths:
+#        - "upm-ci~/test-results/**/*"
+#    packages:
+#      paths:
+#        - "upm-ci~/packages/**/*"
+#  dependencies:
+#{% for editor in test_editors %}
+#{% for platform in test_platforms %}
+#    - .yamato/promotion.yml#promotion_test_{{platform.name}}_{{editor.version}}
+#{% endfor %}
+#{% endfor %}
+#
+#promote:
+#  name: Promote to Production
+#  agent:
+#    type: Unity::VM
+#    image: package-ci/win10:stable
+#    flavor: b1.large
+#  variables:
+#    UPMCI_PROMOTION: 1
+#  commands:
+#    - npm install upm-ci-utils@latest -g --registry https://api.bintray.com/npm/unity/unity-npm
+#    - upm-ci package promote
+#  triggers:
+#    tags:
+#      only:
+#        - /^(r|R)elease-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
+#  artifacts:
+#    artifacts:
+#      paths:
+#        - "upm-ci~/packages/*.tgz"
+#  dependencies:
+#    - .yamato/upm-ci.yml#pack
+#{% for editor in test_editors %}
+#{% for platform in test_platforms %}
+#    - .yamato/promotion.yml#promotion_test_{{ platform.name }}_{{ editor.version }}
+#{% endfor %}
+#{% endfor %}

.yamato/upm-ci-full.yml

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+test_editors:
+  - version: 2019.3.7f1
+test_platforms:
+  - name: win
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+    extra-args: --force-d3d11
+    standalone-platform: StandaloneWindows64
+  - name: mac
+    type: Unity::VM::osx
+    image: buildfarm/mac:stable
+    flavor: m1.mac
+    extra-args: --force-metal
+    standalone-platform: StandaloneOSX
+  - name: ubuntu
+    type: Unity::VM
+    image: package-ci/ubuntu:latest
+    flavor: b1.large
+
+suites:
+  - name: standalone
+    display_name: standalone
+    args: --suite=playmode --platform=
+  - name: editmode
+    display_name: editmode
+    args: --suite=playmode --suite=editor --platform=editmode
+
+package_variants:
+  - name: Perception
+
+projects:
+  - name: PerceptionHDRP
+  - name: PerceptionURP
+---
+{% for variant in package_variants %}
+pack_{{ variant.name }}:
+  name: Pack {{variant.name}} package
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  commands:
+     - git submodule update --init --recursive
+     - npm install upm-ci-utils -g --registry https://api.bintray.com/npm/unity/unity-npm
+     - upm-ci package pack --package-path ./com.unity.perception/ 
+  artifacts:
+    packages:
+      paths:
+        - "upm-ci~/packages/**/*"
+{% endfor %}
+
+{% for variant in package_variants %}
+{% for editor in test_editors %}
+{% for platform in test_platforms %}
+pkg_test_{{variant.name}}_{{ platform.name }}_{{ editor.version }}:
+  name : Package tests ({{variant.name}} pkg, {{ editor.version }}, {{ platform.name }})
+  agent:
