Skip to content

fixed GPU Lidar rendering issue #130

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
jonyMarino wants to merge 1 commit into
base: main
Choose a base branch
from
Open

fixed GPU Lidar rendering issue #130

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
44 changes: 40 additions & 4 deletions ...s/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include "SceneView.h"
#include "RenderGraph.h"
#include "ScreenPass.h"
#include "RenderGraphUtils.h"
#include "CommonRenderResources.h"
#include "Containers/DynamicRHIResourceArray.h"
#include "Engine/World.h"
Expand Down Expand Up @@ -116,7 +117,12 @@ FLidarIntensitySceneViewExtension::FLidarIntensitySceneViewExtension(
const FAutoRegister& AutoRegister,
TWeakObjectPtr<UTextureRenderTarget2D> InRenderTarget2D)
: FSceneViewExtensionBase(AutoRegister),
RenderTarget2D(InRenderTarget2D) {}
RenderTarget2D(InRenderTarget2D) {
for (int i = 0; i < NumReadbackBuffers; ++i) {
ReadbackBuffers[i] = MakeUnique<FRHIGPUBufferReadback>(FName(*FString::Printf(TEXT("LidarReadback_%d"), i)));
ReadbackBuffersSizes[i] = 0;
}
}

void FLidarIntensitySceneViewExtension::PrePostProcessPass_RenderThread(
FRDGBuilder& GraphBuilder, const FSceneView& View,
Expand Down Expand Up @@ -245,12 +251,37 @@ void FLidarIntensitySceneViewExtension::PrePostProcessPass_RenderThread(
cachedParams.NumCams * cachedParams.HorizontalResolution * cachedParams.LaserNums;
uint32 BufferSize = NumPoints * sizeof(float) * 4;

// Readback from previous frames if available
auto& CurrentReadback = ReadbackBuffers[CurrentReadbackIndex];
uint32 CurrentSize = ReadbackBuffersSizes[CurrentReadbackIndex];

if (CurrentSize > 0 && CurrentReadback && CurrentReadback->IsReady()) {
void* BufferData = CurrentReadback->Lock(CurrentSize);
if (BufferData) {
// Resize vector to match the data we are reading back
const int NumPointsRead = CurrentSize / (sizeof(float) * 4);
if (LidarPointCloudData.size() != NumPointsRead) {
LidarPointCloudData.resize(NumPointsRead);
}

FMemory::Memcpy(LidarPointCloudData.data(), BufferData, CurrentSize);
CurrentReadback->Unlock();
}
}

// Create buffers for CURRENT frame
TArray<float> InitialData;
InitialData.SetNumZeroed(NumPoints * 4);
FRDGBufferRef PointCloudBufferRDG =
CreateStructuredBuffer(GraphBuilder,
TEXT("FLidarPointCloudCS_PointCloudBuffer"),
sizeof(float), NumPoints * 4, nullptr,
BufferSize);

CreateStructuredBuffer(GraphBuilder,
TEXT("FLidarPointCloudCS_PointCloudBuffer_StructuredBuffer"),
sizeof(float),
NumPoints * 4, InitialData.GetData(), BufferSize);
FRDGBufferUAVRef PointCloudBufferUAV = GraphBuilder.CreateUAV(
PointCloudBufferRDG, PF_FloatRGBA, ERDGUnorderedAccessViewFlags::None);

Expand Down Expand Up @@ -284,12 +315,17 @@ void FLidarIntensitySceneViewExtension::PrePostProcessPass_RenderThread(
NUM_THREADS_PER_GROUP_DIMENSION_Y,
NUM_THREADS_PER_GROUP_DIMENSION_Z);

LidarPointCloudData =
std::vector<FVector4>(NumPoints, FVector4(-1, -1, -1, -1));

FComputeShaderUtils::AddPass(
GraphBuilder, RDG_EVENT_NAME("LidarPointCloud Pass"),
LidarPointCloudShader, PassParameters, GroupContext);

AddEnqueueCopyPass(GraphBuilder, CurrentReadback.Get(), PointCloudBufferRDG, BufferSize);

// Store the size for the next time we encounter this buffer slot
ReadbackBuffersSizes[CurrentReadbackIndex] = BufferSize;

// Advance index for next frame
CurrentReadbackIndex = (CurrentReadbackIndex + 1) % NumReadbackBuffers;
}

void FLidarIntensitySceneViewExtension::UpdateParameters(
Expand Down
6 changes: 6 additions & 0 deletions ...ins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/LidarIntensitySceneViewExtension.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

#include "RHI.h"
#include "RHIResources.h"
#include "RHIGPUReadback.h"
#include "SceneViewExtension.h"

#include "LidarPointCloudCS.h"
Expand Down Expand Up @@ -45,6 +46,11 @@ class FLidarIntensitySceneViewExtension : public FSceneViewExtensionBase {
std::vector<FVector4> LidarPointCloudData;

private:
static const int32 NumReadbackBuffers = 4;
TUniquePtr<FRHIGPUBufferReadback> ReadbackBuffers[NumReadbackBuffers];
uint32 ReadbackBuffersSizes[NumReadbackBuffers];
int32 CurrentReadbackIndex = 0;

std::queue<FLidarPointCloudCSParameters> CSParamsQ;
TWeakObjectPtr<UTextureRenderTarget2D> RenderTarget2D;
};
Loading