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feat: introduce Image Segmentation based on CustomStencil #359

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d046462
feat: introduce image segmantation based on CustomStencil
bresilla Feb 26, 2025
0d12831
feat: always enable image publishing in ROS2 Camera Component
bresilla Mar 4, 2025
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Binary file added Content/Materials/PP_Segmentation.uasset
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75 changes: 51 additions & 24 deletions Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
// Copyright 2020-2023 Rapyuta Robotics Co., Ltd.

#include "Sensors/RRROS2CameraComponent.h"

#include "BufferVisualizationData.h"

URRROS2CameraComponent::URRROS2CameraComponent()
Expand All @@ -21,44 +20,70 @@ void URRROS2CameraComponent::PreInitializePublisher(UROS2NodeComponent* InROS2No
{
SceneCaptureComponent->FOVAngle = CameraComponent->FieldOfView;
SceneCaptureComponent->OrthoWidth = CameraComponent->OrthoWidth;
SceneCaptureComponent->ShowFlags.SetTemporalAA(true);

RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());

// Set capture source and image properties based on camera type
if (CameraType == EROS2CameraType::RGB)
{
SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_FinalColorHDR;
RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());
SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_SceneColorHDR;

RenderTarget->RenderTargetFormat = ETextureRenderTargetFormat::RTF_RGBA8;
RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_B8G8R8A8, true);

Data.Encoding = TEXT("bgr8");
Data.Step = Width * 3;
Data.Data.AddUninitialized(Width * Height * 3);
}
else if (CameraType == EROS2CameraType::DEPTH)
{
CameraComponent->PostProcessSettings.WeightedBlendables.Array.Add(
FWeightedBlendable(1.0f, GetBufferVisualizationData().GetMaterial(TEXT("SceneDepth"))));
FWeightedBlendable(1.0f, GetBufferVisualizationData().GetMaterial(TEXT("SceneDepth")))
);
SceneCaptureComponent->PostProcessSettings = CameraComponent->PostProcessSettings;
SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_SceneDepth;

RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());
RenderTarget->RenderTargetFormat = ETextureRenderTargetFormat::RTF_RGBA32f;
RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_FloatRGBA, false);

Data.Encoding = TEXT("32FC1");
Data.Step = Width * 4;
Data.Data.AddUninitialized(Width * Height * 4);
}
else if (CameraType == EROS2CameraType::SEGMENT)
{
SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
SceneCaptureComponent->ShowFlags.SetPostProcessing(true);

// material reference: /Script/Engine.Material'/RapyutaSimulationPlugins/Materials/PP_Segmentation.PP_Segmentation'
UMaterial* PostProcessMaterial = LoadObject<UMaterial>(nullptr, TEXT("/RapyutaSimulationPlugins/Materials/PP_Segmentation.PP_Segmentation"));

if(PostProcessMaterial){ // check nullptr
SceneCaptureComponent->AddOrUpdateBlendable(PostProcessMaterial);
} else {
UE_LOG(LogTemp, Log, TEXT("No PostProcessMaterial is assigend"));
}

RenderTarget->RenderTargetFormat = ETextureRenderTargetFormat::RTF_RGBA8;
RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_B8G8R8A8, true);

Data.Encoding = TEXT("bgr8");
Data.Step = Width * 3;
Data.Data.AddUninitialized(Width * Height * 3);
}

// Common setup
SceneCaptureComponent->TextureTarget = RenderTarget;
Data.Header.FrameId = FrameId;
Data.Width = Width;
Data.Height = Height;
Data.Data.AddUninitialized(Width * Height * (CameraType == EROS2CameraType::RGB ? 3 : 4));
QueueSize = QueueSize < 1 ? 1 : QueueSize; // QueueSize should be more than 1
Super::PreInitializePublisher(InROS2Node, InTopicName);
}

void URRROS2CameraComponent::SensorUpdate()
{
if (Render)
{
if (Render) {
SceneCaptureComponent->CaptureScene();
CaptureNonBlocking();
}
Expand Down Expand Up @@ -94,18 +119,19 @@ void URRROS2CameraComponent::CaptureNonBlocking()
FIntRect rect(0, 0, renderTargetResource->GetSizeXY().X, renderTargetResource->GetSizeXY().Y);
FReadSurfaceDataFlags flags(RCM_UNorm, CubeFace_MAX);

if (CameraType == EROS2CameraType::RGB)
if (CameraType == EROS2CameraType::RGB || CameraType == EROS2CameraType::SEGMENT)
{
FReadSurfaceContextRGB readSurfaceContext = {renderTargetResource, &(renderRequest->Image), rect, flags};