+    type: {{ platform.type }}
+    image: {{ platform.image }}
+    flavor: {{ platform.flavor}}
+  commands:
+    - git submodule update --init --recursive
+    - npm install upm-ci-utils -g --registry https://api.bintray.com/npm/unity/unity-npm
+    - upm-ci package test -u {{ editor.version }} --package-path ./com.unity.perception --type vetting-tests
+  artifacts:
+    logs:
+      paths:
+        - "upm-ci~/test-results/**/*"
+  dependencies:
+    - .yamato/upm-ci-full.yml#pack_{{ variant.name }}
+{% endfor %}
+{% endfor %} 
+{% endfor %} 
+
+test_trigger:
+  name: All Tests
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.small
+  commands:
+    - dir
+  triggers:
+    branches:
+      only:
+        - "/.*/"
+    recurring:
+      - branch: master
+        frequency: daily # Should run between midnight and 6AM UTC
+  artifacts:
+    logs:
+      paths:
+        - "upm-ci~/test-results/**/*"
+    packages:
+      paths:
+        - "upm-ci~/packages/**/*"
+  dependencies:
+    {% for variant in package_variants %}
+    {% for editor in test_editors %}
+    {% for platform in test_platforms %}
+    - .yamato/upm-ci-full.yml#pkg_test_{{variant.name}}_{{platform.name}}_{{editor.version}}
+    {% endfor %}
+    {% endfor %}
+    {% endfor %}
+
+    # Disabling trigger of standalone tests which aren't working at the moment
+    {% for editor in test_editors %}
+    - .yamato/upm-ci-testprojects.yml#codecoverage_windows_editmode_{{editor.version}}
+    {% for project in projects %}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_windows_standalone_{{editor.version}}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_linux_standalone_{{editor.version}}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_windows_editmode_{{editor.version}}
+    - .yamato/upm-ci-testprojects.yml#{{project.name}}_linux_editmode_{{editor.version}}
+    {% endfor %}
+    {% endfor %}
+
+{% for variant in package_variants %}
+publish:
+  name: Publish Perception package to internal registry
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  commands:
+    - npm install upm-ci-utils@stable -g --registry https://api.bintray.com/npm/unity/unity-npm
+    - upm-ci package publish --package-path com.unity.perception
+  triggers:
+    tags:
+      only:
+        - /^(r|R)(c|C)-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
+  artifacts:
+    artifacts:
+      paths:
+        - "upm-ci~/packages/*.tgz"
+  dependencies:
+    - .yamato/upm-ci-full.yml#pack_{{ variant.name }}
+    {% for editor in test_editors %}
+    {% for platform in test_platforms %}
+    - .yamato/upm-ci-full.yml#test_perception_{{ platform.name }}_{{ editor.version }}
+    {% endfor %}
+    {% endfor %}
+{% endfor %}

