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Changed calculation for range clipping #325

Merged
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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3 changes: 3 additions & 0 deletions Migration.md
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,9 @@ release will remove the deprecated code.
`Node::UserData` now returns no data for keys that don't exist (prior to Rendering 6.x, if
`Visual::UserData` was called with a key that doesn't exist, an `int` was returned by default).

1. **depth_camera_fs.glsl** and **depth_camera_final_fs.glsl**
+ Far clipping changed from clipping by depth to clipping by range, i.e. distance to point, so that the data generated will never exceed the specified max range of the camera.

## Ignition Rendering 4.0 to 4.1

## ABI break
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2 changes: 1 addition & 1 deletion ogre2/src/media/materials/programs/depth_camera_final_fs.glsl
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Expand Up @@ -50,7 +50,7 @@ void main()
// to be outside of min/max range

// clamp xyz
if (point.x > far - tolerance)
if (!isinf(point.x) && length(point) > far - tolerance)
{
if (isinf(max))
{
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2 changes: 1 addition & 1 deletion ogre2/src/media/materials/programs/depth_camera_fs.glsl
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Expand Up @@ -139,7 +139,7 @@ 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 (length(point) > far - tolerance)
{
if (isinf(max))
{
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