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add ROS2 rgb camera plugin #24

Merged
merged 7 commits into from
Dec 30, 2021
Merged

add ROS2 rgb camera plugin #24

merged 7 commits into from
Dec 30, 2021

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yuokamoto
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@yuokamoto yuokamoto mentioned this pull request Dec 12, 2021
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@yuokamoto yuokamoto marked this pull request as ready for review December 13, 2021 03:41
@yuokamoto yuokamoto force-pushed the camaera_plugin branch 2 times, most recently from be4d238 to a65d276 Compare December 26, 2021 05:57
Tadinu
Tadinu reviewed Dec 28, 2021
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Source/RapyutaSimulationPlugins/Private/Sensors/ROS2CameraComponent.cpp Outdated
Comment on lines 60 to 90
FROSImage UROS2CameraComponent::GetData()
{
SceneCaptureComponent->CaptureScene();
CaptureNonBlocking();
if(!RenderRequestQueue.IsEmpty()){
// Peek the next RenderRequest from queue
FRenderRequest* nextRenderRequest = nullptr;
RenderRequestQueue.Peek(nextRenderRequest);

if(nextRenderRequest){ //nullptr check
if(nextRenderRequest->RenderFence.IsFenceComplete()){ // Check if rendering is done, indicated by RenderFence
for (int I = 0; I < nextRenderRequest->Image.Num(); I++)
{
Data.data[I * 3 + 0] = nextRenderRequest->Image[I].R;
Data.data[I * 3 + 1] = nextRenderRequest->Image[I].G;
Data.data[I * 3 + 2] = nextRenderRequest->Image[I].B;
// UE_LOG(LogTemp, Warning, TEXT("AsyncTaskDone"));
}

// Delete the first element from RenderQueue
RenderRequestQueue.Pop();
delete nextRenderRequest;
}
}
}
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Since here we do CaptureNonBlocking(), which means the GameThread is non-blocking, and the capturing (pixel reading from RHI) could possibly take some time before RHI returns the data.
Thus, if(nextRenderRequest->RenderFence.IsFenceComplete()) might not be instantly satisfied.

But more essentially, an instant data fetching function named GetData() could be inevitably blocking, if users want to invoke a non-blocking version, they might want to fetch data at a later time, when it is available from RHI, after invoking CaptureNonBlocking()?

References:

  • TimmHess actually runs the fence check in a tick then do async image saving.
  • Another one of async fetching style by off-loading the fence check to a thread.
@yuokamoto yuokamoto merged commit da1f761 into main Dec 30, 2021
@yuokamoto yuokamoto deleted the camaera_plugin branch December 30, 2021 09:21
Tadinu pushed a commit that referenced this pull request Jan 5, 2022
@yuokamoto
add ROS2 rgb camera plugin (#24)
f2e7866 
* add rgb camera plugin
yuokamoto added a commit that referenced this pull request Jan 6, 2022
@yuokamoto
add ROS2 rgb camera plugin (#24)
dc1f79c 
* add rgb camera plugin
@james-yoo james-yoo mentioned this pull request Jan 12, 2022
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@yuokamoto @tetorea @Tadinu