ENQUEUE_RENDER_COMMAND(SceneDrawCompletion)
(
[readSurfaceContext, this](FRHICommandListImmediate& RHICmdList)
{
RHICmdList.ReadSurfaceData(readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
readSurfaceContext.Rect,
*readSurfaceContext.OutData,
readSurfaceContext.Flags);
RHICmdList.ReadSurfaceData(
readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
readSurfaceContext.Rect,
*readSurfaceContext.OutData,
readSurfaceContext.Flags);
});
}
else if (CameraType == EROS2CameraType::DEPTH)
Expand All @@ -116,10 +142,11 @@ void URRROS2CameraComponent::CaptureNonBlocking()
(
[readSurfaceContext, this](FRHICommandListImmediate& RHICmdList)
{
RHICmdList.ReadSurfaceFloatData(readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
readSurfaceContext.Rect,
*readSurfaceContext.Depth,
readSurfaceContext.Flags);
RHICmdList.ReadSurfaceFloatData(
readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
readSurfaceContext.Rect,
*readSurfaceContext.Depth,
readSurfaceContext.Flags);
});
}

Expand All @@ -140,26 +167,25 @@ void URRROS2CameraComponent::CaptureNonBlocking()

FROSImg URRROS2CameraComponent::GetROS2Data()
{
if (!RenderRequestQueue.IsEmpty())
{
if (!RenderRequestQueue.IsEmpty()) {
// Timestamp
Data.Header.Stamp = URRConversionUtils::FloatToROSStamp(UGameplayStatics::GetTimeSeconds(GetWorld()));
// Peek the next RenderRequest from queue
FRenderRequest* nextRenderRequest = nullptr;
RenderRequestQueue.Peek(nextRenderRequest);
if (nextRenderRequest && nextRenderRequest->RenderFence.IsFenceComplete())
{
if (CameraType == EROS2CameraType::RGB)
if (CameraType == EROS2CameraType::RGB || CameraType == EROS2CameraType::SEGMENT)
{
// Process RGB data
for (int i = 0; i < nextRenderRequest->Image.Num(); i++)
for (int i = 0; i < nextRenderRequest->Image.Num(); i++)
{
Data.Data[i * 3 + 0] = nextRenderRequest->Image[i].B;
Data.Data[i * 3 + 1] = nextRenderRequest->Image[i].G;
Data.Data[i * 3 + 2] = nextRenderRequest->Image[i].R;
}
}
else if (CameraType == EROS2CameraType::DEPTH)
else if (CameraType == EROS2CameraType::DEPTH)
{
// Process Depth data
for (int i = 0; i < nextRenderRequest->Depth.Num(); i++)
Expand All @@ -174,11 +200,12 @@ FROSImg URRROS2CameraComponent::GetROS2Data()
QueueCount--;
delete nextRenderRequest;
}

}
return Data;
}

void URRROS2CameraComponent::SetROS2Msg(UROS2GenericMsg* InMessage)
{
CastChecked<UROS2ImgMsg>(InMessage)->SetMsg(GetROS2Data());
}
}
4 changes: 3 additions & 1 deletion Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
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Expand Up @@ -38,7 +38,8 @@ UENUM(BlueprintType)
enum class EROS2CameraType : uint8
{
RGB UMETA(DisplayName = "RGB"),
DEPTH UMETA(DisplayName = "Depth")
DEPTH UMETA(DisplayName = "Depth"),
SEGMENT UMETA(DisplayName = "Segment")
};

/**
Expand Down Expand Up @@ -115,6 +116,7 @@ class RAPYUTASIMULATIONPLUGINS_API URRROS2CameraComponent : public URRROS2BaseSe
UPROPERTY(EditAnywhere, BlueprintReadWrite)
EROS2CameraType CameraType = EROS2CameraType::RGB;

// Allow to disable rendering (for performance, it still publishes still image)
UPROPERTY(EditAnywhere, BlueprintReadWrite)
bool Render = true;

Expand Down