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Merge pull request gazebosim#975 from gazebosim/backport_depth_perf
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Backport Ogre2DepthCamera performance improvements
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@iche033
iche033 authored Mar 1, 2024
2 parents 50e86de + 53bc773 commit 24c920a
Showing 1 changed file with 116 additions and 13 deletions.
129 changes: 116 additions & 13 deletions ogre2/src/Ogre2DepthCamera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -32,14 +32,14 @@
#endif
#endif

#include <cstdint>
#include <math.h>
#include <gz/math/Helpers.hh>

#include "gz/rendering/RenderTypes.hh"
#include "gz/rendering/ogre2/Ogre2Conversions.hh"
#include "gz/rendering/ogre2/Ogre2DepthCamera.hh"
#include "gz/rendering/ogre2/Ogre2GaussianNoisePass.hh"
#include "gz/rendering/ogre2/Ogre2Includes.hh"
#include "gz/rendering/ogre2/Ogre2ParticleEmitter.hh"
#include "gz/rendering/ogre2/Ogre2RenderEngine.hh"
#include "gz/rendering/ogre2/Ogre2RenderTarget.hh"
Expand All @@ -49,6 +49,26 @@

#include "Ogre2ParticleNoiseListener.hh"

#ifdef _MSC_VER
#pragma warning(push, 0)
#endif
#include <Compositor/OgreCompositorManager2.h>
#include <Compositor/OgreCompositorWorkspace.h>
#include <Compositor/Pass/PassClear/OgreCompositorPassClearDef.h>
#include <Compositor/Pass/PassQuad/OgreCompositorPassQuadDef.h>
#include <Compositor/Pass/PassScene/OgreCompositorPassSceneDef.h>
#include <OgreDepthBuffer.h>
#include <OgreImage2.h>
#include <OgreParticleSystemManager.h>
#include <OgreRoot.h>
#include <OgreSceneManager.h>
#include <OgreTechnique.h>
#include <OgreTextureBox.h>
#include <OgreTextureGpuManager.h>
#ifdef _MSC_VER
#pragma warning(pop)
#endif

namespace ignition
{
namespace rendering
Expand Down Expand Up @@ -156,6 +176,19 @@ class gz::rendering::Ogre2DepthCameraPrivate

/// \brief Name of shadow compositor node
public: const std::string kShadowNodeName = "PbsMaterialsShadowNode";

/// \brief Execution mask for this workspace
/// If RGB point color data are requested, the execution mask of the color
/// target will be updated to match the workspace's execution mask so that
/// these passes are executed, otherwise they will be skipped for performance
/// improvement.
public: const uint8_t kDepthExecutionMask = 0xEF;

/// \brief Pointer to the color target definition in the workspace
public: Ogre::CompositorTargetDef *colorTargetDef{nullptr};

/// \brief Pointer to the particle target definition in the workspace
public: Ogre::CompositorTargetDef *particleTargetDef{nullptr};
};

using namespace gz;
Expand Down Expand Up @@ -321,6 +354,8 @@ void Ogre2DepthCamera::Destroy()
{
ogreCompMgr->removeWorkspace(
this->dataPtr->ogreCompositorWorkspace);
this->dataPtr->colorTargetDef = nullptr;
this->dataPtr->particleTargetDef = nullptr;
}

if (this->dataPtr->depthMaterial)
Expand Down Expand Up @@ -704,19 +739,25 @@ void Ogre2DepthCamera::CreateDepthTexture()
rtvParticleTexture->depthAttachment.textureName = "particleDepthTexture";

baseNodeDef->setNumTargetPass(4);
Ogre::CompositorTargetDef *colorTargetDef =
this->dataPtr->colorTargetDef =
baseNodeDef->addTargetPass("colorTexture");

if (validBackground)
colorTargetDef->setNumPasses(3);
this->dataPtr->colorTargetDef->setNumPasses(4);
else
colorTargetDef->setNumPasses(2);
this->dataPtr->colorTargetDef->setNumPasses(3);
{
// clear pass
Ogre::CompositorPassClearDef *passClear =
static_cast<Ogre::CompositorPassClearDef *>(
this->dataPtr->colorTargetDef->addPass(Ogre::PASS_CLEAR));
passClear->mExecutionMask = this->dataPtr->kDepthExecutionMask;

