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Fix UE 4.27 Compatibility #38

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Fix UE 4.27 Compatibility #38

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35 changes: 21 additions & 14 deletions Source/ROSIntegrationVision/Private/VisionComponent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -626,9 +626,9 @@ bool UVisionComponent::ColorObject(AActor *Actor, const FString &name)
if (UStaticMesh *StaticMesh = StaticMeshComponent->GetStaticMesh())
{
uint32 PaintingMeshLODIndex = 0;
uint32 NumLODLevel = StaticMesh->RenderData->LODResources.Num();
uint32 NumLODLevel = StaticMesh->GetRenderData()->LODResources.Num();
//check(NumLODLevel == 1);
FStaticMeshLODResources &LODModel = StaticMesh->RenderData->LODResources[PaintingMeshLODIndex];
FStaticMeshLODResources &LODModel = StaticMesh->GetRenderData()->LODResources[PaintingMeshLODIndex];
FStaticMeshComponentLODInfo *InstanceMeshLODInfo = NULL;

// PaintingMeshLODIndex + 1 is the minimum requirement, enlarge if not satisfied
Expand Down Expand Up @@ -743,18 +743,25 @@ void UVisionComponent::ProcessObject()
}
}

// TODO maybe shift towards "server" who publishs async

//Decode float16 → float32 first
//Then scale by 0.01
void UVisionComponent::convertDepth(const uint16_t *in, __m128 *out) const
{
const size_t size = (Width * Height) / 4;
for (size_t i = 0; i < size; ++i, in += 4, ++out)
{
// Divide by 100 here in order to convert UU (cm) into ROS units (m)
*out = _mm_cvtph_ps(
_mm_div_epi16(
_mm_set_epi16(0, 0, 0, 0, *(in + 3), *(in + 2), *(in + 1), *(in + 0)),
_mm_set_epi16(100, 100, 100, 100, 100, 100, 100, 100)
)
);// / 100;
}
const size_t size = (Width * Height) / 4;
const __m128 scale = _mm_set1_ps(0.01f);

for (size_t i = 0; i < size; ++i, in += 4, ++out)
{
float f[4];
for (int j = 0; j < 4; ++j)
{
FFloat16 half;
half.Encoded = in[j];
f[j] = half.GetFloat();
}

__m128 depth = _mm_loadu_ps(f);
*out = _mm_mul_ps(depth, scale);
}
}