.yamato/upm-ci-testprojects.yml

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+test_editors:
+  - version: 2019.3.7f1
+suites:
+  - name: standalone
+    display_name: standalone
+    args: --suite=playmode --platform=
+  - name: editmode
+    display_name: editmode
+    args: --suite=playmode --suite=editor --platform=Editor
+projects:
+  - name: PerceptionHDRP
+  - name: PerceptionURP
+---
+
+{% for editor in test_editors %}
+{% for suite in suites %}
+{% for project in projects %}
+{{project.name}}_windows_{{suite.name}}_{{editor.version}}:
+  name : {{project.name}} {{ suite.display_name }} tests ({{ editor.version }}, Windows)
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  commands:
+    - git submodule update --init --recursive
+    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+    - pip install unity-downloader-cli --extra-index-url https://artifactory.internal.unity3d.com/api/pypi/common-python/simple
+    - 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 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}}StandaloneWindows64
+    {% else %}
+    - utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=./.Editor --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-d3d11" {{suite.args}} 
+    {% endif %}
+  artifacts:
+    logs:
+      paths:
+        - "test-results/**/*"
+
+{% endfor %} 
+{% endfor %} 
+{% endfor %}
+
+{% for editor in test_editors %}
+{% for suite in suites %}
+codecoverage_windows_{{suite.name}}_{{editor.version}}:
+  name : CodeCoverage {{ suite.display_name }} tests ({{ editor.version }}, Windows)
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  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.Editor;Unity.Perception.Runtime;Unity.Perception.Sensors; 
+    - .\.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.Editor;Unity.Perception.Runtime;Unity.Perception.Sensors;
+  #  - .\.Editor\Unity.exe -projectPath ./TestProjects/PerceptionHDRP -debugCodeOptimization -enableCodeCoverage -coverageResultsPath test-results -coverageOptions enableCyclomaticComplexity;generateHtmlReport;generateBadgeReport;
+  artifacts:
+    logs:
+      paths:
+        - "test-results/**/*"
+        - "TestProjects/PerceptionHDRP/test-results/**/*"
+  dependencies:
+    - .yamato/upm-ci-full.yml#pack_Perception
+{% endfor %} 
+{% endfor %}
+
+{% for editor in test_editors %}
+{% for suite in suites %}
+{% for project in projects %}
+{{project.name}}_linux_{{suite.name}}_{{editor.version}}:
+  name : {{project.name}} {{ suite.display_name }} tests ({{ editor.version }}, Linux)
+  agent:
+    type: Unity::VM::GPU
+    image: cds-ops/ubuntu-18.04-base:latest
+    flavor: b1.large
+  commands:
+    - git submodule update --init --recursive
+    - sudo -H pip install --upgrade pip
+    - sudo -H pip install unity-downloader-cli --extra-index-url https://artifactory.internal.unity3d.com/api/pypi/common-python/simple
+    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+    - sudo 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 --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-vulkan" {{suite.args}}StandaloneLinux64
+    {% else %}
+    - DISPLAY=:0.0 utr/utr --testproject=./TestProjects/{{project.name}} --editor-location=.Editor --artifacts_path=test-results --stdout-filter=minimal --extra-editor-arg="--force-vulkan" {{suite.args}}
+    {% endif %}
+  artifacts:
+    logs:
+      paths:
+        - "test-results/**/*"
+{% endfor %} 
+{% endfor %} 
+{% endfor %}
+
+# Not including OSX because the only OSX platform on Bokken with a GPU is a Mac Mini, of which there are only a few and setting up Yamato jobs is very complicated.
+
+# {% for variant in package_variants %}
+# {% for editor in test_editors %}
+# code_coverage_win_{{editor.version}}:
+#   name: Code Coverage Report - Windows
+#   agent:
+#     type: Unity::VM
+#     image: package-ci/win10:stable
+#     flavor: b1.large
+#   commands:
+#     - npm install upm-ci-utils@stable -g --registry https://api.bintray.com/npm/unity/unity-npm
+#     - upm-ci package test --unity-version {{editor.version}} --enable-code-coverage --code-coverage-options 'enableCyclomaticComplexity;generateHtmlReport'
+#   artifacts:
+#     logs:
+#       paths:
+#         - "upm-ci~/test-results/**/*"
+#   dependencies:
+#     - .yamato/upm-ci-full.yml#pack_{{ variant.name }}
+# {% endfor %}
+# {% endfor %}

CONTRIBUTING.md

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+# Contributing
+
+## If you are interested in contributing, here are some ground rules:
+* All changes should be made on branches. Open a PR and add a member of the perception team to have your changes be merged.
+
+## All contributions are subject to the [Unity Contribution Agreement(UCA)](https://unity3d.com/legal/licenses/Unity_Contribution_Agreement)
+By making a pull request, you are confirming agreement to the terms and conditions of the UCA, including that your Contributions are your original creation and that you have complete right and authority to make your Contributions.
+
+## Once you have a change ready following these ground rules. Simply make a pull request

