Add Heightmap integration test (#785)

This PR adds a heightmap test. Almost all issues in #546 are covered. Only Thermal Camera is not covered. Fixes #332 (again) for macOS and possibly any OS/HW/Driver combination. Fixes #369 Signed-off-by: Matias N. Goldberg <[email protected]> Co-authored-by: Ian Chen <[email protected]>
gazebosim · Dec 28, 2022 · 4de8d1e · 4de8d1e
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diff --git a/ogre2/src/Ogre2DepthCamera.cc b/ogre2/src/Ogre2DepthCamera.cc
@@ -909,7 +909,7 @@ void Ogre2DepthCamera::CreateDepthTexture()
         this->ImageWidth(), this->ImageHeight());
       this->dataPtr->ogreDepthTexture[i]->setNumMipmaps(1u);
       this->dataPtr->ogreDepthTexture[i]->setPixelFormat(
-        Ogre::PFG_RGBA32_FLOAT);
+        Ogre::PFG_RGBA32_UINT);
 
       this->dataPtr->ogreDepthTexture[i]->scheduleTransitionTo(
         Ogre::GpuResidency::Resident);

diff --git a/ogre2/src/media/Hlms/Terra/Metal/VertexShader_vs.metal b/ogre2/src/media/Hlms/Terra/Metal/VertexShader_vs.metal
@@ -17,7 +17,7 @@ struct PS_INPUT
 	@insertpiece( Terra_VStoPS_block )
 	float4 gl_Position [[position]];
 	@foreach( hlms_pso_clip_distances, n )
-		float gl_ClipDistance@n [[clip_distance]];
+		float gl_ClipDistance [[clip_distance]] [@value( hlms_pso_clip_distances )];
 	@end
 };
 

diff --git a/ogre2/src/media/materials/programs/GLSL/depth_camera_final_fs.glsl b/ogre2/src/media/materials/programs/GLSL/depth_camera_final_fs.glsl
@@ -23,11 +23,10 @@ in block
   vec2 uv0;
 } inPs;
 
-vulkan_layout( ogre_t0 ) uniform texture2D inputTexture;
-vulkan( layout( ogre_s0 ) uniform sampler texSampler );
+vulkan_layout( ogre_t0 ) uniform utexture2D inputTexture;
 
 vulkan_layout( location = 0 )
-out vec4 fragColor;
+out uvec4 fragColor;
 
 vulkan( layout( ogre_P0 ) uniform Params { )
 	uniform float near;
@@ -42,14 +41,14 @@ void main()
 {
   float tolerance = 1e-6;
 
-  // Note: We use texelFetch because p.a contains an uint32 and sampling
+  // Note: We use PFG_RGBA32_UINT 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/gazebosim/gz-rendering/issues/332
-  vec4 p = texelFetch(vkSampler2D(inputTexture,texSampler), ivec2(inPs.uv0 *texResolution.xy), 0);
+  uvec4 p = texelFetch(inputTexture, ivec2(inPs.uv0 *texResolution.xy), 0);
 
-  vec3 point = p.xyz;
+  vec3 point = uintBitsToFloat(p.xyz);
 
   // Clamp again in case render passes changed depth values
   // to be outside of min/max range
@@ -78,5 +77,5 @@ void main()
     }
   }
 
-  fragColor = vec4(point, p.a);
+  fragColor = uvec4(floatBitsToUint(point), p.a);
 }
diff --git a/ogre2/src/media/materials/programs/GLSL/depth_camera_fs.glsl b/ogre2/src/media/materials/programs/GLSL/depth_camera_fs.glsl
@@ -32,7 +32,7 @@ vulkan_layout( ogre_t3 ) uniform texture2D particleDepthTexture;
 vulkan( layout( ogre_s0 ) uniform sampler texSampler );
 
 vulkan_layout( location = 0 )
-out vec4 fragColor;
+out uvec4 fragColor;
 
 vulkan( layout( ogre_P0 ) uniform Params { )
 	uniform vec2 projectionParams;
@@ -49,13 +49,13 @@ vulkan( layout( ogre_P0 ) uniform Params { )
 	uniform float rnd;
 vulkan( }; )
 
