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Upgrade RenderEngineGl's image readback #24726

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Upgrade RenderEngineGl's image readback #24726

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27 changes: 17 additions & 10 deletions geometry/render_gl/internal_render_engine_gl.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1106,8 +1106,11 @@ void RenderEngineGl::DoRenderColorImage(const ColorRenderCamera& camera,
// the front buffer; reversing the order means the image we've just rendered
// wouldn't be visible.
SetWindowVisibility(camera.core(), camera.show_window(), render_target);
glGetTextureImage(render_target.value_texture, 0, GL_RGBA, GL_UNSIGNED_BYTE,
color_image_out->size(), color_image_out->at(0, 0));
glReadBuffer(GL_COLOR_ATTACHMENT0);
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glPixelStorei(GL_PACK_ROW_LENGTH, 0);
glReadPixels(0, 0, color_image_out->width(), color_image_out->height(),
GL_RGBA, GL_UNSIGNED_BYTE, color_image_out->at(0, 0));
}

void RenderEngineGl::DoRenderDepthImage(const DepthRenderCamera& camera,
Expand Down Expand Up @@ -1139,9 +1142,11 @@ void RenderEngineGl::DoRenderDepthImage(const DepthRenderCamera& camera,
shader_program.Unuse();
}

glGetTextureImage(render_target.value_texture, 0, GL_RED, GL_FLOAT,
depth_image_out->size() * sizeof(GLfloat),
depth_image_out->at(0, 0));
glReadBuffer(GL_COLOR_ATTACHMENT0);
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glPixelStorei(GL_PACK_ROW_LENGTH, 0);
glReadPixels(0, 0, depth_image_out->width(), depth_image_out->height(),
GL_RED, GL_FLOAT, depth_image_out->at(0, 0));
}

void RenderEngineGl::DoRenderLabelImage(const ColorRenderCamera& camera,
Expand Down Expand Up @@ -1182,7 +1187,7 @@ void RenderEngineGl::DoRenderLabelImage(const ColorRenderCamera& camera,
// buffer texture consisting of a single-channel, 16-bit, signed int (to match
// the underlying RenderLabel value). Doing so would allow us to render labels
// directly and eliminate this additional pass.
GetLabelImage(label_image_out, render_target);
GetLabelImage(label_image_out);
}

std::string RenderEngineGl::DoGetParameterYaml() const {
Expand Down Expand Up @@ -2268,11 +2273,13 @@ RenderTarget RenderEngineGl::CreateRenderTarget(const RenderCameraCore& camera,
return target;
}

void RenderEngineGl::GetLabelImage(ImageLabel16I* label_image_out,
const RenderTarget& target) const {
void RenderEngineGl::GetLabelImage(ImageLabel16I* label_image_out) const {
ImageRgba8U image(label_image_out->width(), label_image_out->height());
glGetTextureImage(target.value_texture, 0, GL_RGBA, GL_UNSIGNED_BYTE,
image.size() * sizeof(GLubyte), image.at(0, 0));
glReadBuffer(GL_COLOR_ATTACHMENT0);
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glPixelStorei(GL_PACK_ROW_LENGTH, 0);
glReadPixels(0, 0, image.width(), image.height(), GL_RGBA, GL_UNSIGNED_BYTE,
image.at(0, 0));
for (int y = 0; y < image.height(); ++y) {
for (int x = 0; x < image.width(); ++x) {
*label_image_out->at(x, y) = RenderEngine::MakeLabelFromRgb(
Expand Down
4 changes: 2 additions & 2 deletions geometry/render_gl/internal_render_engine_gl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -279,8 +279,8 @@ class RenderEngineGl final : public render::RenderEngine, private ShapeReifier {
// Obtains the label image rendered from a specific object pose. This is
// slower than it has to be because it does per-pixel processing on the CPU.
// TODO(SeanCurtis-TRI): Figure out how to do all of this directly on the GPU.
void GetLabelImage(drake::systems::sensors::ImageLabel16I* label_image_out,
const RenderTarget& target) const;
void GetLabelImage(
drake::systems::sensors::ImageLabel16I* label_image_out) const;

// Acquires the render target for the given camera. "Acquiring" the render
// target guarantees that the target will be ready for receiving OpenGL
Expand Down