CONTRIBUTING.md.meta

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README.md

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+# Perception
+
+The Perception package contains tools for authoring and executing autonomous vehicle simulations. They are organized into two categories: Scenarios and Sensors.
+
+## Scenarios
+
+TODO
+
+# Setup for local development
+* Clone the perception repository into an arbirary directory on disk
+* Install and use Unity 2019.3.0b7
+
+## Option 1: PerceptionHDRP/PerceptionURP
+The repository includes two projects for local development in `TestProjects`, one set up for HDRP and the other for URP.
+
+## Option 2: Set up a project from scratch
+*The following instructions reference the Unity doc's page on [installing a local package](https://docs.unity3d.com/Manual/upm-ui-local.html)*
+* Create a new HDRP project or open an existing one
+* Open your project's `<project root>/Packages/manifest.json` in a text editor
+* At the end of the file, add `"registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"`
+    * _Note: This step will be removed once the dependency `com.unity.entities-0.2.0-preview.*` is published publically._
+* Back in Unity, open the Package Manager window
+* Add the High Definition RP package, version 7.1.2 or later
+* Click the ***+*** button in the upper lefthand corner of the window
+* Click the ***add package from disk*** option
+* Select to the package.json file under the com.unity.perception folder in your cloned perception repository
+* To allow the compilation and running of tests, add `"testables": [ "com.unity.perception" ]`
+    * For an example `manifest.json`, see `TestProjects/PerceptionTest/Packages/manifest.json`
+    * For more on the `manifest.json` schema, see the [Package Manager documentation](https://docs.unity3d.com/Packages/com.unity.package-manager-ui@1.7/manual/index.html#advanced-package-topics)
+
+## Suggested IDE Setup
+For closest standards conformity and best experience overall, JetBrains Rider or Visual Studio w/ JetBrains Resharper are suggested. For optimal experience, perform the following additional steps:
+* To allow navigating to code in all packages included in your project, in your Unity Editor, navigate to `Edit -> Preferences... -> External Tools` and check `Generate all .csproj files.` 
+* To get automatic feedback and fixups on formatting and naming convention violations, set up Rider/JetBrains with our Unity standard .dotsettings file by following [these instructions](https://github.cds.internal.unity3d.com/unity/com.unity.coding/tree/master/UnityCoding/Packages/com.unity.coding/Coding~/Configs/JetBrains).
+* If you use VS Code, install the Editorconfig extension to get automatic code formatting according to our conventions.

TestProjects/PerceptionHDRP/Assets.meta

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+timeCreated: 1578604969

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TestProjects/PerceptionHDRP/Assets/Rotator.cs

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+using System.Collections.Generic;
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TestProjects/PerceptionHDRP/Assets/Scenes/SampleScene.unity.meta

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TestProjects/PerceptionHDRP/Packages/manifest.json

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+    "com.unity.modules.xr": "1.0.0"
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+  "testables": [
+    "com.unity.perception"
+  ]
+}

TestProjects/PerceptionHDRP/ProjectSettings/AudioManager.asset

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TestProjects/PerceptionHDRP/TestRunnerOptions.json

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TestProjects/PerceptionURP/Assets/Rotator.cs

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+using System.Collections;
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+{
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TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt

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TestProjects/PerceptionURP/ProjectSettings/TagManager.asset

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+  - Ignore Raycast
+  - 
+  - Water
+  - UI
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TestProjects/PerceptionURP/ProjectSettings/TimeManager.asset

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TestProjects/PerceptionURP/ProjectSettings/UnityConnectSettings.asset

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TestProjects/PerceptionURP/ProjectSettings/VFXManager.asset

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TestProjects/PerceptionURP/ProjectSettings/XRSettings.asset

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+{
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+        "VR Device Disabled",
+        "VR Device User Alert"
+    ],
+    "m_SettingValues": [
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TestProjects/PerceptionURP/TestRunnerOptions.json

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+{
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+}

com.unity.perception/.editorconfig

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+; see http://editorconfig.org/ for docs on this file
+; Copied from https://github.cds.internal.unity3d.com/unity/com.unity.coding/tree/master/UnityCoding/Packages/com.unity.coding/Coding~/Configs/EditorConfig/.editorconfig
+
+root = true
+
+[*]
+ignore_if_in_header = This code was generated by a tool|<auto-generated>
+indent_style = space
+indent_size = 4
+; uncomment to help with sharing files across os's (i.e. network share or through local vm)
+#end_of_line = lf
+; avoid a bom, which causes endless problems with naive text tooling
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation
+#disable_auto_format = true
+
+[*.cs]
+; uncomment to enable full formatting of c# files
+formatters = generic, uncrustify
+
+[*.asmdef]
+scrape_api = true
+
+[**/Tests/**.asmdef]
+scrape_api = false
+
+[*.Tests.asmdef]
+scrape_api = false
+
+[*.md]
+indent_size = 2
+; trailing whitespace is unfortunately significant in markdown
+trim_trailing_whitespace = false
+; uncomment to enable basic formatting of markdown files
+#formatters = generic
+
+[{Makefile,makefile}]
+; tab characters are part of the Makefile format
+indent_style = tab
+
+[*.asmdef]
+indent_size = 4
+
+[*.json]
+indent_size = 2
+
+[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}]
+end_of_line = crlf
+
+; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited.
+; the settings are meant to closely match what VS does to minimize unnecessary diffs.
+[*.{vcxproj,vcxproj.filters}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21)
+[*.{csproj,pyproj,props,targets}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+[*.{sln,sln.template}]
+indent_style = tab
+indent_size = 4
+end_of_line = crlf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = false

