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GPU-to-CPU batch renderer API to render color and depth sensors into images. #2044

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merged 12 commits into from
Jun 13, 2023

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0mdc
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@0mdc 0mdc commented Mar 22, 2023

Motivation and Context

This changes the replay renderer API to support rendering of both color and depth sensors into images.
Semantic image views are expected to be added to the API at a later time.

Accompanying lab PR: facebookresearch/habitat-lab#1408

Prior to this change, this API could only produce color images.

Before:

replay_renderer.render(color)

After:

replay_renderer.render(color_images=color, depth_images=depth)

How Has This Been Tested

On Habitat-Lab and CI.

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@0mdc 0mdc requested review from mosra and eundersander March 22, 2023 22:39
@facebook-github-bot facebook-github-bot added the CLA Signed Do not delete this pull request or issue due to inactivity. label Mar 22, 2023
@0mdc 0mdc changed the title GPU-CPU batch renderer API to render any sensor type into images. GPU-to-CPU batch renderer API to render any sensor type into images. Mar 23, 2023
@0mdc 0mdc force-pushed the batch-renderer-gpu-cpu-api-cont branch from 84d7d5d to dfc6e05 Compare April 3, 2023 20:27
src/esp/sim/AbstractReplayRenderer.cpp Outdated Show resolved Hide resolved
src/tests/BatchReplayRendererTest.cpp Outdated Show resolved Hide resolved
@0mdc 0mdc changed the title GPU-to-CPU batch renderer API to render any sensor type into images. GPU-to-CPU batch renderer API to render color and depth sensors into images. Jun 6, 2023
@0mdc 0mdc marked this pull request as ready for review June 7, 2023 19:03
src/esp/bindings/SimBindings.cpp Show resolved Hide resolved
src/tests/BatchReplayRendererTest.cpp Outdated Show resolved Hide resolved
@jturner65 jturner65 self-requested a review June 12, 2023 20:05
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@eundersander eundersander left a comment

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I left some comments. I'm not super-familiar with this code. Maybe @mosra can take a final look and give a green check.

src/esp/sim/ClassicReplayRenderer.cpp Outdated Show resolved Hide resolved
src/tests/BatchReplayRendererTest.cpp Show resolved Hide resolved
src/esp/sim/AbstractReplayRenderer.cpp Outdated Show resolved Hide resolved
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I may have missed something (I'm not that familiar with the batch renderer), but to me this looks good to go.

@0mdc 0mdc merged commit d8e1dc2 into main Jun 13, 2023
@0mdc 0mdc deleted the batch-renderer-gpu-cpu-api-cont branch June 14, 2023 01:55
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5 participants