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Backport mac camera floating fix #339

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merged 3 commits into from
Jun 14, 2021
Merged

Backport mac camera floating fix #339

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57c1ec2
Fix floating point precision bug handling alpha channel (#332) (#333)
darksylinc Jun 9, 2021
86a15c7
Fix depth alpha (#316)
iche033 May 5, 2021
3edbf33
cherry pick f9f1820 and fix conflicts
iche033 Jun 9, 2021
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10 changes: 9 additions & 1 deletion ogre2/src/media/materials/programs/depth_camera_final_fs.glsl
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Original file line number Diff line number Diff line change
Expand Up @@ -31,10 +31,18 @@ uniform float far;
uniform float min;
uniform float max;

uniform vec4 texResolution;

void main()
{
float tolerance = 1e-6;
vec4 p = texture(inputTexture, inPs.uv0);

// Note: We use texelFetch because p.a contains an uint32 and sampling
// (even w/ point filtering) causes p.a to loss information (e.g.
// values close to 0 get rounded to 0)
//
// See https://github.com/ignitionrobotics/ign-rendering/issues/332
vec4 p = texelFetch(inputTexture, ivec2(inPs.uv0 *texResolution.xy), 0);

vec3 point = p.xyz;

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2 changes: 2 additions & 0 deletions ogre2/src/media/materials/scripts/depth_camera.material
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Expand Up @@ -74,6 +74,8 @@ fragment_program DepthCameraFinalFS glsl
default_params
{
param_named inputTexture int 0

param_named_auto texResolution texture_size 0
}
}

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21 changes: 14 additions & 7 deletions test/integration/depth_camera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -249,8 +249,9 @@ void DepthCameraTest::DepthCameraBoxes(
unsigned int ma = *mrgba >> 0 & 0xFF;
EXPECT_EQ(0u, mr);
EXPECT_EQ(0u, mg);
// Note: If it fails here, it may be this problem again:
// https://github.com/ignitionrobotics/ign-rendering/issues/332
EXPECT_GT(mb, 0u);
EXPECT_EQ(255u, ma);

// Far left and right points should be red (background color)
float lc = pointCloudData[pcLeft + 3];
Expand All @@ -263,7 +264,6 @@ void DepthCameraTest::DepthCameraBoxes(
EXPECT_EQ(255u, lr);
EXPECT_EQ(0u, lg);
EXPECT_EQ(0u, lb);
EXPECT_EQ(255u, la);

float rc = pointCloudData[pcRight + 3];
uint32_t *rrgba = reinterpret_cast<uint32_t *>(&rc);
Expand All @@ -275,7 +275,16 @@ void DepthCameraTest::DepthCameraBoxes(
EXPECT_EQ(255u, rr);
EXPECT_EQ(0u, rg);
EXPECT_EQ(0u, rb);
EXPECT_EQ(255u, ra);

// Note: internal texture format used is RGB with no alpha channel
// We observed the values can be either 255 or 0 but graphics card
// drivers are free to fill it with any value they want.
// This should be fixed in ogre 2.2 in ign-rendering6 which forbids
// the use of RGB format.
// see https://github.com/ignitionrobotics/ign-rendering/issues/315
EXPECT_TRUE(255u == ma || 0u == ma);
EXPECT_TRUE(255u == la || 0u == la);
EXPECT_TRUE(255u == ra || 0u == ra);
}

// Check that for a box really close it returns it is not seen
Expand Down Expand Up @@ -441,6 +450,8 @@ void DepthCameraTest::DepthCameraBoxes(
unsigned int a = *rgba >> 0 & 0xFF;
EXPECT_EQ(0u, r);
EXPECT_EQ(0u, g);
// Note: If it fails here, it may be this problem again:
// https://github.com/ignitionrobotics/ign-rendering/issues/332
EXPECT_GT(b, 0u);
EXPECT_EQ(255u, a);
}
Expand All @@ -458,11 +469,7 @@ void DepthCameraTest::DepthCameraBoxes(
ignition::rendering::unloadEngine(engine->Name());
}

#ifdef __APPLE__
TEST_P(DepthCameraTest, DISABLED_DepthCameraBoxes)
#else
TEST_P(DepthCameraTest, DepthCameraBoxes)
#endif
{
DepthCameraBoxes(GetParam());
}
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17 changes: 10 additions & 7 deletions test/integration/render_pass.cc
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Expand Up @@ -354,7 +354,6 @@ void RenderPassTest::DepthGaussianNoise(const std::string &_renderEngine)
EXPECT_NEAR(0u, mr, colorNoiseTol);
EXPECT_NEAR(0u, mg, colorNoiseTol);
EXPECT_GT(mb, 0u);
EXPECT_EQ(255u, ma);

// Far left and right points should be red (background color)
float lc = pointCloudData[pcLeft + 3];
Expand All @@ -367,7 +366,6 @@ void RenderPassTest::DepthGaussianNoise(const std::string &_renderEngine)
EXPECT_NEAR(255u, lr, colorNoiseTol);
EXPECT_NEAR(0u, lg, colorNoiseTol);
EXPECT_NEAR(0u, lb, colorNoiseTol);
EXPECT_EQ(255u, la);

float rc = pointCloudData[pcRight + 3];
uint32_t *rrgba = reinterpret_cast<uint32_t *>(&rc);
Expand All @@ -379,7 +377,16 @@ void RenderPassTest::DepthGaussianNoise(const std::string &_renderEngine)
EXPECT_NEAR(255u, rr, colorNoiseTol);
EXPECT_NEAR(0u, rg, colorNoiseTol);
EXPECT_NEAR(0u, rb, colorNoiseTol);
EXPECT_EQ(255u, ra);

// Note: internal texture format used is RGB with no alpha channel
// We observed the values can be either 255 or 0 but graphics card
// drivers are free to fill it with any value they want.
// This should be fixed in ogre 2.2 in ign-rendering6 which forbids
// the use of RGB format.
// see https://github.com/ignitionrobotics/ign-rendering/issues/315
EXPECT_TRUE(255u == ma || 0u == ma);
EXPECT_TRUE(255u == la || 0u == la);
EXPECT_TRUE(255u == ra || 0u == ra);
}

// Clean up
Expand All @@ -399,11 +406,7 @@ TEST_P(RenderPassTest, GaussianNoise)
}

/////////////////////////////////////////////////
#ifdef __APPLE__
TEST_P(RenderPassTest, DISABLED_DepthGaussianNoise)
#else
TEST_P(RenderPassTest, DepthGaussianNoise)
#endif
{
DepthGaussianNoise(GetParam());
}
Expand Down