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Reduce lidar data discretization #296

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merged 6 commits into from
Apr 24, 2021
Merged

Reduce lidar data discretization #296

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c2ee716
update texture size
iche033 Apr 1, 2021
42f7466
set cap to 1024
iche033 Apr 9, 2021
f862220
Merge branch 'ign-rendering4' into lidar_discretization
iche033 Apr 9, 2021
86b6a34
Merge branch 'ign-rendering4' into lidar_discretization
iche033 Apr 20, 2021
e4fa542
set min tex size
iche033 Apr 20, 2021
4a2de0c
Merge remote-tracking branch 'origin/lidar_discretization' into lidar…
iche033 Apr 20, 2021
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29 changes: 27 additions & 2 deletions ogre2/src/Ogre2GpuRays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -454,7 +454,8 @@ void Ogre2GpuRays::CreateCamera()
void Ogre2GpuRays::ConfigureCamera()
{
// horizontal gpu rays setup
this->SetHFOV(this->AngleMax() - this->AngleMin());
auto hfovAngle = this->AngleMax() - this->AngleMin();
this->SetHFOV(hfovAngle);

// vertical laser setup
double vfovAngle;
Expand All @@ -477,7 +478,31 @@ void Ogre2GpuRays::ConfigureCamera()
this->SetVFOV(vfovAngle);

// Configure first pass texture size
this->Set1stTextureSize(1024, 1024);
// Each cubemap texture covers 90 deg FOV so determine number of samples
// within the view for both horizontal and vertical FOV
unsigned int hs = static_cast<unsigned int>(
IGN_PI * 0.5 / hfovAngle.Radian() * this->RangeCount());
unsigned int vs = static_cast<unsigned int>(
IGN_PI * 0.5 / vfovAngle * this->VerticalRangeCount());

// get the max number from the two
unsigned int v = std::max(hs, vs);
// round to next highest power of 2
// https://graphics.stanford.edu/~seander/bithacks.html#RoundUpPowerOf2
v--;
v |= v >> 1;
v |= v >> 2;
v |= v >> 4;
v |= v >> 8;
v |= v >> 16;
v++;
// limit max texture size to 1024
unsigned int min1stPassSamples = 2u;
unsigned int max1stPassSamples = 1024u;
unsigned int samples1stPass =
std::clamp(v, min1stPassSamples, max1stPassSamples);

this->Set1stTextureSize(samples1stPass, samples1stPass);

// Configure second pass texture size
this->SetRangeCount(this->RangeCount(), this->VerticalRangeCount());
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