tud-cor / FS19_modROS

(partial) ROS1 integration for FarmSim19
Apache License 2.0
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Investigate DirectX hooking to grab depth buffer(s) #22

Open gavanderhoorn opened 3 years ago

gavanderhoorn commented 3 years ago

Hooking into the render pipeline of FS might allow us to publish depth images, which would go toward a proper 3D / depth camera sensor.

Rendering multiple viewpoints at the same time would still be an issue, but it would already be better than just the virtual laser scanner and just the 2D RGB captures made by d3dshot_screen_grabber.


Edit: some options/links:

FS19 is DirectX11, so Indicium-Supra should work.

reshade may also prove interesting.

gavanderhoorn commented 3 years ago

Marking this as help-wanted, as this is outside our core expertise and would require research.

tsbertalan commented 1 year ago

A useful note (I think): I believe that the ReShade post-processing injector might provide a way to do this with a little less grunt work from our side.

... and now @gavanderhoorn points out to me that this is in the OP. Oh well, I tried.

(reposting this comment from the correct user); oops