Merge from 'develop' into 'main' for CLOiSim-4.4.0 (#274)

.vscode/settings.json

@@ -4,7 +4,10 @@
         "**/*.meta": true,
         "Library": true,
         "Temp": true,
-        "UserSettings": true
+        "UserSettings": true,
+		"obj": true,
+		"**/TextMesh Pro": true,
+		"**/VSCode": true
     },
     "editor.detectIndentation": false,
     "editor.indentSize": "tabSize",

Assets/Resources/Materials/Segmentation.mat

@@ -0,0 +1,46 @@
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+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
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+  m_Shader: {fileID: 4800000, guid: 419a697b1455619dea4cc9d729b3d0c8, type: 3}
+  m_Parent: {fileID: 0}
+  m_ModifiedSerializedProperties: 0
+  m_ValidKeywords: []
+  m_InvalidKeywords: []
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+  m_DoubleSidedGI: 0
+  m_CustomRenderQueue: 2000
+  stringTagMap: {}
+  disabledShaderPasses: []
+  m_LockedProperties: 
+  m_SavedProperties:
+    serializedVersion: 3
+    m_TexEnvs: []
+    m_Ints: []
+    m_Floats:
+    - _DisableColor: 0
+    - _Hide: 0
+    m_Colors:
+    - _SegmentationClassId: {r: 0, g: 0, b: 0, a: 1}
+    - _SegmentationColor: {r: 1, g: 1, b: 1, a: 1}
+  m_BuildTextureStacks: []
+--- !u!114 &6202412140821847777
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+  m_PrefabInstance: {fileID: 0}
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+  m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  version: 7

Assets/Resources/RenderPipelines/SegmentationRenderer.asset

@@ -0,0 +1,104 @@
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+  m_Name: RenderObjects
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+    Event: 550
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+        m_Bits: 9
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+    overrideShaderPassIndex: 0
+    overrideMode: 1
+    overrideDepthState: 0
+    depthCompareFunction: 2
+    enableWrite: 0
+    stencilSettings:
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+      stencilReference: 5
+      stencilCompareFunction: 5
+      passOperation: 1
+      failOperation: 1
+      zFailOperation: 1
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+      overrideCamera: 0
+      restoreCamera: 1
+      offset: {x: 0, y: 0, z: 0, w: 0}
+      cameraFieldOfView: 25
+--- !u!114 &11400000
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+    coreBlitColorAndDepthPS: {fileID: 4800000, guid: d104b2fc1ca6445babb8e90b0758136b,
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+    blitHDROverlay: {fileID: 4800000, guid: a89bee29cffa951418fc1e2da94d1959, type: 3}
+    cameraMotionVector: {fileID: 4800000, guid: c56b7e0d4c7cb484e959caeeedae9bbf,
+      type: 3}
+    objectMotionVector: {fileID: 4800000, guid: 7b3ede40266cd49a395def176e1bc486,
+      type: 3}
+    dataDrivenLensFlare: {fileID: 4800000, guid: 6cda457ac28612740adb23da5d39ea92,
+      type: 3}
+  m_AssetVersion: 2
+  m_OpaqueLayerMask:
+    serializedVersion: 2
+    m_Bits: 9
+  m_TransparentLayerMask:
+    serializedVersion: 2
+    m_Bits: 0
+  m_DefaultStencilState:
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+    stencilReference: 0
+    stencilCompareFunction: 8
+    passOperation: 2
+    failOperation: 0
+    zFailOperation: 0
+  m_ShadowTransparentReceive: 0
+  m_RenderingMode: 1
+  m_DepthPrimingMode: 0
+  m_CopyDepthMode: 0
+  m_AccurateGbufferNormals: 0
+  m_IntermediateTextureMode: 0

Assets/Resources/RenderPipelines/UniversalRenderPipelineAsset.asset

@@ -18,6 +18,7 @@ MonoBehaviour:
   m_RendererData: {fileID: 0}
   m_RendererDataList:
   - {fileID: 11400000, guid: a079301ff0f3b5c48ac29edc3797d4c7, type: 2}
+  - {fileID: 11400000, guid: e7e5daae73c962ecbbb5651a07d8ffe4, type: 2}
   m_DefaultRendererIndex: 0
   m_RequireDepthTexture: 0
   m_RequireOpaqueTexture: 0
@@ -83,11 +84,11 @@ MonoBehaviour:
     blueNoise64LTex: {fileID: 2800000, guid: e3d24661c1e055f45a7560c033dbb837, type: 3}
     bayerMatrixTex: {fileID: 2800000, guid: f9ee4ed84c1d10c49aabb9b210b0fc44, type: 3}
   m_PrefilteringModeMainLightShadows: 3
-  m_PrefilteringModeAdditionalLight: 0
+  m_PrefilteringModeAdditionalLight: 4
   m_PrefilteringModeAdditionalLightShadows: 2
   m_PrefilterXRKeywords: 1
-  m_PrefilteringModeForwardPlus: 2
-  m_PrefilteringModeDeferredRendering: 0
+  m_PrefilteringModeForwardPlus: 1
+  m_PrefilteringModeDeferredRendering: 1
   m_PrefilteringModeScreenSpaceOcclusion: 0
   m_PrefilterDebugKeywords: 1
   m_PrefilterWriteRenderingLayers: 1

