p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Check for stream ready, and also disable g-buffers

This commit is contained in:
bernatx 2023-06-06 11:30:48 +02:00 committed by bernat
parent fb41820d92
commit ed332ecbcd
7 changed files with 69 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DataStream.h
View File

@ -37,22 +37,28 @@ public:
///
/// @pre This functions needs to be called in the game-thread.
template <typename SensorT>
auto MakeAsyncDataStream(const SensorT &Sensor, double Timestamp)
FAsyncDataStreamTmpl<T> MakeAsyncDataStream(const SensorT &Sensor, double Timestamp)
{
check(Stream.has_value());
return FAsyncDataStreamTmpl<T>{Sensor, Timestamp, *Stream};
}
bool IsStreamReady()
{
return Stream.has_value();
}
/// Return the token that allows subscribing to this stream.
auto GetToken() const
{
check(Stream.has_value());
return (*Stream).token();
return Stream->token();
}
bool AreClientsListening()
{
return Stream ? Stream->AreClientsListening() : false;
check(Stream.has_value());
return Stream->AreClientsListening();
}
private:

18
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.h
View File

@ -95,7 +95,7 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor, bool use16BitFormat
TRACE_CPUPROFILER_EVENT_SCOPE(FPixelReader::SendPixelsInRenderThread);
check(Sensor.CaptureRenderTarget != nullptr);
if (!Sensor.HasActorBegunPlay() || Sensor.IsPendingKill())
if (!Sensor.HasActorBegunPlay() || Sensor.IsPendingKill() || !Sensor.IsStreamReady())
{
return;
}
@ -115,7 +115,7 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor, bool use16BitFormat
/// @todo Can we make sure the sensor is not going to be destroyed?
if (!Sensor.IsPendingKill())
{
FPixelReader::Payload FuncForSending =
FPixelReader::Payload FuncForSending =
[&Sensor, Frame = FCarlaEngine::GetFrameCounter(), Conversor = std::move(Conversor)](void *LockedData, uint32 Size, uint32 Offset, uint32 ExpectedRowBytes)
{
if (Sensor.IsPendingKill()) return;
@ -130,15 +130,15 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor, bool use16BitFormat
LockedData = reinterpret_cast<void *>(Converted.GetData());
Size = Converted.Num() * Converted.GetTypeSize();
}
auto Stream = Sensor.GetDataStream(Sensor);
Stream.SetFrameNumber(Frame);
auto Buffer = Stream.PopBufferFromPool();
uint32 CurrentRowBytes = ExpectedRowBytes;
#ifdef _WIN32
// DirectX uses additional bytes to align each row to 256 boundry,
#ifdef _WIN32
// DirectX uses additional bytes to align each row to 256 boundry,
// so we need to remove that extra data
if (IsD3DPlatform(GMaxRHIShaderPlatform, false))
{
@ -159,7 +159,7 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor, bool use16BitFormat
}
}
}
#endif // _WIN32
#endif // _WIN32
if (ExpectedRowBytes == CurrentRowBytes)
{
@ -179,11 +179,11 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor, bool use16BitFormat
}
}
};
WritePixelsToBuffer(
*Sensor.CaptureRenderTarget,
carla::sensor::SensorRegistry::get<TSensor *>::type::header_offset,
InRHICmdList,
InRHICmdList,
std::move(FuncForSending));
}
}

9
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
View File

@ -449,8 +449,11 @@ float ASceneCaptureSensor::GetChromAberrOffset() const
void ASceneCaptureSensor::EnqueueRenderSceneImmediate() {
TRACE_CPUPROFILER_EVENT_SCOPE(ASceneCaptureSensor::EnqueueRenderSceneImmediate);
// Equivalent to "CaptureComponent2D->CaptureScene" + (optional) GBuffer extraction.
CaptureSceneExtended();
// Creates an snapshot of the scene, requieres bCaptureEveryFrame = false.
GetCaptureComponent2D()->CaptureScene();
// // Equivalent to "CaptureComponent2D->CaptureScene" + (optional) GBuffer extraction.
// CaptureSceneExtended();
}
constexpr const TCHAR* GBufferNames[] =
@ -508,7 +511,7 @@ void ASceneCaptureSensor::CaptureSceneExtended()
if (Prior != GBufferPtr->DesiredTexturesMask)
UE_LOG(LogCarla, Verbose, TEXT("GBuffer selection changed (%llu)."), GBufferPtr->DesiredTexturesMask);
Prior = GBufferPtr->DesiredTexturesMask;
GBufferPtr->OwningActor = CaptureComponent2D->GetViewOwner();