-float packFloat(vec4 color)
+uint packUnorm4x8Gz(vec4 color)
 {
-  int rgba = (int(round(color.x * 255.0)) << 24) +
-             (int(round(color.y * 255.0)) << 16) +
-             (int(round(color.z * 255.0)) << 8) +
-             int(round(color.w * 255.0));
-  return intBitsToFloat(rgba);
+  uint rgba = (uint(round(color.x * 255.0)) << 24u) +
+              (uint(round(color.y * 255.0)) << 16u) +
+              (uint(round(color.z * 255.0)) << 8u) +
+              uint(round(color.w * 255.0));
+  return rgba;
 }
 
 float toSRGB( float x )
@@ -199,6 +199,5 @@ void main()
   // gamma correct
   color = toSRGB(color);
 
-  float rgba = packFloat(color);
-  fragColor = vec4(point, rgba);
+  fragColor = uvec4(floatBitsToUint(point), packUnorm4x8Gz(color));
 }
diff --git a/ogre2/src/media/materials/programs/Metal/depth_camera_final_fs.metal b/ogre2/src/media/materials/programs/Metal/depth_camera_final_fs.metal
@@ -34,27 +34,24 @@ struct Params
   float4 texResolution;
 };
 
-fragment float4 main_metal
+fragment uint4 main_metal
 (
   PS_INPUT inPs [[stage_in]],
-  texture2d<float>  inputTexture [[texture(0)]],
-  sampler           inputSampler [[sampler(0)]],
+  texture2d<uint> inputTexture [[texture(0)]],
   constant Params &params [[buffer(PARAMETER_SLOT)]]
 )
 {
   float tolerance = 1e-6;
 
-  // Note: We use texelFetch because p.a contains an uint32 and sampling
+  // Note: We use PFG_RGBA32_UINT 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/gazebosim/gz-rendering/issues/332
   // Either: Metal equivalent of texelFetch
-  float4 p = inputTexture.read(uint2(inPs.uv0 * params.texResolution.xy), 0);
-  // Or: Use standard sampler
-  // float4 p = inputTexture.sample(inputSampler, inPs.uv0);
+  uint4 p = inputTexture.read(uint2(inPs.uv0 * params.texResolution.xy), 0);
 
-  float3 point = p.xyz;
+  float3 point = as_type<float3>(p.xyz);
 
   // Clamp again in case render passes changed depth values
   // to be outside of min/max range
@@ -83,6 +80,6 @@ fragment float4 main_metal
     }
   }
 
-  float4 fragColor(point, p.a);
+  uint4 fragColor(as_type<uint3>(point), p.a);
   return fragColor;
 }
diff --git a/ogre2/src/media/materials/programs/Metal/depth_camera_fs.metal b/ogre2/src/media/materials/programs/Metal/depth_camera_fs.metal
@@ -42,13 +42,13 @@ struct Params
   float rnd;
 };
 
-float packFloat(float4 color)
+uint packUnorm4x8Gz(float4 color)
 {
-  int rgba = (int(round(color.x * 255.0)) << 24) +
-             (int(round(color.y * 255.0)) << 16) +
-             (int(round(color.z * 255.0)) << 8) +
-             int(round(color.w * 255.0));
-  return as_type<float>(rgba);
+  uint rgba = (uint(round(color.x * 255.0)) << 24u) +
+              (uint(round(color.y * 255.0)) << 16u) +
+              (uint(round(color.z * 255.0)) << 8u) +
+              uint(round(color.w * 255.0));
+  return rgba;
 }
 
 inline float toSRGB( float x )
@@ -89,7 +89,7 @@ float4 gaussrand(float2 co, float3 offsets, float mean, float stddev)
   return float4(Z, Z, Z, 0.0);
 }
 
