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Aaron/ue5/avoidopticalflowcrash (#7794) 

* Avoid optical flow to crash

* Reenable dvs sensor
This commit is contained in:
Blyron 2024-06-17 13:12:25 +02:00 committed by GitHub
parent 2e02d51082
commit d1cce75693
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GPG Key ID: B5690EEEBB952194
2 changed files with 24 additions and 5 deletions
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7
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/DVSCamera.cpp
View File

@ -129,6 +129,7 @@ void ADVSCamera::Set(const FActorDescription &Description)
void ADVSCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime)
{
TRACE_CPUPROFILER_EVENT_SCOPE(ADVSCamera::PostPhysTick);
Super::PostPhysTick(World, TickType, DeltaTime);
check(CaptureRenderTarget != nullptr);
if (!HasActorBegunPlay() || IsPendingKill())
{
@ -156,11 +157,13 @@ void ADVSCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTim
/** DVS Simulator **/
ADVSCamera::DVSEventArray events = this->Simulation(DeltaTime);
auto FrameIndex = FCarlaEngine::GetFrameCounter();
auto DataStream = GetDataStream(*this);
auto Buff = DataStream.PopBufferFromPool();
DataStream.SetFrameNumber(FrameIndex);
auto Buffer = DataStream.PopBufferFromPool();
// serialize data
carla::Buffer BufferReady(carla::sensor::SensorRegistry::Serialize(*this, events, std::move(Buff)));
carla::Buffer BufferReady(carla::sensor::SensorRegistry::Serialize(*this, events, std::move(Buffer)));
carla::SharedBufferView BufView = carla::BufferView::CreateFrom(std::move(BufferReady));
// ROS2

22
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/OpticalFlowCamera.cpp
View File

@ -31,8 +31,12 @@ void AOpticalFlowCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float
{
TRACE_CPUPROFILER_EVENT_SCOPE(AOpticalFlowCamera::PostPhysTick);
auto CVarForceOutputsVelocity = IConsoleManager::Get().FindConsoleVariable(TEXT("r.BasePassForceOutputsVelocity"));
int32 OldValue = CVarForceOutputsVelocity->GetInt();
CVarForceOutputsVelocity->Set(1);
int32 OldValue = 0;
if (CVarForceOutputsVelocity)
{
OldValue = CVarForceOutputsVelocity->GetInt();
CVarForceOutputsVelocity->Set(1);
}
std::function<TArray<float>(void *, uint32)> Conversor = [](void *Data, uint32 Size)
{
@ -51,7 +55,19 @@ void AOpticalFlowCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float
}
return IntermediateBuffer;
};
auto FrameIndex = FCarlaEngine::GetFrameCounter();
ImageUtil::ReadSensorImageDataAsyncFColor(*this, [this, FrameIndex](
TArrayView<const FColor> Pixels,
FIntPoint Size) -> bool
{
SendImageDataToClient(*this, Pixels, FrameIndex);
return true;
});
FPixelReader::SendPixelsInRenderThread<AOpticalFlowCamera, float>(*this, true, Conversor);
CVarForceOutputsVelocity->Set(OldValue);
if (CVarForceOutputsVelocity)
{
CVarForceOutputsVelocity->Set(OldValue);
}
}