protected virtual void CheckCubemapTexture()
{
// Fisheye camera uses Camera.RenderToCubemap(...), and thus do not need normal RenderTexture.
// Although Camera.RenderToCubemap has its own target texture as parameter,
// setting Camera.targetTexture will still affect its result.
// So we set Camera.targetTexture to null to make sure its result is correct.
SensorCamera.targetTexture = null;
renderTarget?.Release();
renderTarget = null;
if (CurrentCubemapSize != CubemapSize)
{
CubemapTexture.Release();
CubemapTexture = null;
}
if (CubemapTexture == null)
{
CubemapTexture = new RenderTexture(CubemapSize, CubemapSize, 24, RenderTextureFormat.ARGB32, CameraTargetTextureReadWriteType)
{
dimension = TextureDimension.Cube,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear,
};
CubemapTexture.Create();
}
}
void CheckTexture()
{
if (!Distorted || !Fisheye) // No-distortion and non-fisheye distortion use Camera.Render().
{
// if this is not first time
if (renderTarget != null)
{
if (!renderTarget.IsValid(RenderTextureWidth, RenderTextureHeight))
{
// if camera capture size has changed or we have lost rendertexture due to Unity window resizing or otherwise
renderTarget.Release();
renderTarget = null;
}
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight, GraphicsFormat.R8G8B8A8_SRGB);
SensorCamera.targetTexture = renderTarget;
}
}
else
{
CheckCubemapTexture();
}
if (Distorted)
{
// if this is not first time
if (DistortedTexture != null)
{
if (SizeChanged)
{
// if camera capture size has changed
DistortedTexture.Release();
DistortedTexture = null;
}
else if (!DistortedTexture.IsCreated())
{
// if we have lost DistortedTexture due to Unity window resizing or otherwise
DistortedTexture.Release();
DistortedTexture = null;
}
}
if (DistortedTexture == null)
{
DistortedTexture = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, CameraTargetTextureReadWriteType)
{
dimension = TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear,
enableRandomWrite = true,
};
DistortedTexture.Create();
}
}
}
/// <summary>
/// Creates new instance of <see cref="SensorRenderTarget"/> and allocates required resources. Uses cube map.
/// </summary>
/// <param name="width">Width (in pixels) of the texture.</param>
/// <param name="height">Height (in pixels) of the texture.</param>
/// <param name="faceMask">Mask for cubemap faces that should be rendered.</param>
public static SensorRenderTarget CreateCube(int width, int height, int faceMask)
{
var instance = new SensorRenderTarget(width, height, true)
{
CubeFaceMask = faceMask
};
return(instance);
}
protected override void CheckCubemapTexture()
{
if (renderTarget != null && (!renderTarget.IsCube || !renderTarget.IsValid(CubemapSize, CubemapSize)))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.CreateCube(CubemapSize, CubemapSize, faceMask);
SensorCamera.targetTexture = null;
}
}
protected override void Deinitialize()
{
renderTarget?.Release();
renderTarget = null;
PointCloudBuffer?.Release();
PointCloudBuffer = null;
LatitudeAnglesBuffer?.Release();
LatitudeAnglesBuffer = null;
ReadbackPool?.Dispose();
}
bool BeginReadRequest(int count, ref ReadRequest req)
{
if (count == 0)
{
return(false);
}
BeginReadMarker.Begin();
SensorRenderTarget renderTarget = null;
if (AvailableRenderTextures.Count != 0)
{
renderTarget = AvailableRenderTextures.Pop();
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight);
}
else if (!renderTarget.IsValid(RenderTextureWidth, RenderTextureHeight))
{
renderTarget.Release();
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight);
}
activeTarget = renderTarget;
SensorCamera.targetTexture = renderTarget;
SensorCamera.Render();
req = new ReadRequest()
{
TextureSet = renderTarget,
Index = CurrentIndex,
Count = count,
Origin = SensorCamera.transform.position,
CameraToWorldMatrix = SensorCamera.cameraToWorldMatrix,
};
if (!Compensated)
{
req.Transform = transform.worldToLocalMatrix;
}
BeginReadMarker.End();
CurrentIndex = (CurrentIndex + count) % CurrentMeasurementsPerRotation;
return(true);
}
void CheckTexture()
{
// if this is not first time
if (renderTarget != null)
{
if (!renderTarget.IsValid(Width, Height))
{
// if camera capture size has changed or we have lost rendertexture due to Unity window resizing or otherwise
renderTarget.Release();
renderTarget = null;
}
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(Width, Height);
SensorCamera.targetTexture = renderTarget;
}
}
protected override void Initialize()
{
Controller = GetComponentInParent <IAgentController>();
activeRT = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, RenderTextureReadWrite.Linear)
{
dimension = TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear
};
activeRT.Create();
Camera = GetComponentInChildren <Camera>();
Camera.targetTexture = activeRT;
Camera.fieldOfView = FieldOfView;
Camera.nearClipPlane = MinDistance;
Camera.farClipPlane = MaxDistance;
Camera.gameObject.GetComponent <HDAdditionalCameraData>().hasPersistentHistory = true;
passId = new ShaderTagId("SimulatorSegmentationPass");
SegmentationCamera.fieldOfView = FieldOfView;
SegmentationCamera.nearClipPlane = MinDistance;
SegmentationCamera.farClipPlane = DetectionRange;
SegmentationCamera.gameObject.GetComponent <HDAdditionalCameraData>().customRender += OnSegmentationRender;
