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Terrain visibility in console mode fix #62

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Terrain visibility in console mode fix #62

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1 change: 1 addition & 0 deletions Gems/ROS2/Code/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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35 changes: 35 additions & 0 deletions Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -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(
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3 changes: 3 additions & 0 deletions Gems/ROS2/Code/Source/Camera/CameraSensor.h
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Expand Up @@ -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
{
Expand Down Expand Up @@ -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
Expand Down