14
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
View File

@ -60,6 +60,11 @@ struct FCameraGBufferUint8
template <typename SensorT>
FAsyncDataStream GetDataStream(const SensorT &Self)
{
while (!Stream.IsStreamReady())
{
std::this_thread::yield();
}
return Stream.MakeAsyncDataStream(Self, Self.GetEpisode().GetElapsedGameTime());
}
@ -102,9 +107,14 @@ struct FCameraGBufferFloat
template <typename SensorT>
FAsyncDataStream GetDataStream(const SensorT &Self)
{
while (!Stream.IsStreamReady())
{
std::this_thread::yield();
}
return Stream.MakeAsyncDataStream(Self, Self.GetEpisode().GetElapsedGameTime());
}
mutable bool bIsUsed = false;
FDataStream Stream;
};
@ -420,7 +430,7 @@ public:
} CameraGBuffers;
protected:
void CaptureSceneExtended();
virtual void SendGBufferTextures(FGBufferRequest& GBuffer);

12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h
View File

@ -56,6 +56,11 @@ public:
return Stream.GetToken();
}
bool IsStreamReady()
{
return Stream.IsStreamReady();
}
void Tick(const float DeltaTime) final;
virtual void PrePhysTick(float DeltaSeconds) {}
@ -65,7 +70,7 @@ public:
// Small interface to notify sensors when no clients are listening
virtual void OnLastClientDisconnected() {};
void PostPhysTickInternal(UWorld *World, ELevelTick TickType, float DeltaSeconds);
UFUNCTION(BlueprintCallable)
@ -102,6 +107,11 @@ protected:
template <typename SensorT>
FAsyncDataStream GetDataStream(const SensorT &Self)
{
while (!Stream.IsStreamReady())
{
std::this_thread::yield();
}
return Stream.MakeAsyncDataStream(Self, GetEpisode().GetElapsedGameTime());
}

36
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp
View File

@ -134,27 +134,27 @@ FActorSpawnResult ASensorFactory::SpawnActor(
{
auto *Episode = GameInstance->GetCarlaEpisode();
check(Episode != nullptr);
Sensor->SetEpisode(*Episode);
Sensor->Set(Description);
Sensor->SetDataStream(GameInstance->GetServer().OpenStream());
ASceneCaptureSensor * SceneCaptureSensor = Cast<ASceneCaptureSensor>(Sensor);
if(SceneCaptureSensor)
{
SceneCaptureSensor->CameraGBuffers.SceneColor.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.SceneDepth.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.SceneStencil.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.GBufferA.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.GBufferB.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.GBufferC.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.GBufferD.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.GBufferE.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.GBufferF.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.Velocity.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.SSAO.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.CustomDepth.SetDataStream(GameInstance->GetServer().OpenStream());
SceneCaptureSensor->CameraGBuffers.CustomStencil.SetDataStream(GameInstance->GetServer().OpenStream());
}
// ASceneCaptureSensor * SceneCaptureSensor = Cast<ASceneCaptureSensor>(Sensor);
// if(SceneCaptureSensor)
// {
// SceneCaptureSensor->CameraGBuffers.SceneColor.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.SceneDepth.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.SceneStencil.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.GBufferA.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.GBufferB.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.GBufferC.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.GBufferD.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.GBufferE.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.GBufferF.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.Velocity.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.SSAO.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.CustomDepth.SetDataStream(GameInstance->GetServer().OpenStream());
// SceneCaptureSensor->CameraGBuffers.CustomStencil.SetDataStream(GameInstance->GetServer().OpenStream());
// }
}
UGameplayStatics::FinishSpawningActor(Sensor, Transform);
return FActorSpawnResult{Sensor};

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
View File

@ -371,6 +371,10 @@ void FWorldObserver::BroadcastTick(
bool PendingLightUpdates)
{
TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__);
if (!Stream.IsStreamReady())
return;
auto AsyncStream = Stream.MakeAsyncDataStream(*this, Episode.GetElapsedGameTime());
carla::Buffer buffer = FWorldObserver_Serialize(