Assets/Resources/Shader/Segmentation.shader

@@ -0,0 +1,73 @@
+Shader "Sensor/Segmentation"
+{
+	Properties
+	{
+		_SegmentationColor ("Segmentation Color", Color) = (1, 1, 1, 1)
+		_SegmentationClassId ("Segmentation Class ID Value in 16bits", Color) = (0, 0, 0, 1)
+		_DisableColor ("Disable Color output", int) = 0
+		_Hide ("Hide this label", int) = 0
+	}
+
+	SubShader
+	{
+		Tags {
+			"RenderType" = "Opaque"
+		}
+
+		Pass
+		{
+			Name "Segmentation"
+
+
+			HLSLPROGRAM
+			#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
+
+			#pragma vertex vert
+			#pragma fragment frag
+
+			CBUFFER_START(UnityPerMaterial)
+			half4 _SegmentationColor;
+			half4 _SegmentationClassId;
+			int _DisableColor;
+			int _Hide;
+			CBUFFER_END
+
+			struct Attributes
+			{
+				float4 positionOS : POSITION;
+			};
+
+			struct Varyings
+			{
+				float4 positionCS : SV_POSITION;
+				half4 color : COLOR;
+			};
+
+			Varyings vert(Attributes input)
+			{
+				Varyings output = (Varyings)0;
+				VertexPositionInputs vertexInput = GetVertexPositionInputs(input.positionOS.xyz);
+				output.positionCS = vertexInput.positionCS;
+
+				half4 output_color = half4(0, 0, 0, 1);
+				if (_Hide == 0)
+				{
+					output_color = (_DisableColor == 0)? _SegmentationColor : _SegmentationClassId;
+				}
+				output.color = output_color;
+				return output;
+			}
+
+			half4 frag(Varyings i) : SV_Target
+			{
+				half4 output_color = half4(0, 0, 0, 1);
+				if (_Hide == 0)
+				{
+					output_color = (_DisableColor == 0)? _SegmentationColor : _SegmentationClassId;
+				}
+				return output_color;
+			}
+			ENDHLSL
+		}
+	}
+}

Assets/Scenes/MainScene.unity

@@ -5207,7 +5207,7 @@ Camera:
   m_Enabled: 1
   serializedVersion: 2
   m_ClearFlags: 1
-  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_BackGroundColor: {r: 0, g: 0, b: 0, a: 1}
   m_projectionMatrixMode: 2
   m_GateFitMode: 2
   m_FOVAxisMode: 0

Assets/Scripts/CLOiSimPlugins/CameraPlugin.cs

@@ -8,34 +8,29 @@
 
 public class CameraPlugin : CLOiSimPlugin
 {
-	private SensorDevices.Camera cam = null;
-
-	public SensorDevices.Camera GetCamera()
-	{
-		return cam;
-	}
-
-	public SensorDevices.DepthCamera GetDepthCamera()
-	{
-		return GetCamera() as SensorDevices.DepthCamera;
-	}
+	protected SensorDevices.Camera _cam = null;
 
 	protected override void OnAwake()
 	{
-		var depthcam = gameObject.GetComponent<SensorDevices.DepthCamera>();
-		if (depthcam is null)
+		var depthCam = gameObject.GetComponent<SensorDevices.DepthCamera>();
+
+		var deviceName = string.Empty;
+		if (depthCam is not null)
 		{
-			ChangePluginType(ICLOiSimPlugin.Type.CAMERA);
-			cam = gameObject.GetComponent<SensorDevices.Camera>();
-			attachedDevices.Add("Camera", cam);
+			ChangePluginType(ICLOiSimPlugin.Type.DEPTHCAMERA);
+			deviceName = "DepthCamera";
+			_cam = depthCam;
 		}
 		else
 		{
-			ChangePluginType(ICLOiSimPlugin.Type.DEPTHCAMERA);
-			cam = depthcam;
-			attachedDevices.Add("DepthCamera", cam);
+			ChangePluginType(ICLOiSimPlugin.Type.CAMERA);
+			deviceName = "Camera";
+			_cam = gameObject.GetComponent<SensorDevices.Camera>();
 		}
 
+		if (!string.IsNullOrEmpty(deviceName))
+			attachedDevices.Add(deviceName, _cam);
+
 		partsName = DeviceHelper.GetPartName(gameObject);
 	}
 
@@ -48,7 +43,19 @@ protected override void OnStart()
 
 		if (RegisterTxDevice(out var portTx, "Data"))
 		{
-			AddThread(portTx, SenderThread, cam);
+			AddThread(portTx, SenderThread, _cam);
+		}
+	}
+
+	protected override void OnPluginLoad()
+	{
+		if (GetPluginParameters() != null && type == ICLOiSimPlugin.Type.DEPTHCAMERA)
+		{
+			var depthScale = GetPluginParameters().GetValue<uint>("configuration/depth_scale", 1000);
+			if (_cam != null)
+			{
+				((SensorDevices.DepthCamera)_cam).SetDepthScale(depthScale);
+			}
 		}
 	}
 
@@ -57,13 +64,13 @@ protected override void HandleCustomRequestMessage(in string requestType, in Any
 		switch (requestType)
 		{
 			case "request_camera_info":
-				var cameraInfoMessage = cam.GetCameraInfo();
+				var cameraInfoMessage = _cam.GetCameraInfo();
 				SetCameraInfoResponse(ref response, cameraInfoMessage);
 				break;
 
 			case "request_transform":
-				var devicePose = cam.GetPose();
-				var deviceName = cam.DeviceName;
+				var devicePose = _cam.GetPose();
+				var deviceName = _cam.DeviceName;
 				SetTransformInfoResponse(ref response, deviceName, devicePose);
 				break;