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Optimize the depth-cloud shader when depth=0 #1729

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merged 4 commits into from
Mar 30, 2023
Merged

Optimize the depth-cloud shader when depth=0 #1729

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3b54db4
Optimize the depth-cloud shader when depth=0
emilk Mar 28, 2023
208c747
Put happy-path first, and also handle NaNs
emilk Mar 28, 2023
49105e7
var -> let
emilk Mar 28, 2023
6f60d4b
Remove unnecessary parenthesis in wgsl if-statements
emilk Mar 30, 2023
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79 changes: 46 additions & 33 deletions crates/re_renderer/shader/depth_cloud.wgsl
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Original file line number Diff line number Diff line change
Expand Up @@ -13,14 +13,6 @@

// ---

struct PointData {
pos_in_world: Vec3,
unresolved_radius: f32,
color: Vec4
}

// ---

/// Keep in sync with `DepthCloudInfoUBO` in `depth_cloud.rs`.
///
/// Same for all draw-phases.
Expand Down Expand Up @@ -66,6 +58,14 @@ struct VertexOut {
@location(3) point_radius: f32,
};

// ---

struct PointData {
pos_in_world: Vec3,
unresolved_radius: f32,
color: Vec4
}

// Backprojects the depth texture using the intrinsics passed in the uniform buffer.
fn compute_point_data(quad_idx: i32) -> PointData {
let wh = textureDimensions(depth_texture);
Expand All @@ -74,26 +74,32 @@ fn compute_point_data(quad_idx: i32) -> PointData {
// TODO(cmc): expose knobs to linearize/normalize/flip/cam-to-plane depth.
let world_space_depth = depth_cloud_info.world_depth_from_texture_value * textureLoad(depth_texture, texcoords, 0).x;

// TODO(cmc): albedo textures
let color = Vec4(colormap_linear(depth_cloud_info.colormap, world_space_depth / depth_cloud_info.max_depth_in_world), 1.0);

// TODO(cmc): This assumes a pinhole camera; need to support other kinds at some point.
let intrinsics = depth_cloud_info.depth_camera_intrinsics;
let focal_length = Vec2(intrinsics[0][0], intrinsics[1][1]);
let offset = Vec2(intrinsics[2][0], intrinsics[2][1]);

let pos_in_obj = Vec3(
(Vec2(texcoords) - offset) * world_space_depth / focal_length,
world_space_depth,
);

let pos_in_world = depth_cloud_info.world_from_obj * Vec4(pos_in_obj, 1.0);

var data: PointData;
data.pos_in_world = pos_in_world.xyz;
data.unresolved_radius = depth_cloud_info.point_radius_from_world_depth * world_space_depth;
data.color = color;

if (0.0 < world_space_depth && world_space_depth < f32max) {
// TODO(cmc): albedo textures
let color = Vec4(colormap_linear(depth_cloud_info.colormap, world_space_depth / depth_cloud_info.max_depth_in_world), 1.0);

// TODO(cmc): This assumes a pinhole camera; need to support other kinds at some point.
let intrinsics = depth_cloud_info.depth_camera_intrinsics;
let focal_length = Vec2(intrinsics[0][0], intrinsics[1][1]);
let offset = Vec2(intrinsics[2][0], intrinsics[2][1]);

let pos_in_obj = Vec3(
(Vec2(texcoords) - offset) * world_space_depth / focal_length,
world_space_depth,
);

let pos_in_world = depth_cloud_info.world_from_obj * Vec4(pos_in_obj, 1.0);

data.pos_in_world = pos_in_world.xyz;
data.unresolved_radius = depth_cloud_info.point_radius_from_world_depth * world_space_depth;
data.color = color;
} else {
// Degenerate case
data.pos_in_world = Vec3(0.0);
data.unresolved_radius = 0.0;
data.color = Vec4(0.0);
}
return data;
}

Expand All @@ -104,15 +110,22 @@ fn vs_main(@builtin(vertex_index) vertex_idx: u32) -> VertexOut {
// Compute point data (valid for the entire quad).
let point_data = compute_point_data(quad_idx);

// Span quad
let quad = sphere_quad_span(vertex_idx, point_data.pos_in_world, point_data.unresolved_radius, depth_cloud_info.radius_boost_in_ui_points);

var out: VertexOut;
out.pos_in_clip = frame.projection_from_world * Vec4(quad.pos_in_world, 1.0);
out.pos_in_world = quad.pos_in_world;
out.point_pos_in_world = point_data.pos_in_world;
out.point_color = point_data.color;
out.point_radius = quad.point_resolved_radius;

if (0.0 < point_data.unresolved_radius) {
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// Span quad
let quad = sphere_quad_span(vertex_idx, point_data.pos_in_world, point_data.unresolved_radius, depth_cloud_info.radius_boost_in_ui_points);
out.pos_in_clip = frame.projection_from_world * Vec4(quad.pos_in_world, 1.0);
out.pos_in_world = quad.pos_in_world;
out.point_radius = quad.point_resolved_radius;
} else {
// Degenerate case - early-out!
out.pos_in_clip = Vec4(0.0);
out.pos_in_world = Vec3(0.0);
out.point_radius = 0.0;
}

return out;
}
Expand Down