com.unity.perception/.npmignore

@@ -0,0 +1,26 @@
+upm-ci~/**
+.Editor/**
+.yamato/**
+*.zip*
+TestRunnerOptions.json
+.idea/**
+!*core
+artifacts/**
+build/**
+.build_script/**
+node_modules/**
+Documentation/ApiDocs/**
+Documentation~/ApiDocs/**
+.DS_Store
+.npmrc
+.npmignore
+.gitignore
+CONTRIBUTING.md
+CONTRIBUTING.md.meta
+QAReport.md
+QAReport.md.meta
+.gitlab-ci.yml
+build.sh
+build.sh.meta
+build.bat
+build.bat.meta

com.unity.perception/CHANGELOG.md

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+# Changelog
+All notable changes to this package will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
+and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
+
+## [Unreleased] 
+### Added
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+### Security
+

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com.unity.perception/Documentation~/GroundTruth-Custom.md

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+_Note: This document is a work in progress_
+
+# Custom Ground Truth
+

com.unity.perception/Documentation~/GroundTruth-Labeling.md

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+_Note: This document is a work in progress_
+
+# Labeling
+Accurately labeling assets with a predefined taxonomy will inform training and testing of algorithms as to which objects in a dataset have importance. Example: assets labeled with “table” and “chair” will provide an algorithm with the information it needs to train on identifying these objects separately within a scene.
+
+
+You can add a Labeling component to individual GameModels within a scene although it is a good practice to create a prefab of a GameModel and apply the Labeling component to it.
+The Labeling components contain properties that control the number of labels applied to the GameModel. “Classes” has a property named “size”, this identifies how many labels are applied to a GameModel. Default = 0 (no label). Setting “size” to 1 will expose an “Element 0” parameter and an input field allowing for a custom label as text or numbers (combination of both) that can be used to label the asset.
+
+Multiple labels can be used by setting “size” to 2 or more. These additional Elements (labels) can be used for any purpose in development. For example in SynthDet labels have a hierarchy where Element0 is the highest level label identifying an GameModel in a very general category. Subsequent categories become more focused in identifying what types and groups an object can be classified. The last Element is reserved for the specific name (or label) the asset is defined as.
+
+# Labeling Configuration
+Semantic segmentation (and other metrics) require a labeling configuration file located here: 
+This file gives a list of all labels currently being used in the data set and what RGB value they are associated with. This file can be used as is or created by the developer. When a Semantic segmentation output is generated the per pixel RGB value can be used to identify the object for the algorithm.
+
+Note: the labeling configuration file is not validated and must be managed by the developer.
+
+## Best practices
+Generally algorithm testing and training requires a single label on an asset for proper identification (“chair”, “table”, “door, “window”, etc.) In Unity SynthDet a labeling hierarchy is used to identify assets at a higher level and/or more granularly.
+
+Example
+An asset representing a box of Rice Krispies cereal is labeled as: food\cereal\kellogs\ricekrispies
+“food” - type
+“cereal” - subtype
+“kellogs” - main descriptor
+“ricekrispies” - sub descriptor
+
+If the goal of the algorithm is to identify all objects in a scene that is “food” that label is available and can be used. Conversely if the goal is to identify only Rice Krispies cereal within a scene that label is also available. Depending on the goal of the algorithm any mix of labels in the hierarchy can be used at the discretion of the developer.
+
+Note: this labeling hierarchy is suggested and not required. Please adjust or discard if your project goals have other requirements.
+Adding Labels to a Unity Asset
+Labels are added to Unity Assets by attaching a labeling script to an asset and creating a prefab object.
+
+### Asset Organization

