public static int[] ArrayAllocator(int length, ComputeShader shader)
{
string kernelName = "QuickArrayAllocation";
UnifiedArray <int> array = new UnifiedArray <int>(length, sizeof(int), "array");
array.SetBuffer(shader, kernelName);
shader.SetInt("arrayLength", length);
return(array.SynchUpdate(shader, kernelName).array);
}
void RecieveLidarData(ScriptableRenderContext context, Camera[] cameras)
{
if (SynchronousUpdate)
{
lidarDataByte.SynchUpdate(lidarShader, "CSMain");
message = new LidarMessage(LidarHorisontalRes * NrOfLasers * NrOfCameras, OSPtime, lidarDataByte.array);
gate = true;
}
else
{
AsyncGPUReadback.Request(lidarDataByte.buffer, PointCloudDataCompleted);
}
}
void RGBUpdate(ScriptableRenderContext context, Camera[] cameras)
{
if (SynchronousUpdate)
{
cameraData.SynchUpdate(cameraShader, "CSMain");
Data = ByteString.CopyFrom(cameraData.array);
gate = true;
}
else
{
AsyncGPUReadback.Request(camera.activeTexture, 0, textureFormat, ReadbackCompleted);
}
}
void Start()
{
// Setting User information
WidthRes /= NrOfCameras;
float lidarVerticalAngle = VerticalAngle;
HeightRes = (int)(WidthRes * Mathf.Tan(lidarVerticalAngle * Mathf.Deg2Rad / 2) / Mathf.Sin(Mathf.PI / NrOfCameras));
VerticalAngle = Mathf.Rad2Deg * 2 * Mathf.Atan(Mathf.Tan(lidarVerticalAngle * Mathf.Deg2Rad / 2) / Mathf.Cos(Mathf.PI / NrOfCameras));
NumberOfDepthPixels = (uint)WidthRes * (uint)HeightRes * (uint)NrOfCameras;
NumberOfLidarPoints = (uint)NrOfLasers * (uint)LidarHorisontalRes * (uint)NrOfCameras;
// Settup Game objects
pointCloud = GetComponent <PointCloudManager>();
pointCloud.SetupPointCloud((int)NumberOfLidarPoints);
var frustum = new CameraFrustum(WidthRes, MaxDistance, MinDistance, 2 * Mathf.PI / NrOfCameras, lidarVerticalAngle * Mathf.Deg2Rad);
depthCameras = new DepthCameras(NrOfCameras, frustum, this.transform, lidarShader, "CSMain");
lidarCameras = depthCameras.cameras;
projectionFilter = GetComponent <SphericalProjectionFilter>();
projectionFilter.SetupSphericalProjectionFilter(LidarHorisontalRes, NrOfLasers, frustum);
pixelCoordinatesBuffer = projectionFilter.filterCoordinates.buffer;
// Setting up Compute Buffers
kernelHandle = lidarShader.FindKernel("CSMain");
lidarShader.SetBuffer(kernelHandle, "sphericalPixelCoordinates", pixelCoordinatesBuffer);
lidarShader.SetInt("N_theta", LidarHorisontalRes);
lidarShader.SetInt("N_phi", NrOfLasers);
lidarShader.SetFloat("rayDropProbability", rayDropProbability);
UnifiedArray <uint> RandomStateVector = new UnifiedArray <uint>(NrOfCameras * NrOfLasers * LidarHorisontalRes, sizeof(float), "_state_xorshift");
RandomStateVector.SetBuffer(lidarShader, "CSMain");
RandomStateVector.SetBuffer(lidarShader, "RNG_Initialize");
RandomStateVector.SynchUpdate(lidarShader, "RNG_Initialize");
particleUnifiedArray = new UnifiedArray <Vector3>(NrOfCameras * NrOfLasers * LidarHorisontalRes, sizeof(float) * 3, "lines");
particleUnifiedArray.SetBuffer(lidarShader, "CSMain");
lidarDataByte = new UnifiedArray <byte>(NrOfCameras * NrOfLasers * LidarHorisontalRes, sizeof(float) * 6, "LidarData");
lidarDataByte.SetBuffer(lidarShader, "CSMain");
}
void PointCloudRendering(ScriptableRenderContext context, Camera[] cameras)
{
if (SynchronousUpdate)
{
particleUnifiedArray.SynchUpdate(lidarShader, "CSMain");
if (pointCloud != null)
{
pointCloud.UpdatePointCloud(particleUnifiedArray.array);
}
gate = true;
}
else
{
AsyncGPUReadback.Request(particleUnifiedArray.buffer, PointCloudCompleted);
}
}