// scene pass - opaque
{
Ogre::CompositorPassSceneDef *passScene =
static_cast<Ogre::CompositorPassSceneDef *>(
colorTargetDef->addPass(Ogre::PASS_SCENE));
this->dataPtr->colorTargetDef->addPass(Ogre::PASS_SCENE));
passScene->mShadowNode = this->dataPtr->kShadowNodeName;
passScene->setVisibilityMask(IGN_VISIBILITY_ALL);
passScene->mIncludeOverlays = false;
Expand All @@ -735,6 +776,7 @@ void Ogre2DepthCamera::CreateDepthTexture()
Ogre2Conversions::Convert(this->Scene()->BackgroundColor()));

}
passScene->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
}

// render background, e.g. sky, after opaque stuff
Expand All @@ -743,23 +785,25 @@ void Ogre2DepthCamera::CreateDepthTexture()
// quad pass
Ogre::CompositorPassQuadDef *passQuad =
static_cast<Ogre::CompositorPassQuadDef *>(
colorTargetDef->addPass(Ogre::PASS_QUAD));
this->dataPtr->colorTargetDef->addPass(Ogre::PASS_QUAD));
passQuad->mMaterialName = this->dataPtr->kSkyboxMaterialName + "_"
+ this->Name();
passQuad->mFrustumCorners =
Ogre::CompositorPassQuadDef::CAMERA_DIRECTION;
passQuad->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
}

// scene pass - transparent stuff
{
Ogre::CompositorPassSceneDef *passScene =
static_cast<Ogre::CompositorPassSceneDef *>(
colorTargetDef->addPass(Ogre::PASS_SCENE));
this->dataPtr->colorTargetDef->addPass(Ogre::PASS_SCENE));
passScene->setVisibilityMask(IGN_VISIBILITY_ALL);
// todo(anyone) PbsMaterialsShadowNode is hardcoded.
// Although this may be just fine
passScene->mShadowNode = this->dataPtr->kShadowNodeName;
passScene->mFirstRQ = 2u;
passScene->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
}
}

Expand All @@ -776,23 +820,36 @@ void Ogre2DepthCamera::CreateDepthTexture()
this->FarClipPlane(),
this->FarClipPlane(),
this->FarClipPlane()));
// depth texute does not contain particles
// depth texture does not contain particles
passScene->setVisibilityMask(
IGN_VISIBILITY_ALL & ~Ogre2ParticleEmitter::kParticleVisibilityFlags);
passScene->mEnableForwardPlus = false;
passScene->setLightVisibilityMask(0x0);
}

Ogre::CompositorTargetDef *particleTargetDef =
// Ogre::CompositorTargetDef *particleTargetDef =
this->dataPtr->particleTargetDef =
baseNodeDef->addTargetPass("particleTexture");
particleTargetDef->setNumPasses(1);
this->dataPtr->particleTargetDef->setNumPasses(2);
{
// clear pass
Ogre::CompositorPassClearDef *passClear =
static_cast<Ogre::CompositorPassClearDef *>(
this->dataPtr->particleTargetDef->addPass(Ogre::PASS_CLEAR));
passClear->setAllClearColours(Ogre::ColourValue::Black);
passClear->mExecutionMask = this->dataPtr->kDepthExecutionMask;