-fragment float4 main_metal
+fragment uint4 main_metal
 (
   PS_INPUT inPs [[stage_in]],
   texture2d<float>  depthTexture [[texture(0)]],
@@ -204,7 +204,6 @@ fragment float4 main_metal
   // gamma correct
   color = toSRGB(color);
 
-  float rgba = packFloat(color);
-  float4 fragColor(point, rgba);
+  uint4 fragColor(as_type<uint3>(point), packUnorm4x8Gz(color));
   return fragColor;
 }
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
@@ -5,6 +5,7 @@ set(tests
   camera
   depth_camera
   gpu_rays
+  heightmap
   lidar_visual
   render_pass
   scene

diff --git a/test/integration/base64.hh b/test/integration/base64.hh
@@ -0,0 +1,23 @@
+//
+//  base64 encoding and decoding with C++.
+//  Version: 1.01.00
+//
+//  Copyright (C) 2004-2017 René Nyffenegger
+//
+
+#pragma once
+
+#include <string>
+#include <vector>
+
+/// \brief Takes a binary input and outputs a string in base64
+/// \param[in] _bytesToEncode binary data to encode
+/// \param[in] _len length in bytes of _bytesToEncode
+/// \param[out] _outBase64 String with base64-encoded of input
+void Base64Encode(const void *_bytesToEncode, size_t _len,
+                  std::string &_outBase64);
+
+/// \brief Takes a base64-encoded string and turns it back into binary
+/// \param _s base64-encoded string
+/// \return Decoded binary data
+std::vector<uint8_t> Base64Decode(const std::string &_s);
diff --git a/test/integration/base64.inl b/test/integration/base64.inl
@@ -0,0 +1,156 @@
+/*
+base64.cpp and base64.h
+
+base64 encoding and decoding with C++.
+
+Version: 1.01.00
+
+Copyright (C) 2004-2017 René Nyffenegger
+
+This source code is provided 'as-is', without any express or implied
+warranty. In no event will the author be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+1. The origin of this source code must not be misrepresented; you must not
+claim that you wrote the original source code. If you use this source code
+in a product, an acknowledgment in the product documentation would be
+appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and must not be
+misrepresented as being the original source code.
+
+3. This notice may not be removed or altered from any source distribution.
+
+René Nyffenegger [email protected]
+
+*/
+
+#include "base64.hh"
+
+#include <iostream>
+
+static const std::string kBase64Chars =  // NOLINT
+  "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+  "abcdefghijklmnopqrstuvwxyz"
+  "0123456789+/";
+
+static inline bool is_base64(char c)
+{
+  return (isalnum(c) || (c == '+') || (c == '/'));
+}
+
+void Base64Encode(const void *_bytesToEncode, size_t _len,
+                  std::string &_outBase64)
+{
+  uint8_t const *bytesToEncode =
+    reinterpret_cast<uint8_t const *>(_bytesToEncode);
+
+  int i = 0;
+  unsigned char char_array_3[3];
+  unsigned char char_array_4[4];
+
+  while (_len--)
+  {
+    char_array_3[i++] = *(bytesToEncode++);
+    if (i == 3)
+    {
+      char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+      char_array_4[1] = static_cast<uint8_t>(((char_array_3[0] & 0x03) << 4) +
+                                             ((char_array_3[1] & 0xf0) >> 4));
+      char_array_4[2] = static_cast<uint8_t>(((char_array_3[1] & 0x0f) << 2) +
+                                             ((char_array_3[2] & 0xc0) >> 6));
+      char_array_4[3] = char_array_3[2] & 0x3f;
+
+      for (i = 0; (i < 4); i++)
