Fix wrong value in Segmentation Camera

- Disable PostProcessig in SegmentationRenderer -> cause wrong pixel info
- Remove Encode16BitsToRG() and Encode16BitsToGR() in ColorEncoding
- Store classId value only in MPB for SegmentationShader
- Modify SegmentationShader to handle class id value and
  encode class id value to 16bits and store R/G value in little-endian order
- Modify SegmentationCamera Device
  - targetColorFormat, GraphicsFormat.R8G8_UNorm -> R8G8B8A8_UNorm

Assets/Resources/RenderPipelines/SegmentationRenderer.asset

@@ -62,7 +62,7 @@ MonoBehaviour:
   - {fileID: -5373475574186842855}
   m_RendererFeatureMap: 19e55a676f946db5
   m_UseNativeRenderPass: 0
-  postProcessData: {fileID: 11400000, guid: 41439944d30ece34e96484bdb6645b55, type: 2}
+  postProcessData: {fileID: 0}
   shaders:
     blitPS: {fileID: 4800000, guid: c17132b1f77d20942aa75f8429c0f8bc, type: 3}
     copyDepthPS: {fileID: 4800000, guid: d6dae50ee9e1bfa4db75f19f99355220, type: 3}

Assets/Resources/Shader/Segmentation.shader

@@ -2,9 +2,7 @@ Shader "Sensor/Segmentation"
 {
 	Properties
 	{
-		_SegmentationColor ("Segmentation Color", Color) = (1, 1, 1, 1)
-		_SegmentationClassId ("Segmentation Class ID Value in 16bits", Color) = (0, 0, 0, 1)
-		[Toggle] _DisableColor ("Disable Color method", int) = 0
+		_SegmentationValue  ("Segmentation Value", int) = 0
 		[Toggle] _Hide ("Hide this label", int) = 0
 	}
 
@@ -24,9 +22,7 @@ Shader "Sensor/Segmentation"
 		#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
 
 		CBUFFER_START(UnityPerMaterial)
-		half4 _SegmentationColor;
-		half4 _SegmentationClassId;
-		int _DisableColor;
+		int _SegmentationValue;
 		int _Hide;
 		CBUFFER_END
 
@@ -38,18 +34,18 @@ Shader "Sensor/Segmentation"
 
 			HLSLPROGRAM
 
-			#pragma target 4.5
+			#pragma target 4.6
 			#pragma vertex vert
 			#pragma fragment frag
 
 			struct Attributes
 			{
-				float4 positionOS : POSITION;
+				half4 positionOS : POSITION;
 			};
 
 			struct Varyings
 			{
-				float4 positionCS : SV_POSITION;
+				half4 positionCS : SV_POSITION;
 			};
 
 			Varyings vert(Attributes i)
@@ -65,7 +61,13 @@ Shader "Sensor/Segmentation"
 				half4 segColor = half4(0, 0, 0, 0);
 				if (_Hide == 0)
 				{
-					segColor = (_DisableColor == 0)? _SegmentationColor : _SegmentationClassId;
+					// Encode 16Bits To RG
+					float R = ((_SegmentationValue >> 8) & 0xFF) / 255.0;
+					float G = (_SegmentationValue & 0xFF) / 255.0;
+
+					// Due to little-endian data, SWAP
+					segColor.r = G;
+					segColor.g = R;
 				}
 				return segColor;
 			}

Assets/Scripts/Core/Modules/ColorEncoding.cs

@@ -56,8 +56,8 @@ public static Color EncodeTagAsColor(in string tag)
 		var r = (byte)(hash >> 16);
 		var g = (byte)(hash >> 8);
 		var b = (byte)(hash);
-		// Debug.Log($"EncodeTagAsColor({tag}): {r} {g} {b}");
-		return new Color32(r, g, b, 255);
+		// Debug.Log($"EncodeTagAsColor({tag}): {r} {g} {b} {a}");
+		return new Color32(r, g, b, a);
 	}
 
 	public static Color EncodeLayerAsColor(in int layer)
@@ -84,18 +84,4 @@ public static Color EncodeLayerAsColor(in int layer)
 
 		return color;
 	}
-
-	public static Color Encode16BitsToRG(in UInt16 value)
-	{
-		var classIdR = (byte)((value >> 8) & 0xFF);
-		var classIdG = (byte)(value & 0xFF);
-		return new Color32(classIdR, classIdG, 0, 0);
-	}
-
-	// for little endian order
-	public static Color Encode16BitsToGR(in UInt16 value)
-	{
-		var rgColor = Encode16BitsToRG(value);
-		return new Color(rgColor.g, rgColor.r, 0, 0);
-	}
 }

Assets/Scripts/Core/Modules/SegmentationTag.cs

@@ -85,19 +85,12 @@ public void Refresh()
 					break;
 			}
 
-			var grayscale = color.grayscale;
-
-			_classId = (UInt16)(grayscale * UInt16.MaxValue);
-
-			var classValue = ColorEncoding.Encode16BitsToGR(_classId);
-
-			mpb.SetColor("_SegmentationColor", color);
-			mpb.SetColor("_SegmentationClassId", classValue);
+			_classId = (UInt16)(color.grayscale * UInt16.MaxValue);
+
+			mpb.SetInt("_SegmentationValue", (int)_classId);
 			mpb.SetInt("_Hide", 0);
 
-			// Debug.Log(TagName + ": mode=" + Main.SegmentationManager.Mode +
-			// 			" color=" + color +
-			// 			" calssId=" + classValue.r + " "  + classValue.g);
+			// Debug.Log($"{TagName}: mode={Main.SegmentationManager.Mode} color={color} {_classId}");
 			// Debug.Log($"{TagName} : {grayscale} > {_classId}");
 
 			AllocateMaterialPropertyBlock(mpb);

Assets/Scripts/Devices/SegmentationCamera.cs

@@ -36,23 +36,15 @@ protected override void SetupTexture()
 			}
 
 			// for Unsigned 16-bit
-			_targetColorFormat = GraphicsFormat.R8G8_UNorm;
+			_targetColorFormat = GraphicsFormat.R8G8B8A8_UNorm;
 			_readbackDstFormat = GraphicsFormat.R8G8_UNorm;
-
+			
 			_camImageData = new CameraData.Image(_camParam.image.width, _camParam.image.height, pixelFormat);
 		}
 
 		protected override void SetupCamera()
 		{
-			// Debug.Log("Segmenataion Setup Camera");
-			if (!_camParam.segmentation_type.Equals("semantic"))
-			{
-				Debug.Log("Only support semantic segmentation");
-			}
-			_camSensor.backgroundColor = Color.black;
-			_camSensor.clearFlags = CameraClearFlags.SolidColor;
-			_camSensor.allowHDR = false;
-			_camSensor.allowMSAA = true;
+			// Debug.Log("Segmenataion Setup");
 
 			// Refer to SegmentationRenderer (Universal Renderer Data)
 			_universalCamData.SetRenderer(1);
@@ -99,6 +91,7 @@ protected override void ImageProcessing(ref NativeArray<byte> readbackData, in f
 			if (imageData != null)
 			{
 				image.Data = imageData;
+				// Debug.LogFormat($"{image.Data[0]}|{image.Data[1]}|{image.Data[2]}|{image.Data[3]}");
 				if (_camParam.save_enabled && _startCameraWork)
 				{
 					var saveName = name + "_" + Time.time;