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Fix work groups of depth compute shader #633

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merged 4 commits into from
Feb 12, 2024
Merged

Fix work groups of depth compute shader #633

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8caa0c1
Fix depth compute shader workgroups
fredyshox Feb 6, 2024
1f72840
Optimize local_size for nvidia
fredyshox Feb 6, 2024
3dca1eb
Merge branch 'main' into depth-workgroup-fix
fredyshox Feb 6, 2024
83b5163
Go back to 16x16
fredyshox Feb 6, 2024
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5 changes: 4 additions & 1 deletion metadrive/component/sensors/depth_camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ class DepthCamera(BaseCamera):

def __init__(self, width, height, engine, *, cuda=False):
self.BUFFER_W, self.BUFFER_H = width, height
self.shader_local_size = (16, 16)
# factors of the log algorithm used to process distance to object
self.log_b = np.log(16)
self.log_base = np.log(5)
Expand Down Expand Up @@ -139,8 +140,10 @@ def _dispatch_compute(self, task):
"""
Call me per frame when you want to access the depth texture result with cuda enabled
"""
work_group_x = int(np.ceil(self.depth_tex.getXSize() / self.shader_local_size[0]))
work_group_y = int(np.ceil(self.depth_tex.getYSize() / self.shader_local_size[1]))
self.engine.graphicsEngine.dispatch_compute(
(64, 64, 1), self.compute_node.get_attrib(ShaderAttrib), self.engine.win.get_gsg()
(work_group_x, work_group_y, 1), self.compute_node.get_attrib(ShaderAttrib), self.engine.win.get_gsg()
)
# self.engine.graphicsEngine.extractTextureData(self.output_tex, self.engine.win.get_gsg())
# self.output_tex.write("{}.png".format(self.engine.episode_step))
Expand Down
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