Add GPU skinning and update multi-return modes #353
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* Adjust Plugin to new RGL version * Make skinned models readable * Add new API calls * Perform skinning in RGL * Optimize calculating the pose by caching it for objects that share the same skeleton * Cleanup & docs * Update RGL binaries * Remove unused package import * Review fixes * Update RGL binary for Linux
* Make updates to multi-return and snow simulation. * Remove not used include. * Update LiDAR prefabs to new multi-return. * Add updated RGL binary. * Fix RGL binary. * Change default setting of LiDAR divergence. * Update documentation on multi-return. * Make changes based on review. * Update RGL binaries (#351) * Update RGL Linux binary * Update RGL Windows binary --------- Signed-off-by: Paweł Liberadzki <[email protected]> Co-authored-by: Mateusz Szczygielski <[email protected]>
Signed-off-by: Paweł Liberadzki <[email protected]>
msz-rai
approved these changes
Aug 28, 2024
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This PR introduces two features that were also made on RGL side:
GPU skinning
Description: Previous CPU skinning (baking mesh on CPU and passing it to RGL) was replaced by GPU-based skinning - now only skinned mesh poses are passed into RGL, and vertex positions are recalculated internally, right before raytracing. This can only be observed as performance gain (compared to previous solution). User is not required to turn this on somehow - this feature is always enabled. Performance gain depends on the number of skinned meshes on the scene.
Testing: LidarSkinnedStress sample scene can be run to check the performance achieved. Comparing between current and previous approach may be done on the same scene, but will require switching branches.
Updated multi-return modes
Description: Previously user was able to select only not divergent rays, first return on last return, as in the image below:
After the updated this component changed to:
Where available return modes are:
Moreover, the switch was added to provide an option to instantly turn on/off laser beam divergence simulation (to keep previous ...NOT_DIVERGENT setting).
Testing: LidarMultiReturnSample scene may be used here. There are multiple wall in the scene - cloud point should be placed differently on wall edges depending on the selected return mode. Moreover, more points should be observed e.g. on the ground, when dual-return modes are selected.