Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Test re-enabling depth camera integration test on mac #335

Merged
merged 2 commits into from
Jun 9, 2021
Merged

Test re-enabling depth camera integration test on mac #335

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
444443a
Fix floating point precision bug handling alpha channel (#332)
darksylinc Jun 5, 2021
efdb23e
test reenabling depth camera test on mac
iche033 Jun 7, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 9 additions & 1 deletion ogre2/src/media/materials/programs/depth_camera_final_fs.glsl
View file
Open in desktop
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;

Expand Down
2 changes: 2 additions & 0 deletions ogre2/src/media/materials/scripts/depth_camera.material
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,8 @@ fragment_program DepthCameraFinalFS glsl
default_params
{
param_named inputTexture int 0

param_named_auto texResolution texture_size 0
}
}

Expand Down
12 changes: 4 additions & 8 deletions test/integration/depth_camera.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -254,6 +254,8 @@ 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);

// Far left and right points should be red (background color)
Expand Down Expand Up @@ -453,6 +455,8 @@ 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 Down Expand Up @@ -762,20 +766,12 @@ void DepthCameraTest::DepthCameraParticles(
ignition::rendering::unloadEngine(engine->Name());
}

#ifdef __APPLE__
TEST_P(DepthCameraTest, DISABLED_DepthCameraBoxes)
#else
TEST_P(DepthCameraTest, DepthCameraBoxes)
#endif
{
DepthCameraBoxes(GetParam());
}

#ifdef __APPLE__
TEST_P(DepthCameraTest, DISABLED_DepthCameraParticles)
#else
TEST_P(DepthCameraTest, DepthCameraParticles)
#endif
{
DepthCameraParticles(GetParam());
}
Expand Down