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Fix lidar 1st pass texture resolution calculation for FOV < 90 degrees #1012

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merged 3 commits into from
Jun 28, 2024
Merged

Fix lidar 1st pass texture resolution calculation for FOV < 90 degrees #1012

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3923010
Fix 1st pass tex resoultion for lidars with FOV < 90%
iche033 Jun 28, 2024
d6ff3d5
Merge branch 'gz-rendering8' into lidar_fov_res
iche033 Jun 28, 2024
5df10a0
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iche033 Jun 28, 2024
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19 changes: 13 additions & 6 deletions ogre2/src/Ogre2GpuRays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -765,10 +765,13 @@ void Ogre2GpuRays::ConfigureCamera()
// Configure first pass texture size
// Each cubemap texture covers 90 deg FOV so determine number of samples
// within the view for both horizontal and vertical FOV
unsigned int hs = static_cast<unsigned int>(
GZ_PI * 0.5 / hfovAngle.Radian() * this->RangeCount());
unsigned int vs = static_cast<unsigned int>(
GZ_PI * 0.5 / vfovAngle * this->VerticalRangeCount());
unsigned int hs = (hfovAngle.Radian() < GZ_PI_2) ? this->RangeCount() :
static_cast<unsigned int>(
GZ_PI_2 / hfovAngle.Radian() * this->RangeCount());

unsigned int vs = (vfovAngle < GZ_PI_2) ? this->VerticalRangeCount() :
static_cast<unsigned int>(
GZ_PI_2 / vfovAngle * this->VerticalRangeCount());

// get the max number from the two
unsigned int v = std::max(hs, vs);
Expand All @@ -782,12 +785,12 @@ void Ogre2GpuRays::ConfigureCamera()
v |= v >> 16;
v++;

// limit min texture size to 128
// This is needed for large fov with low sample count,
// e.g. 360 degrees and only 4 samples. Otherwise the depth data returned are
// inaccurate.
// \todo(anyone) For small fov, we shouldn't need such a high min texture size
// requirement, e.g. a single ray lidar only needs 1x1 texture. Look for ways
// requirement, e.g. a single ray lidar only needs 1x1 texture. However,
// using lower res textures also give inaccurate results. Look for ways
// to compute the optimal min texture size
unsigned int min1stPassSamples = 128u;

Expand Down Expand Up @@ -986,6 +989,7 @@ void Ogre2GpuRays::Setup1stPass()
Ogre::TextureFlags::RenderToTexture, Ogre::TextureTypes::Type2D);
this->dataPtr->colorTexture->setResolution(this->dataPtr->w1st,
this->dataPtr->h1st);
this->dataPtr->colorTexture->setNumMipmaps(1u);
this->dataPtr->colorTexture->setPixelFormat(Ogre::PFG_R16_UNORM);
this->dataPtr->colorTexture->scheduleTransitionTo(
Ogre::GpuResidency::Resident);
Expand All @@ -996,6 +1000,7 @@ void Ogre2GpuRays::Setup1stPass()
Ogre::TextureFlags::RenderToTexture, Ogre::TextureTypes::Type2D);
this->dataPtr->depthTexture->setResolution(this->dataPtr->w1st,
this->dataPtr->h1st);
this->dataPtr->depthTexture->setNumMipmaps(1u);
this->dataPtr->depthTexture->setPixelFormat(Ogre::PFG_D32_FLOAT);
this->dataPtr->depthTexture->scheduleTransitionTo(
Ogre::GpuResidency::Resident);
Expand All @@ -1006,6 +1011,7 @@ void Ogre2GpuRays::Setup1stPass()
Ogre::TextureFlags::RenderToTexture, Ogre::TextureTypes::Type2D);
this->dataPtr->particleTexture->setResolution(this->dataPtr->w1st / 2u,
this->dataPtr->h1st/ 2u);
this->dataPtr->particleTexture->setNumMipmaps(1u);
this->dataPtr->particleTexture->setPixelFormat(Ogre::PFG_RGBA8_UNORM);
this->dataPtr->particleTexture->scheduleTransitionTo(
Ogre::GpuResidency::Resident);
Expand All @@ -1016,6 +1022,7 @@ void Ogre2GpuRays::Setup1stPass()
Ogre::TextureFlags::RenderToTexture, Ogre::TextureTypes::Type2D);
this->dataPtr->particleDepthTexture->setResolution(this->dataPtr->w1st / 2u,
this->dataPtr->h1st / 2u);
this->dataPtr->particleDepthTexture->setNumMipmaps(1u);
this->dataPtr->particleDepthTexture->setPixelFormat(Ogre::PFG_D32_FLOAT);
this->dataPtr->particleDepthTexture->scheduleTransitionTo(
Ogre::GpuResidency::Resident);
Expand Down
18 changes: 13 additions & 5 deletions test/integration/gpu_rays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -697,8 +697,8 @@ TEST_F(GpuRaysTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SingleRay))
GTEST_SKIP() << "Unsupported on apple, see issue #35.";
#endif

// Test GPU single ray box intersection.
// Place GPU above box looking downwards
// Test single ray box intersection.
// Place ray above box looking downwards
// ray should intersect with center of box

const double hMinAngle = 0.0;
Expand All @@ -713,7 +713,7 @@ TEST_F(GpuRaysTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SingleRay))

VisualPtr root = scene->RootVisual();

// Create first ray caster
// Create ray caster
gz::math::Pose3d testPose(gz::math::Vector3d(0, 0, 7),
gz::math::Quaterniond(0, GZ_PI/2.0, 0));

Expand All @@ -731,7 +731,7 @@ TEST_F(GpuRaysTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SingleRay))

// box in the center
gz::math::Pose3d box01Pose(gz::math::Vector3d(0, 0, 4.5),
gz::math::Quaterniond::Identity);
gz::math::Quaterniond::Identity);
VisualPtr visualBox1 = scene->CreateVisual("UnitBox1");
visualBox1->AddGeometry(scene->CreateBox());
visualBox1->SetWorldPosition(box01Pose.Pos());
Expand All @@ -756,7 +756,15 @@ TEST_F(GpuRaysTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SingleRay))
double expectedRangeAtMidPointBox = testPose.Pos().Z() -
(abs(box01Pose.Pos().Z()) + unitBoxSize/2);

// rays caster 1 should see box01 and box02
// ray should detect box
EXPECT_NEAR(scan[mid], expectedRangeAtMidPointBox, LASER_TOL);

gz::math::Pose3d newBox01Pose(gz::math::Vector3d(0, 0, 3.5),
gz::math::Quaterniond::Identity);
visualBox1->SetWorldPosition(newBox01Pose.Pos());
gpuRays->Update();
expectedRangeAtMidPointBox = testPose.Pos().Z() -
(abs(newBox01Pose.Pos().Z()) + unitBoxSize/2);
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EXPECT_NEAR(scan[mid], expectedRangeAtMidPointBox, LASER_TOL);

c.reset();
Expand Down
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