From 52d038a905adefbe9ef7b5fb0f4b705756071d64 Mon Sep 17 00:00:00 2001
From: Piotr Jaroszek <piotr.jaroszek@robotec.ai>
Date: Fri, 29 Nov 2024 16:58:54 +0100
Subject: [PATCH] Terrain visibility in console mode fix

Signed-off-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai>
---
 Gems/ROS2/Code/CMakeLists.txt                 |  1 +
 Gems/ROS2/Code/Source/Camera/CameraSensor.cpp | 35 +++++++++++++++++++
 Gems/ROS2/Code/Source/Camera/CameraSensor.h   |  3 ++
 3 files changed, 39 insertions(+)

diff --git a/Gems/ROS2/Code/CMakeLists.txt b/Gems/ROS2/Code/CMakeLists.txt
index a0ee8699ae..6704f16593 100644
--- a/Gems/ROS2/Code/CMakeLists.txt
+++ b/Gems/ROS2/Code/CMakeLists.txt
@@ -62,6 +62,7 @@ ly_add_target(
             AZ::AzCore
             AZ::AzFramework
             Gem::Atom_RPI.Public
+            Gem::Atom_RHI.Reflect
             Gem::Atom_Feature_Common.Static
             Gem::Atom_Component_DebugCamera.Static
             Gem::Atom_AtomBridge.Static
diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
index da6ea6710f..cce870f0fc 100644
--- a/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
+++ b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
@@ -16,8 +16,10 @@
 #include <Atom/RPI.Public/RPISystemInterface.h>
 #include <Atom/RPI.Public/RenderPipeline.h>
 #include <Atom/RPI.Public/Scene.h>
+#include <Atom/RPI.Reflect/Asset/AssetUtils.h>
 #include <AzCore/Math/MatrixUtils.h>
 #include <AzCore/Settings/SettingsRegistry.h>
+#include <AzCore/Component/ComponentApplicationBus.h>
 #include <AzFramework/Components/TransformComponent.h>
 #include <AzFramework/Scene/SceneSystemInterface.h>
 #include <PostProcess/PostProcessFeatureProcessor.h>
@@ -128,6 +130,39 @@ namespace ROS2
         m_view->SetViewToClipMatrix(m_cameraSensorDescription.m_viewToClipMatrix);
         m_scene = AZ::RPI::RPISystemInterface::Get()->GetSceneByName(AZ::Name("Main"));
 
+        // In console mode, since there is no default pipeline, a BRDF texture needs to be manually initialized.
+        AZ::ApplicationTypeQuery appType;
+        AZ::ComponentApplicationBus::Broadcast(&AZ::ComponentApplicationBus::Events::QueryApplicationType, appType);
+        if (appType.IsConsoleMode())
+        {
+            auto brdfpipelineName = AZStd::string::format(
+                "%sBRDF_Pipeline%s",
+                m_cameraSensorDescription.m_cameraName.c_str(),
+                m_entityId.ToString().c_str());
+            AZ::RPI::RenderPipelineDescriptor brdfPipelineDesc;
+            brdfPipelineDesc.m_mainViewTagName = "MainCamera";
+            brdfPipelineDesc.m_name = brdfpipelineName;
+            brdfPipelineDesc.m_rootPassTemplate = "BRDFTexturePipeline";
+            brdfPipelineDesc.m_executeOnce = true;
+
+            const AZStd::shared_ptr<const AZ::RPI::PassTemplate> brdfTextureTemplate =
+                AZ::RPI::PassSystemInterface::Get()->GetPassTemplate(AZ::Name("BRDFTextureTemplate"));
+            AZ::Data::Asset<AZ::RPI::AttachmentImageAsset> brdfImageAsset = AZ::RPI::AssetUtils::LoadAssetById<
+                AZ::RPI::AttachmentImageAsset>(
+                brdfTextureTemplate->m_imageAttachments[0].m_assetRef.m_assetId,
+                AZ::RPI::AssetUtils::TraceLevel::Error);
+            if (brdfImageAsset.IsReady())
+            {
+                m_brdfTexture = AZ::RPI::AttachmentImage::FindOrCreate(brdfImageAsset);
+            }
+
+            if (!m_scene->GetRenderPipeline(AZ::Name(brdfPipelineDesc.m_name)))
+            {
+                AZ::RPI::RenderPipelinePtr brdfTexturePipeline = AZ::RPI::RenderPipeline::CreateRenderPipeline(brdfPipelineDesc);
+                m_scene->AddRenderPipeline(brdfTexturePipeline);
+            }
+        }
+
         auto cameraPipelineTypeName = Internal::PipelineNameFromChannelType(GetChannelType());
 
         m_pipelineName = AZStd::string::format(
diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.h b/Gems/ROS2/Code/Source/Camera/CameraSensor.h
index 43096f9d5d..18805d615d 100644
--- a/Gems/ROS2/Code/Source/Camera/CameraSensor.h
+++ b/Gems/ROS2/Code/Source/Camera/CameraSensor.h
@@ -15,6 +15,8 @@
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <std_msgs/msg/header.hpp>
+#include <AtomCore/Instance/Instance.h>
+#include <Atom/RPI.Reflect/Image/AttachmentImageAsset.h>
 
 namespace ROS2
 {
@@ -55,6 +57,7 @@ namespace ROS2
         AZ::EntityId m_entityId;
         AZ::RPI::RenderPipelinePtr m_pipeline;
         AZStd::string m_pipelineName;
+        AZ::Data::Instance<AZ::RPI::AttachmentImage> m_brdfTexture;
 
         //! Request a frame from the rendering pipeline
         //! @param cameraPose - current camera pose from which the rendering should take place