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Update internal texture formats used by gpu lidar #468

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merged 6 commits into from
Nov 3, 2021
Merged

Update internal texture formats used by gpu lidar #468

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d980146
switch to user RGBA format for internal textures in gpu ray sensor
iche033 Oct 12, 2021
c464a72
Merge branch 'ign-rendering6' into gpu_ray_rgba
iche033 Oct 12, 2021
66e02e9
Merge branch 'ign-rendering6' into gpu_ray_rgba
iche033 Oct 13, 2021
9ab95a3
Merge branch 'ign-rendering6' into gpu_ray_rgba
iche033 Oct 15, 2021
9dcc493
Merge branch 'ign-rendering6' into gpu_ray_rgba
iche033 Oct 27, 2021
24e5b67
Merge branch 'ign-rendering6' into gpu_ray_rgba
iche033 Nov 2, 2021
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71 changes: 46 additions & 25 deletions ogre2/src/Ogre2GpuRays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -611,6 +611,7 @@ void Ogre2GpuRays::CreateSampleTexture()
// R: u coordinate on the cubemap face
// G: v coordinate on the cubemap face
// B: cubemap face index
// A: unused
// this texture is passed to the 2nd pass fragment shader
auto engine = Ogre2RenderEngine::Instance();
auto ogreRoot = engine->OgreRoot();
Expand All @@ -630,7 +631,7 @@ void Ogre2GpuRays::CreateSampleTexture()
this->dataPtr->cubeUVTexture->setResolution(
this->dataPtr->w2nd, this->dataPtr->h2nd);
this->dataPtr->cubeUVTexture->setNumMipmaps(1u);
this->dataPtr->cubeUVTexture->setPixelFormat(Ogre::PFG_RGB32_FLOAT);
this->dataPtr->cubeUVTexture->setPixelFormat(Ogre::PFG_RGBA32_FLOAT);

const Ogre::uint32 rowAlignment = 1u;
const size_t dataSize = Ogre::PixelFormatGpuUtils::getSizeBytes(
Expand Down Expand Up @@ -670,7 +671,8 @@ void Ogre2GpuRays::CreateSampleTexture()
pDest[index++] = uv.Y();
// face
pDest[index++] = faceIdx;

// unused
pDest[index++] = 1.0;
h += hStep;
}
v += vStep;
Expand Down Expand Up @@ -1052,7 +1054,7 @@ void Ogre2GpuRays::Setup1stPass()
this->dataPtr->w1st, this->dataPtr->h1st);
this->dataPtr->firstPassTextures[i]->setNumMipmaps(1u);
this->dataPtr->firstPassTextures[i]->setPixelFormat(
Ogre::PFG_RGB32_FLOAT);
Ogre::PFG_RG32_FLOAT);

this->dataPtr->firstPassTextures[i]->scheduleTransitionTo(
Ogre::GpuResidency::Resident);
Expand Down Expand Up @@ -1116,7 +1118,7 @@ void Ogre2GpuRays::Setup2ndPass()
this->dataPtr->w2nd, this->dataPtr->h2nd);
this->dataPtr->secondPassTexture->setNumMipmaps(1u);
this->dataPtr->secondPassTexture->setPixelFormat(
Ogre::PFG_RGB32_FLOAT);
Ogre::PFG_RGBA32_FLOAT);

this->dataPtr->secondPassTexture->scheduleTransitionTo(
Ogre::GpuResidency::Resident);
Expand Down Expand Up @@ -1316,15 +1318,14 @@ void Ogre2GpuRays::PostRender()
unsigned int width = this->dataPtr->w2nd;
unsigned int height = this->dataPtr->h2nd;

int len = width * height * this->Channels();

PixelFormat format = PF_FLOAT32_RGB;
unsigned int channelCount = PixelUtil::ChannelCount(format);
PixelFormat format = PF_FLOAT32_RGBA;
unsigned int rawChannelCount = PixelUtil::ChannelCount(format);
unsigned int bytesPerChannel = PixelUtil::BytesPerChannel(format);
int rawLen = width * height * rawChannelCount;

if (!this->dataPtr->gpuRaysBuffer)
{
this->dataPtr->gpuRaysBuffer = new float[len];
this->dataPtr->gpuRaysBuffer = new float[rawLen];
}

// blit data from gpu to cpu
Expand All @@ -1338,18 +1339,40 @@ void Ogre2GpuRays::PostRender()
for (unsigned int i = 0; i < height; ++i)
{
unsigned int rawDataRowIdx = i * box.bytesPerRow / bytesPerChannel;
unsigned int rowIdx = i * width * channelCount;
unsigned int rowIdx = i * width * rawChannelCount;
memcpy(&this->dataPtr->gpuRaysBuffer[rowIdx], &bufferTmp[rawDataRowIdx],
width * channelCount * bytesPerChannel);
width * rawChannelCount * bytesPerChannel);
}

// Metal does not support RGB32_FLOAT so the internal texture format is
// RGBA32_FLOAT. For backward compatibility, output data is kept in RGB
// format instead of RGBA
int outputLen = width * height * this->Channels();
if (!this->dataPtr->gpuRaysScan)
{
this->dataPtr->gpuRaysScan = new float[len];
this->dataPtr->gpuRaysScan = new float[outputLen];
}

memcpy(this->dataPtr->gpuRaysScan,
this->dataPtr->gpuRaysBuffer, len * sizeof(float));
// copy data from RGBA buffer to RGB buffer
for (unsigned int row = 0; row < height; ++row)
{
// the texture box step size could be larger than our image buffer step
// size
for (unsigned int column = 0; column < width; ++column)
{
unsigned int idx = (row * width * this->Channels()) +
column * this->Channels();
unsigned int rawIdx = (row * width * rawChannelCount) +
column * rawChannelCount;

this->dataPtr->gpuRaysScan[idx] =
this->dataPtr->gpuRaysBuffer[rawIdx];
this->dataPtr->gpuRaysScan[idx + 1] =
this->dataPtr->gpuRaysBuffer[rawIdx + 1];
this->dataPtr->gpuRaysScan[idx + 2] =
this->dataPtr->gpuRaysBuffer[rawIdx + 2];
}
}

this->dataPtr->newGpuRaysFrame(this->dataPtr->gpuRaysScan,
width, height, this->Channels(), "PF_FLOAT32_RGB");
Expand All @@ -1360,18 +1383,16 @@ void Ogre2GpuRays::PostRender()
// {
// for (unsigned int j = 0; j < width; ++j)
// {
// if (this->dataPtr->gpuRaysBuffer[i*width*3 + j*3] < 20) {
// std::cerr
// << "["
// << this->dataPtr->gpuRaysBuffer[i*width*3 + j*3]
// << " "
// << this->dataPtr->gpuRaysBuffer[i*width*3 + j*3 + 1]
// << " "
// << this->dataPtr->gpuRaysBuffer[i*width*3 + j*3 + 2]
// << "]\n";
// }
// std::cerr
// << "["
// << this->dataPtr->gpuRaysScan[i*width*3 + j*3]
// << " "
// << this->dataPtr->gpuRaysScan[i*width*3 + j*3 + 1]
// << " "
// << this->dataPtr->gpuRaysScan[i*width*3 + j*3 + 2]
// << "]\n";
// }
// // igndbg << std::endl;
// std::cerr << std::endl;
// }
}

Expand Down