public override void Start()
{
base.Start();
// SegmentationCameraSensor always use JpegQuality = 100
JpegQuality = 100;
SensorCamera.GetComponent <HDAdditionalCameraData>().customRender += CustomRender;
passId = new ShaderTagId("SimulatorSegmentationPass");
// passId = new ShaderTagId("GBuffer");
if (InstanceSegmentationTags.Count > 0)
{
// Check if instance segmentation has been set (either by Editor or by another SegmentationCamera).
if (SimulatorManager.Instance.CheckInstanceSegmentationSetting())
{
// TODO: Change both semantic segmentation and instance segmentation from global to per camera.
// so that this error can be removed.
Debug.LogError("Instance segmentation has been set for some tags. Please only load SegmentationCamera once!");
}
foreach (InstanceCandidateTags tag in InstanceSegmentationTags)
{
SimulatorManager.Instance.SetInstanceColor(tag.ToString());
}
SimulatorManager.Instance.ResetSegmentationColors();
}
}
protected override void Initialize()
{
base.Initialize();
passId = new ShaderTagId("SimulatorDepthPass");
CameraTargetTextureReadWriteType = RenderTextureReadWrite.Linear;
SensorCamera.GetComponent <HDAdditionalCameraData>().customRender += CustomRender;
}
public void Start()
{
base.Start();
// SemanticCameraSensor always use JpegQuality = 100
JpegQuality = 100;
SensorCamera.GetComponent <HDAdditionalCameraData>().customRender += CustomRender;
}
protected override void Initialize()
{
SensorCamera.enabled = false;
CurrentWidth = Width;
CurrentHeight = Height;
CurrentFieldOfView = FieldOfView;
SizeChanged = false;
var hd = SensorCamera.GetComponent <HDAdditionalCameraData>();
hd.hasPersistentHistory = true;
passId = new ShaderTagId("SimulatorLidarPass");
SensorCamera.GetComponent <HDAdditionalCameraData>().customRender += CustomRender;
// Create a RenderTexture without alpha channel, so that we can only visualize RGB channels.
visualizationTexture = new RenderTexture(Width, Height, 24, RenderTextureFormat.RGB565);
}
protected void RenderCamera()
{
var cmd = CommandBufferPool.Get();
var hd = HDCamera.GetOrCreate(SensorCamera);
if (renderTarget.IsCube && !HDAdditionalCameraData.hasCustomRender)
{
// HDRP renders cubemap as multiple separate images, each with different exposure.
// Locking exposure will force it to use the same value for all faces, removing inconsistencies.
hd.LockExposure();
SensorCamera.stereoSeparation = 0f;
SensorCamera.RenderToCubemap(renderTarget, faceMask, Camera.MonoOrStereoscopicEye.Left);
hd.UnlockExposure();
}
else
{
SensorCamera.Render();
}
if (Distorted)
{
if (Fisheye)
{
LensDistortion.UnifiedProjectionDistort(cmd, renderTarget, DistortedHandle);
}
else
{
LensDistortion.PlumbBobDistort(cmd, renderTarget, DistortedHandle);
}
cmd.SetGlobalVector(ScreenSizeProperty, new Vector4(Width, Height, 1.0f / Width, 1.0f / Height));
var ctx = new PostProcessPassContext(cmd, hd, DistortedHandle);
SimulatorManager.Instance.Sensors.PostProcessSystem.RenderLateForSensor(ctx, this);
}
FinalRenderTarget.BlitTo2D(cmd, hd);
HDRPUtilities.ExecuteAndClearCommandBuffer(cmd);
CommandBufferPool.Release(cmd);
}
public void Start()
{
base.Start();
// SegmentationCameraSensor always use JpegQuality = 100
JpegQuality = 100;
SensorCamera.GetComponent <HDAdditionalCameraData>().customRender += CustomRender;
if (InstanceSegmentationTags.Count > 0)
{
// Check if instance segmentation has been set (either by Editor or by another SegmentationCamera).
if (SimulatorManager.Instance.CheckInstanceSegmentationSetting())
{
throw new Exception("Instance segmentation has been set for some tags. Reset is not allowed!");
}
foreach (InstanceCandidateTags tag in InstanceSegmentationTags)
{
SimulatorManager.Instance.SetInstanceColor(tag.ToString());
}
SimulatorManager.Instance.ResetSegmentationColors();
}
}
public override void Start()
{
base.Start();
CameraTargetTextureReadWriteType = RenderTextureReadWrite.Linear;
SensorCamera.GetComponent <HDAdditionalCameraData>().customRender += CustomRender;
}
protected override void RenderToCubemap()
{
// SensorPassRenderer handles cubemap rendering
SensorCamera.Render();
}
void RenderCamera()
{
SensorCamera.Render();
}
