Merge from 'develop' into 'main' for CLOiSim-4.7.2 (#306)

lge-ros2 · Aug 7, 2024 · e262a55 · e262a55
2 parents 04d9aca + eb49522
commit e262a55
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Showing 43 changed files with 1,095 additions and 1,055 deletions.
diff --git a/Assets/Resources/Materials/Segmentation.mat b/Assets/Resources/Materials/Segmentation.mat
diff --git a/Assets/Resources/Materials/Segmentation.mat.meta b/Assets/Resources/Materials/Segmentation.mat.meta
diff --git a/Assets/Resources/RenderPipelines/SegmentationRenderer.asset b/Assets/Resources/RenderPipelines/SegmentationRenderer.asset
@@ -10,12 +10,12 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 6b3d386ba5cd94485973aee1479b272e, type: 3}
-  m_Name: RenderObjects
+  m_Name: SegmentationRenderObjects
   m_EditorClassIdentifier: 
   m_Active: 1
   settings:
-    passTag: RenderObjects
-    Event: 550
+    passTag: SegmentationRenderObjects
+    Event: 300
     filterSettings:
       RenderQueueType: 0
       LayerMask:
@@ -26,9 +26,9 @@ MonoBehaviour:
     overrideMaterialPassIndex: 0
     overrideShader: {fileID: 4800000, guid: 419a697b1455619dea4cc9d729b3d0c8, type: 3}
     overrideShaderPassIndex: 0
-    overrideMode: 1
+    overrideMode: 2
     overrideDepthState: 0
-    depthCompareFunction: 2
+    depthCompareFunction: 0
     enableWrite: 0
     stencilSettings:
       overrideStencilState: 0

diff --git a/Assets/Resources/Shader/Depth.shader b/Assets/Resources/Shader/Depth.shader
@@ -3,8 +3,8 @@ Shader "Sensor/Depth"
 {
 	Properties
 	{
-		_ReverseData ("reverse depth data", Int) = 0
-		_FlipX ("horizontal flip", Int) = 1
+		[Toggle] _ReverseData ("reverse depth data", int) = 0
+		[Toggle] _FlipX ("horizontal flip", int) = 1
 	}
 
 	SubShader
@@ -33,9 +33,10 @@ Shader "Sensor/Depth"
 			int _ReverseData;
 			int _FlipX;
 
+			#pragma multi_compile_instancing
 			#pragma vertex vert
 			#pragma fragment frag
-			#pragma target 4.0
+			#pragma target 5.0
 			#include "UnityCG.cginc"
 
 			uniform sampler2D _CameraDepthTexture;

diff --git a/Assets/Resources/Shader/DepthBufferScaling.compute b/Assets/Resources/Shader/DepthBufferScaling.compute
@@ -17,29 +17,26 @@ int _UnitSize;
 [numthreads(THREADS, GROUPS, 1)]
 void CSScaleDepthBuffer(uint3 id : SV_DispatchThreadID)
 {
-  const uint bufIndex = id.y *_Width + id.x;
-  const float data = _Input.Load(bufIndex);
-  const float rangedData = data * _DepthMax;
+	const uint bufIndex = id.y *_Width + id.x;
+	const float data = _Input.Load(bufIndex);
+	const float rangedData = data * _DepthMax;
 
-  if (_UnitSize == 4)
-  {
-    _Output[bufIndex] = asuint(rangedData);
-  }
-  else
-  {
-    uint finalData;
-    if (_UnitSize == 2)
-    {
-      const float max_scaled_range = MAX_RANGE_16BITS / _DepthScale;
-      const float scaledData = ((rangedData > max_scaled_range)? max_scaled_range : rangedData) * _DepthScale;
-      finalData = asuint((uint)scaledData) & 0xFFFF;
-    }
-    else // 1
-    {
-      // const float max_scaled_range = MAX_RANGE_8BITS;
-      const float scaledData = rangedData / _DepthMax * MAX_RANGE_8BITS;//((rangedData > max_scaled_range)? max_scaled_range : rangedData) * _DepthScale;
-      finalData = asuint((uint)scaledData) & 0xFF;
-    }
-    _Output[bufIndex] = finalData;
-  }
+	uint finalData = 0;
+
+	if (_UnitSize == 4)
+	{
+		finalData = asuint(rangedData);
+	}
+	else if (_UnitSize == 2)
+	{
+		const float max_scaled_range = MAX_RANGE_16BITS / _DepthScale;
+		const float scaledData = ((rangedData > max_scaled_range)? max_scaled_range : rangedData) * _DepthScale;
+		finalData = asuint((uint)scaledData) & 0xFFFF;
+	}
+	else // 1
+	{
+		const float scaledData = rangedData / _DepthMax * MAX_RANGE_8BITS;//((rangedData > max_scaled_range)? max_scaled_range : rangedData) * _DepthScale;
+		finalData = asuint((uint)scaledData) & 0xFF;
+	}
+	_Output[bufIndex] = finalData;
 }