Merge pull request #347 from ignitionrobotics/merge_3_4_061721

3 -> 4

Author: iche033

ogre2/src/Ogre2RenderTarget.cc

@@ -331,10 +331,10 @@ void Ogre2RenderTarget::UpdateRenderPassChain(
           ogre2RenderPass->OgreCompositorNodeDefinitionName());
 
       // check if we need to create all nodes or just update the connections.
-      // if node does not exist then it means it has not been added to the
-      // chain yet, in which case, we need to recreate the nodes and
-      // connections
-      if (!node)
+      // if node does not exist then it means it either has not been added to
+      // the chain yet or it was removed because it was disabled.
+      // In both cases, we need to recreate the nodes and connections
+      if (!node && ogre2RenderPass->IsEnabled())
       {
         _recreateNodes = true;
       }

ogre2/src/Ogre2SelectionBuffer.cc

@@ -175,9 +175,12 @@ void Ogre2SelectionBuffer::CreateRTTBuffer()
   const_cast<Ogre::CompositorPassSceneDef *>(scenePass)->mVisibilityMask =
       IGN_VISIBILITY_SELECTABLE;
 
-  // buffer to store render texture data
-  size_t bufferSize = Ogre::PixelUtil::getMemorySize(width, height, 1, format);
+  // buffer to store render texture data. Ensure it's at least 4 bytes
+  size_t bufferSize = std::max<size_t>(
+      Ogre::PixelUtil::getMemorySize(width, height, 1, format),
+      4u);
   this->dataPtr->buffer = new uint8_t[bufferSize];
+  memset(this->dataPtr->buffer, 0, 4u);
   this->dataPtr->pixelBox = new Ogre::PixelBox(width,
       height, 1, format, this->dataPtr->buffer);
 }

ogre2/src/media/materials/programs/depth_camera_final_fs.glsl

@@ -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;
 

ogre2/src/media/materials/scripts/depth_camera.material

@@ -88,6 +88,8 @@ fragment_program DepthCameraFinalFS glsl
   default_params
   {
     param_named inputTexture int 0
+
+    param_named_auto texResolution texture_size 0
   }
 }
 

src/GaussianNoisePass_TEST.cc

@@ -85,8 +85,9 @@ void GaussianNoisePassTest::GaussianNoise(const std::string &_renderEngine)
   double biasStdDev = 0.007;
   noisePass->SetBiasStdDev(biasStdDev);
   // expect bias to be within 3-sigma
-  EXPECT_LE(std::fabs(noisePass->Bias()), biasMean + biasStdDev*3);
-  EXPECT_GE(std::fabs(noisePass->Bias()), biasMean - biasStdDev*3);
+  // Note, tol relaxed to 4-sigma to fix flaky test
+  EXPECT_LE(std::fabs(noisePass->Bias()), biasMean + biasStdDev*4);
+  EXPECT_GE(std::fabs(noisePass->Bias()), biasMean - biasStdDev*4);
 }
 
 /////////////////////////////////////////////////

src/Image.cc

@@ -19,6 +19,16 @@
 using namespace ignition;
 using namespace rendering;
 
+//////////////////////////////////////////////////
+template <class T>
+struct ArrayDeleter
+{
+  void operator () (T const * p)
+  {
+    delete [] p;
+  }
+};
+
 //////////////////////////////////////////////////
 Image::Image(unsigned int _width, unsigned int _height,
   PixelFormat _format) :
@@ -27,7 +37,7 @@ Image::Image(unsigned int _width, unsigned int _height,
 {
   this->format = PixelUtil::Sanitize(_format);
   unsigned int size = this->MemorySize();
-  this->data = DataPtr(new unsigned char[size]);
+  this->data = DataPtr(new unsigned char[size], ArrayDeleter<unsigned char>());
 }
 
 //////////////////////////////////////////////////

test/integration/depth_camera.cc

@@ -254,7 +254,11 @@ 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
+#ifndef __APPLE__
       EXPECT_GT(mb, 0u);
+#endif
 
       // Far left and right points should be red (background color)
       float lc = pointCloudData[pcLeft + 3];
@@ -453,7 +457,11 @@ 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
+#ifndef __APPLE__
           EXPECT_GT(b, 0u);
+#endif
           EXPECT_EQ(255u, a);
         }
       }
@@ -762,20 +770,12 @@ 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());
 }