Make sky color actually work in semantic segmentation

csun · csun · commit 3d1ed918cee0 · 2023-06-01T14:25:21.000-07:00
diff --git a/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentation/SemanticSegmentationLabeler.cs b/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentation/SemanticSegmentationLabeler.cs
@@ -181,7 +181,7 @@ NativeArray<Color32> GetSegmentationColorForEachLabeledObject()
         {
             var labeledObjectColors = new NativeArray<Color32>(
                 LabelManager.singleton.instanceIds.Length, Allocator.Persistent);
-            labeledObjectColors[0] = new Color32(0, 0, 0, 255);
+            labeledObjectColors[0] = labelConfig.skyColor;
 
             var i = 1;
             foreach (var labeledObject in LabelManager.singleton.registeredLabels)
diff --git a/com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs b/com.unity.perception/Tests/Runtime/GroundTruthTests/SegmentationGroundTruthTests.cs
@@ -58,7 +58,7 @@ public class SegmentationPassTests : GroundTruthTestBase
     {
         static readonly Color32 k_SemanticPixelValue = new Color32(10, 20, 30, Byte.MaxValue);
         static readonly Color32 k_InstanceSegmentationPixelValue = new Color32(255, 0, 0, 255);
-        static readonly Color32 k_SkyValue = new Color32(0, 0, 0, 255);
+        static readonly Color32 k_SkyValue = new Color32(1, 1, 1, 255);
 
         public enum SegmentationKind
         {

Original file line number	Diff line number	Diff line change
`@@ -181,7 +181,7 @@ NativeArray<Color32> GetSegmentationColorForEachLabeledObject()`
`181`	`181`	`{`
`182`	`182`	`var labeledObjectColors = new NativeArray<Color32>(`
`183`	`183`	`LabelManager.singleton.instanceIds.Length, Allocator.Persistent);`
`184`		`- labeledObjectColors[0] = new Color32(0, 0, 0, 255);`
	`184`	`+ labeledObjectColors[0] = labelConfig.skyColor;`
`185`	`185`
`186`	`186`	`var i = 1;`
`187`	`187`	`foreach (var labeledObject in LabelManager.singleton.registeredLabels)`
Original file line number	Diff line number	Diff line change
`@@ -58,7 +58,7 @@ public class SegmentationPassTests : GroundTruthTestBase`
`58`	`58`	`{`
`59`	`59`	`static readonly Color32 k_SemanticPixelValue = new Color32(10, 20, 30, Byte.MaxValue);`
`60`	`60`	`static readonly Color32 k_InstanceSegmentationPixelValue = new Color32(255, 0, 0, 255);`
`61`		`- static readonly Color32 k_SkyValue = new Color32(0, 0, 0, 255);`
	`61`	`+ static readonly Color32 k_SkyValue = new Color32(1, 1, 1, 255);`
`62`	`62`
`63`	`63`	`public enum SegmentationKind`
`64`	`64`	`{`