void CustomRender(ScriptableRenderContext context, HDCamera hd)
{
var cmd = CommandBufferPool.Get();
SensorPassRenderer.Render(context, cmd, hd, renderTarget, passId, SimulatorManager.Instance.SkySegmentationColor);
CommandBufferPool.Release(cmd);
}
private void OnSegmentationRender(ScriptableRenderContext context, HDCamera hdCamera)
{
var cmd = CommandBufferPool.Get();
SensorPassRenderer.Render(context, cmd, hdCamera, renderTarget, passId, SimulatorManager.Instance.SkySegmentationColor);
var clearKernel = cs.FindKernel("Clear");
cmd.SetComputeVectorParam(cs, Properties.TexSize, new Vector4(Width, Height, 1f / Width, 1f / Height));
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MinX, minX);
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MaxX, maxX);
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MinY, minY);
cmd.SetComputeBufferParam(cs, clearKernel, Properties.MaxY, maxY);
cmd.DispatchCompute(cs, clearKernel, 4, 1, 1);
var detectKernel = cs.FindKernel("Detect");
cmd.SetComputeTextureParam(cs, detectKernel, Properties.Input, renderTarget.ColorHandle);
cmd.SetComputeVectorParam(cs, Properties.TexSize, new Vector4(Width, Height, 1f / Width, 1f / Height));
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MinX, minX);
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MaxX, maxX);
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MinY, minY);
cmd.SetComputeBufferParam(cs, detectKernel, Properties.MaxY, maxY);
cmd.DispatchCompute(cs, detectKernel, HDRPUtilities.GetGroupSize(Width, 8), HDRPUtilities.GetGroupSize(Height, 8), 1);
context.ExecuteCommandBuffer(cmd);
cmd.Clear();
CommandBufferPool.Release(cmd);
}
private void CustomRender(ScriptableRenderContext context, HDCamera hd)
{
var cmd = CommandBufferPool.Get();
void RenderPointCloud(CubemapFace face)
{
PointCloudManager.RenderLidar(context, cmd, hd, renderTarget.ColorHandle, renderTarget.DepthHandle, face);
}
RenderMarker.Begin();
SensorPassRenderer.Render(context, cmd, hd, renderTarget, passId, Color.clear, RenderPointCloud);
RenderMarker.End();
ComputeMarker.Begin();
var kernel = cs.FindKernel(Compensated ? "CubeComputeComp" : "CubeCompute");
cmd.SetComputeTextureParam(cs, kernel, Properties.InputCubemapTexture, renderTarget.ColorHandle);
cmd.SetComputeBufferParam(cs, kernel, Properties.Output, PointCloudBuffer);
cmd.SetComputeBufferParam(cs, kernel, Properties.LatitudeAngles, LatitudeAnglesBuffer);
cmd.SetComputeIntParam(cs, Properties.LaserCount, LaserCount);
cmd.SetComputeIntParam(cs, Properties.MeasuresPerRotation, UsedMeasurementsPerRotation);
cmd.SetComputeFloatParam(cs, Properties.AntialiasingThreshold, AntialiasingThreshold);
cmd.SetComputeVectorParam(cs, Properties.Origin, SensorCamera.transform.position);
cmd.SetComputeMatrixParam(cs, Properties.RotMatrix, Matrix4x4.Rotate(transform.rotation));
cmd.SetComputeMatrixParam(cs, Properties.Transform, transform.worldToLocalMatrix);
cmd.SetComputeVectorParam(cs, Properties.PackedVec, new Vector4(MaxDistance, DeltaLongitudeAngle, MinDistance, StartLongitudeOffset));
cmd.DispatchCompute(cs, kernel, HDRPUtilities.GetGroupSize(UsedMeasurementsPerRotation, 8), HDRPUtilities.GetGroupSize(LaserCount, 8), 1);
ComputeMarker.End();
context.ExecuteCommandBuffer(cmd);
cmd.Clear();
CommandBufferPool.Release(cmd);
}
public void CustomRender(ScriptableRenderContext context, HDCamera hd)
{
var cmd = CommandBufferPool.Get();
SensorPassRenderer.Render(context, cmd, hd, activeTarget, passId, Color.clear);
PointCloudManager.RenderLidar(context, cmd, hd, activeTarget.ColorHandle, activeTarget.DepthHandle);
CommandBufferPool.Release(cmd);
}
void CustomRender(ScriptableRenderContext context, HDCamera hd)
{
var cmd = CommandBufferPool.Get();
SensorPassRenderer.Render(context, cmd, hd, renderTarget, passId, Color.clear);
if (!Fisheye)
{
PointCloudManager.RenderDepth(context, cmd, hd, renderTarget.ColorHandle, renderTarget.DepthHandle);
}
CommandBufferPool.Release(cmd);
}
void CustomRender(ScriptableRenderContext context, HDCamera hd)
{
var cmd = CommandBufferPool.Get();
SensorPassRenderer.Render(context, cmd, hd, renderTarget, passId, SimulatorManager.Instance.SkySegmentationColor);
var kernel = computeUtils.FindKernel("FillAlphaXR");
cmd.SetComputeTextureParam(computeUtils, kernel, Properties.Output, renderTarget.ColorHandle);
cmd.SetComputeVectorParam(computeUtils, Properties.TexSize, new Vector4(Width, Height, 1f / Width, 1f / Height));
cmd.DispatchCompute(computeUtils, kernel, HDRPUtilities.GetGroupSize(Width, 8), HDRPUtilities.GetGroupSize(Height, 8), 1);
context.ExecuteCommandBuffer(cmd);
cmd.Clear();
CommandBufferPool.Release(cmd);
}
