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Add option to toggle frustum culling in replay renderer. #2199

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merged 2 commits into from
Sep 8, 2023
Merged

Add option to toggle frustum culling in replay renderer. #2199

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87490d9
Add option to toggle frustum culling in replay renderer.
0mdc Sep 7, 2023
d2eb3ef
Add simulator flag for correctness.
0mdc Sep 7, 2023
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3 changes: 3 additions & 0 deletions src/esp/bindings/SimBindings.cpp
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Expand Up @@ -379,6 +379,9 @@ void initSimBindings(py::module& m) {
R"(List of sensor specifications for one simulator. For batch rendering, all simulators must have the same specification.)")
.def_readwrite("gpu_device_id", &ReplayRendererConfiguration::gpuDeviceId,
R"(The system GPU device to use for rendering)")
.def_readwrite("enable_frustum_culling",
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&ReplayRendererConfiguration::enableFrustumCulling,
R"(Controls whether frustum culling is enabled.)")
.def_readwrite(
"force_separate_semantic_scene_graph",
&ReplayRendererConfiguration::forceSeparateSemanticSceneGraph,
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2 changes: 2 additions & 0 deletions src/esp/sim/AbstractReplayRenderer.h
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Expand Up @@ -55,6 +55,8 @@ class ReplayRendererConfiguration {
*/
bool leaveContextWithBackgroundRenderer = false;

bool enableFrustumCulling = true;
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std::vector<std::shared_ptr<sensor::SensorSpec>> sensorSpecifications;

ESP_SMART_POINTERS(ReplayRendererConfiguration)
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20 changes: 13 additions & 7 deletions src/esp/sim/ClassicReplayRenderer.cpp
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Expand Up @@ -236,11 +236,14 @@ void ClassicReplayRenderer::doRender(
}

#ifdef ESP_BUILD_WITH_BACKGROUND_RENDERER
esp::gfx::RenderCamera::Flags flags{};
if (config_.enableFrustumCulling) {
flags |= gfx::RenderCamera::Flag::FrustumCulling;
}
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if (imageViews.size() > 0) {
renderer_->enqueueAsyncDrawJob(
visualSensor, sceneGraph, imageViews[envIndex],
esp::gfx::RenderCamera::Flags{
gfx::RenderCamera::Flag::FrustumCulling});
renderer_->enqueueAsyncDrawJob(visualSensor, sceneGraph,
imageViews[envIndex], flags);
}
#else
// TODO what am I supposed to do here?
Expand All @@ -258,6 +261,10 @@ void ClassicReplayRenderer::doRender(
void ClassicReplayRenderer::doRender(
Magnum::GL::AbstractFramebuffer& framebuffer) {
const Mn::Vector2i gridSize = environmentGridSize(config_.numEnvironments);
esp::gfx::RenderCamera::Flags flags{};
if (config_.enableFrustumCulling) {
flags |= gfx::RenderCamera::Flag::FrustumCulling;
}
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for (int envIndex = 0; envIndex < config_.numEnvironments; envIndex++) {
auto& sensorMap = getEnvironmentSensors(envIndex);
Expand All @@ -269,9 +276,8 @@ void ClassicReplayRenderer::doRender(
visualSensor.renderTarget().renderEnter();

auto& sceneGraph = getSceneGraph(envIndex);
renderer_->draw(
*visualSensor.getRenderCamera(), sceneGraph,
esp::gfx::RenderCamera::Flags{gfx::RenderCamera::Flag::FrustumCulling});

renderer_->draw(*visualSensor.getRenderCamera(), sceneGraph, flags);

if (envIndex == 0 && debugLineRender_) {
auto* camera = visualSensor.getRenderCamera();
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