// scene pass
Ogre::CompositorPassSceneDef *passScene =
static_cast<Ogre::CompositorPassSceneDef *>(
particleTargetDef->addPass(Ogre::PASS_SCENE));
this->dataPtr->particleTargetDef->addPass(Ogre::PASS_SCENE));
passScene->setAllLoadActions(Ogre::LoadAction::Clear);
passScene->setAllClearColours(Ogre::ColourValue::Black);
passScene->setVisibilityMask(
Ogre2ParticleEmitter::kParticleVisibilityFlags);
passScene->mEnableForwardPlus = false;
passScene->setLightVisibilityMask(0x0);
passScene->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
}

// rt0 target - converts depth to xyz
Expand Down Expand Up @@ -922,7 +979,7 @@ void Ogre2DepthCamera::CreateDepthTexture()
Ogre::GpuResidency::Resident);
}

CreateWorkspaceInstance();
this->CreateWorkspaceInstance();
}

//////////////////////////////////////////////////
Expand All @@ -944,7 +1001,8 @@ void Ogre2DepthCamera::CreateWorkspaceInstance()
externalTargets,
this->ogreCamera,
this->dataPtr->ogreCompositorWorkspaceDef,
false);
false, -1, 0, 0, 0, Ogre::Vector4::ZERO, 0x00,
this->dataPtr->kDepthExecutionMask);

this->dataPtr->ogreCompositorWorkspace->addListener(
engine->TerraWorkspaceListener());
Expand Down Expand Up @@ -1013,6 +1071,51 @@ void Ogre2DepthCamera::PreRender()
if (!this->dataPtr->ogreCompositorWorkspace)
this->CreateWorkspaceInstance();


// Disable color target (set to clear pass) if there are no rgb point cloud
// connections
if (this->dataPtr->colorTargetDef)
{
Ogre::CompositorPassDefVec &colorPasses =
this->dataPtr->colorTargetDef->getCompositorPassesNonConst();
IGN_ASSERT(colorPasses.size() > 2u,
"Ogre2DepthCamera color target should contain more than 2 passes");
IGN_ASSERT(colorPasses[0]->getType() == Ogre::PASS_CLEAR,
"Ogre2DepthCamera color target should start with a clear pass");
colorPasses[0]->mExecutionMask =
(this->dataPtr->newRgbPointCloud.ConnectionCount() > 0u) ?
~this->dataPtr->kDepthExecutionMask :this->dataPtr->kDepthExecutionMask;
for (unsigned int i = 1; i < colorPasses.size(); ++i)
{
colorPasses[i]->mExecutionMask =
(this->dataPtr->newRgbPointCloud.ConnectionCount() > 0u) ?
this->dataPtr->kDepthExecutionMask :
~this->dataPtr->kDepthExecutionMask;
}
}

// Disable particle target (set to clear pass) if there are no particles
if (this->dataPtr->particleTargetDef)
{
bool hasParticles =
this->scene->OgreSceneManager()->getMovableObjectIterator(
Ogre::ParticleSystemFactory::FACTORY_TYPE_NAME).hasMoreElements();
Ogre::CompositorPassDefVec &particlePasses =
this->dataPtr->particleTargetDef->getCompositorPassesNonConst();
IGN_ASSERT(particlePasses.size() == 2u,
"Ogre2DepthCamera particle target should 2 passes");
IGN_ASSERT(particlePasses[0]->getType() == Ogre::PASS_CLEAR,
"Ogre2DepthCamera particle target should start with a clear pass");
IGN_ASSERT(particlePasses[1]->getType() == Ogre::PASS_SCENE,
"Ogre2DepthCamera particle target should end with a scene pass");
particlePasses[0]->mExecutionMask =
(hasParticles) ? ~this->dataPtr->kDepthExecutionMask :
this->dataPtr->kDepthExecutionMask;
particlePasses[1]->mExecutionMask =
(hasParticles) ? this->dataPtr->kDepthExecutionMask :
~this->dataPtr->kDepthExecutionMask;
}

// update depth camera render passes
Ogre2RenderTarget::UpdateRenderPassChain(
this->dataPtr->ogreCompositorWorkspace,
Expand Down

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