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Changed calculation for range clipping #325

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merged 9 commits into from
Aug 3, 2021
Merged

Changed calculation for range clipping #325

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e9a3dc2
changed calculation for depht
Lobotuerk May 21, 2021
9bfe9d1
Ian comments
Lobotuerk Jun 16, 2021
1344138
Merge branch 'main' into lobotuerk/depthRangeChange
iche033 Jun 17, 2021
272c20c
Merge branch 'main' into lobotuerk/depthRangeChange
Lobotuerk Jul 1, 2021
87267f8
test fix
Lobotuerk Jul 7, 2021
7981084
fix test
Lobotuerk Jul 7, 2021
b68668f
Merge branch 'main' into lobotuerk/depthRangeChange
Lobotuerk Aug 2, 2021
34267e4
updated tests and migration
Lobotuerk Aug 2, 2021
9675ef6
tweak to migration guide
iche033 Aug 2, 2021
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6 changes: 4 additions & 2 deletions ogre2/src/media/materials/programs/depth_camera_fs.glsl
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,8 @@ void main()
}

// clamp xyz and set rgb to background color
if (point.x > far - tolerance)
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can you make the same change to depth_camera_final_fs.glsl?

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If I change this, the tests start falling again. expecting -inf and getting inf https://github.com/ignitionrobotics/ign-rendering/blob/lobotuerk/depthRangeChange/test/integration/depth_camera.cc#L324-L326

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@Lobotuerk Lobotuerk Jul 8, 2021 •
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Changing both that and https://github.com/ignitionrobotics/ign-rendering/blob/lobotuerk/depthRangeChange/test/integration/depth_camera.cc#L309-L311 tomaxVal make all tests pass, but I don't think that makes sense

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I think the problem is that because point was previously clamped to -inf so length(point) becomes +inf. So in depth_camera_final_fs.glsl we can change to something like:

if (!isinf(point.x) && length(point) > far - tolerance)

which just skips this additional clamping if it's already been clamped in the previous pass.

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34267e4 should take care of this

if (point.x * point.x + point.y * point.y >
(far - tolerance) * (far - tolerance))
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how about just length(point) > far - tolerance to be consistent with how the gpu lidar clips ranges?

Similarly for clipping points within near clip plane: length(point) < near + tolerance

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Makes sense, I had no idea there was a length function. Good catch

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Does 9bfe9d1 works?

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yeah that looks fine. INTEGRATION_depth_camera test caught this change and is failing. Can you update the test?

Can you also add a note about this change in the Migration.md guide?

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Where should I note the change in the migration guide? 5 -> 6 ?

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yeah, you can add a new section Ignition Rendering 5.0 to 6.0

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34267e4 should take care of this

{
if (isinf(max))
{
Expand All @@ -158,7 +159,8 @@ void main()
color = vec4(backgroundColor, 1.0);
}
}
else if (point.x < near + tolerance)
else if (point.x * point.x + point.y * point.y <
(near + tolerance) * (near + tolerance))
{
if (isinf(min))
{
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