com.unity.perception/Documentation~/GroundTruth-Overview.md

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+_Note: This document is a work in progress_
+
+# Ground truth and metrics
+
+Ground truth is an essential part of most datasets for perception tasks. The Perception package provides the generation of many common forms of ground truth on top of an extensible ground truth and metric capture framework.
+
+## PerceptionCamera
+TODO
+## Rgb image
+TODO
+## Semantic segmentation
+TODO
+## 2D bounding box
+TODO
+## Object Count
+TODO
+## Visible pixels metric
+TODO

com.unity.perception/Documentation~/ScenarioManager.md

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+_Note: This document is a work in progress_
+
+# Scenario Manager
+

com.unity.perception/Documentation~/index.md

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+# About the Perception SDK
+com.unity.perception provides a toolkit for generating large-scale datasets for perception-based machine learning training and validation. It is focused on a handful of camera-based use cases for now and will ultimately expand to other forms of sensors and machine learning tasks.
+
+# Using Perception
+
+# Technical details
+## Requirements
+
+This version of _Perception_ is compatible Unity Editor 2019.3 and later
+<!--## Known limitations -->
+
+## Package contents
+|Ground Truth|Captures semantic segmentation, bounding boxes, and other forms of ground truth.|
+|---|---|
+|Labeling|Script object that labels an asset for target taxonomy|
+|Labeling Configuration|Captures all the labeling and adds the data to the corresponding pixels|
+
+|Scenarios|Contains different sample scenarios of driving conditions for a car to operate in|
+|---|---|

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com.unity.perception/Editor/AssemblyInfo.cs

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+using System.Runtime.CompilerServices;
+
+[assembly: InternalsVisibleTo("Unity.Perception.Editor.Tests")]
+[assembly: InternalsVisibleTo("Unity.Perception.Runtime.Tests")]

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com.unity.perception/Editor/GroundTruth/AssemblyInfo.cs

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+using System.Runtime.CompilerServices;
+
+[assembly: InternalsVisibleTo("Unity.Perception.Runtime.Tests")]
+[assembly: InternalsVisibleTo("Unity.Perception.Runtime")]

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com.unity.perception/Editor/GroundTruth/BaseCustomPassDrawer.cs

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+#if HDRP_PRESENT
+
+using System;
+using System.Collections.Generic;
+using UnityEditor;
+using UnityEditor.Rendering.HighDefinition;
+
+namespace UnityEngine.Perception.Sensors.Editor
+{
+    public class BaseCustomPassDrawer : CustomPassDrawer
+    {
+        List<SerializedProperty> m_CustomPassUserProperties = new List<SerializedProperty>();
+        static float s_DefaultLineSpace = EditorGUIUtility.singleLineHeight + EditorGUIUtility.standardVerticalSpacing;
+
+        protected void AddProperty(SerializedProperty property)
+        {
+            m_CustomPassUserProperties.Add(property);
+        }
+
+        protected override void DoPassGUI(SerializedProperty customPass, Rect rect)
+        {
+            foreach (var prop in m_CustomPassUserProperties)
+            {
+                EditorGUI.PropertyField(rect, prop);
+                rect.y += s_DefaultLineSpace;
+            }
+        }
+
+        protected override float GetPassHeight(SerializedProperty customPass)
+        {
+            float height = 0f;
+            foreach (var prop in m_CustomPassUserProperties)
+            {
+                height += EditorGUI.GetPropertyHeight(prop);
+                height += EditorGUIUtility.standardVerticalSpacing;
+            }
+
+            return height;
+        }
+    }
+}
+#endif

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