SegmentationCamera.gameObject.GetComponent <HDAdditionalCameraData>().hasPersistentHistory = true;
renderTarget = SensorRenderTarget.Create2D(Width, Height, GraphicsFormat.R8G8B8A8_UNorm);
SegmentationCamera.targetTexture = renderTarget;
minX = new ComputeBuffer(256, sizeof(uint));
maxX = new ComputeBuffer(256, sizeof(uint));
minY = new ComputeBuffer(256, sizeof(uint));
maxY = new ComputeBuffer(256, sizeof(uint));
AAWireBoxes = gameObject.AddComponent <AAWireBox>();
AAWireBoxes.Camera = Camera;
AAWireBoxes.IgnoreUpdates = true;
}
void CheckTexture()
{
var targetWidth = -1;
var targetHeight = -1;
if (Distorted)
{
// Distorted + fisheye - render to cubemap, then distort to sensor-sized texture
if (Fisheye)
{
if (renderTarget != null && (!renderTarget.IsCube || !renderTarget.IsValid(CubemapSize, CubemapSize)))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.CreateCube(CubemapSize, CubemapSize, faceMask);
SensorCamera.targetTexture = null;
}
}
// Distorted - render to larger texture, then distort to sensor-sized one
else
{
targetWidth = LensDistortion.ActualWidth;
targetHeight = LensDistortion.ActualHeight;
}
if (DistortedHandle != null && !DistortedHandle.IsValid(Width, Height))
{
DistortedHandle.Release();
DistortedHandle = null;
}
if (DistortedHandle == null)
{
DistortedHandle = SensorRenderTarget.Create2D(Width, Height, GraphicsFormat.R8G8B8A8_SRGB, true);
}
}
else
{
// Undistorted - use only sensor-sized texture
if (DistortedHandle != null)
{
DistortedHandle.Release();
DistortedHandle = null;
}
targetWidth = Width;
targetHeight = Height;
}
if (targetWidth > 0)
{
if (renderTarget != null && !renderTarget.IsValid(targetWidth, targetHeight))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(targetWidth, targetHeight, GraphicsFormat.R8G8B8A8_SRGB, !Distorted);
SensorCamera.targetTexture = renderTarget;
}
}
}
/// <summary>
/// Creates new instance of <see cref="SensorRenderTarget"/> and allocates required resources. Uses 2D texture.
/// </summary>
/// <param name="width">Width (in pixels) of the texture.</param>
/// <param name="height">Height (in pixels) of the texture.</param>
public static SensorRenderTarget Create2D(int width, int height)
{
var instance = new SensorRenderTarget(width, height, false);
return(instance);
}
/// <summary>
/// Creates new instance of <see cref="SensorRenderTarget"/> and allocates required resources. Uses 2D texture.
/// </summary>
/// <param name="width">Width (in pixels) of the texture.</param>
/// <param name="height">Height (in pixels) of the texture.</param>
/// /// <param name="colorFormat">GraphicsFormat of the color texture.</param>
public static SensorRenderTarget Create2D(int width, int height, GraphicsFormat colorFormat)
{
var instance = new SensorRenderTarget(width, height, false, colorFormat);
return(instance);
}
/// <summary>
/// Creates new instance of <see cref="SensorRenderTarget"/> and allocates required resources. Uses 2D texture.
/// </summary>
/// <param name="width">Width (in pixels) of the texture.</param>
/// <param name="height">Height (in pixels) of the texture.</param>
/// <param name="uiVisible">Will this texture be displayed on UI elements?</param>
public static SensorRenderTarget Create2D(int width, int height, bool uiVisible = false)
{
var instance = new SensorRenderTarget(width, height, false, uiVisible: uiVisible);
return(instance);
}
void CheckTexture()
{
if (!Distorted || !Fisheye) // No-distortion and non-fisheye distortion use Camera.Render().
{
// if this is not first time
if (renderTarget != null)
{
if (!renderTarget.IsValid(RenderTextureWidth, RenderTextureHeight))
{
// if camera capture size has changed or we have lost rendertexture due to Unity window resizing or otherwise
renderTarget.Release();
renderTarget = null;
}
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight);
SensorCamera.targetTexture = renderTarget;
}
}
else // Fisheye camera uses Camera.RenderToCubemap(...), and thus do not need normal RenderTexture.
{
// Although Camera.RenderToCubemap has its own target texture as parameter,
// setting Camera.targetTexture will still affect its result.
// So we set Camera.targetTexture to null to make sure its result is correct.
SensorCamera.targetTexture = null;
if (CurrentCubemapSize != CubemapSize)
{
CubemapTexture.Release();
CubemapTexture = null;
}
if (CubemapTexture == null)
{
CubemapTexture = new RenderTexture(CubemapSize, CubemapSize, 24, RenderTextureFormat.ARGB32, CameraTargetTextureReadWriteType)
{
dimension = TextureDimension.Cube,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear,
};
CubemapTexture.Create();
}
}
if (Distorted)
{
// if this is not first time
if (DistortedTexture != null)
{
if (SizeChanged)
{
// if camera capture size has changed
DistortedTexture.Release();
DistortedTexture = null;
}
else if (!DistortedTexture.IsCreated())
{
// if we have lost DistortedTexture due to Unity window resizing or otherwise
DistortedTexture.Release();
DistortedTexture = null;
}
}
if (DistortedTexture == null)
{
DistortedTexture = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, CameraTargetTextureReadWriteType)
{
dimension = TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear,
enableRandomWrite = true,
};
DistortedTexture.Create();
}
}
}