+      {
+        _outBase64.push_back(kBase64Chars[char_array_4[i]]);
+      }
+      i = 0;
+    }
+  }
+
+  if (i)
+  {
+    int j = 0;
+    for (j = i; j < 3; j++)
+      char_array_3[j] = '\0';
+
+    char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
+    char_array_4[1] = static_cast<uint8_t>(((char_array_3[0] & 0x03) << 4) +
+                                           ((char_array_3[1] & 0xf0) >> 4));
+    char_array_4[2] = static_cast<uint8_t>(((char_array_3[1] & 0x0f) << 2) +
+                                           ((char_array_3[2] & 0xc0) >> 6));
+
+    for (j = 0; (j < i + 1); j++)
+    {
+      _outBase64.push_back(kBase64Chars[char_array_4[j]]);
+    }
+
+    while ((i++ < 3))
+    {
+      _outBase64.push_back('=');
+    }
+  }
+}
+
+std::vector<uint8_t> Base64Decode(const std::string &_s)
+{
+  int in_len = static_cast<int>(_s.size());
+  int i = 0;
+  size_t in_ = 0u;
+  uint8_t char_array_4[4], char_array_3[3];
+  std::vector<uint8_t> ret;
+
+  while (in_len-- && (_s[in_] != '=') && is_base64(_s[in_]))
+  {
+    char_array_4[i++] = static_cast<uint8_t>(_s[in_]);
+    in_++;
+    if (i == 4)
+    {
+      for (i = 0; i < 4; i++)
+      {
+        char_array_4[i] = static_cast<uint8_t>(
+          kBase64Chars.find(static_cast<char>(char_array_4[i])));
+      }
+
+      char_array_3[0] = static_cast<uint8_t>((char_array_4[0] << 2) +
+                                             ((char_array_4[1] & 0x30) >> 4));
+      char_array_3[1] = static_cast<uint8_t>(((char_array_4[1] & 0xf) << 4) +
+                                             ((char_array_4[2] & 0x3c) >> 2));
+      char_array_3[2] =
+        static_cast<uint8_t>(((char_array_4[2] & 0x3) << 6) + char_array_4[3]);
+
+      for (i = 0; (i < 3); i++)
+      {
+        ret.push_back(char_array_3[i]);
+      }
+      i = 0;
+    }
+  }
+
+  if (i)
+  {
+    int j = 0;
+    for (j = 0; j < i; j++)
+    {
+      char_array_4[j] = static_cast<uint8_t>(static_cast<char>(
+        kBase64Chars.find(static_cast<char>(char_array_4[j]))));
+    }
+
+    char_array_3[0] = static_cast<uint8_t>((char_array_4[0] << 2) +
+                                           ((char_array_4[1] & 0x30) >> 4));
+    char_array_3[1] = static_cast<uint8_t>(((char_array_4[1] & 0xf) << 4) +
+                                           ((char_array_4[2] & 0x3c) >> 2));
+
+    for (j = 0; (j < i - 1); j++)
+    {
+      ret.push_back(char_array_3[j]);
+    }
+  }
+
+  return ret;
+}
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
@@ -237,10 +237,7 @@ TEST_F(DepthCameraTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(DepthCameraBoxes))
       unsigned int ma = *mrgba >> 0 & 0xFF;
       EXPECT_EQ(0u, mr);
       EXPECT_EQ(0u, mg);
-#ifndef __APPLE__
-      // https://github.com/gazebosim/gz-rendering/issues/332
       EXPECT_GT(mb, 0u);
-#endif
 
       // Far left and right points should be red (background color)
       float lc = pointCloudData[pcLeft + 3];
@@ -442,11 +439,8 @@ TEST_F(DepthCameraTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(DepthCameraBoxes))
           unsigned int a = *rgba >> 0 & 0xFF;
           EXPECT_EQ(0u, r);
           EXPECT_EQ(0u, g);
-#ifndef __APPLE__
-          // https://github.com/gazebosim/gz-rendering/issues/332
           EXPECT_GT(b, 0u);
           EXPECT_EQ(255u, a);
-#endif
         }
       }
     }