Merge branch 'develop'

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.8.0-{branch}-build{build}
+version: 2.8.1-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,13 @@
 \page changelog Change Log
 
+# Version 2.8.1: Released April 17th, 2023
+- Changes in libraries:
+  - \ref mrpt_opengl_grp
+    - Expose shadow bias parameters into mrpt::opengl::TLightParameters
+- BUG FIXES:
+  - OpenGL shadow rendering: Fix error in calculation of anti peter-panning and shadow acne effects.
+
+
 # Version 2.8.0: Released April 8th, 2023
 - Changes in apps:
   - rosbag2rawlog: Added support for converting nav_msgs/Odometry topics to mrpt::obs::CObservationOdometry

libs/opengl/include/mrpt/opengl/Shader.h

@@ -102,7 +102,9 @@ class Program
 
 	/** Set uniform variables: */
 	void setInt(const char* uniformName, int value) const;
-	void setFloat(const char* uniformName, float value) const;
+	void setFloat(
+		const char* uniformName, float value,
+		bool failIfNotExists = true) const;
 	void setFloat3(const char* uniformName, float v1, float v2, float v3) const;
 	void setFloat4(
 		const char* uniformName, float v1, float v2, float v3, float v4) const;

libs/opengl/include/mrpt/opengl/TLightParameters.h

@@ -34,6 +34,10 @@ struct TLightParameters
 	/** Light direction (must be normalized) */
 	mrpt::math::TVector3Df direction = {-0.40825f, -0.40825f, -0.81650f};
 
+	/** Shadow tuning parameters ("anti shadow acne") */
+	float shadow_bias = 1e-5, shadow_bias_cam2frag = 1e-5,
+		  shadow_bias_normal = 1e-4;
+
 	void writeToStream(mrpt::serialization::CArchive& out) const;
 	void readFromStream(mrpt::serialization::CArchive& in);
 

libs/opengl/shaders/shadow-calculation.f.glsl

@@ -7,6 +7,8 @@ R"XXX(#version 300 es
 uniform highp sampler2D shadowMap;
 uniform highp vec3 light_direction;
 
+uniform highp float shadow_bias, shadow_bias_cam2frag, shadow_bias_normal;
+
 mediump float ShadowCalculation(
     highp vec4 fragPosLightSpace,
     mediump vec3 normal,
@@ -26,7 +28,7 @@ mediump float ShadowCalculation(
     highp float currentDepth = projCoords.z;
 
     // check whether current frag pos is in shadow1D
-    highp float bias = 1e-5 + 1e-5*cam2fragDist + 1e-4*(1.0-max(0.0,dot(normal, -light_direction)));
+    highp float bias = shadow_bias + shadow_bias_cam2frag*cam2fragDist + shadow_bias_normal*(1.0-max(0.0,dot(normal, light_direction)));
 #if 0
     mediump float shadow = currentDepth-bias > closestDepth  ? 1.0 : 0.0;
 #else

libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp

@@ -103,6 +103,15 @@ void CRenderizableShaderTexturedTriangles::render(const RenderContext& rc) const
 	{
 		// bound to GL_TEXTURE0 + "i":
 		s.setInt("shadowMap", SHADOW_MAP_TEXTURE_UNIT);
+
+		// Shadow params:
+		if (const auto& l = rc.lights; l)
+		{
+			rc.shader->setFloat("shadow_bias", l->shadow_bias);
+			rc.shader->setFloat(
+				"shadow_bias_cam2frag", l->shadow_bias_cam2frag);
+			rc.shader->setFloat("shadow_bias_normal", l->shadow_bias_normal);
+		}
 	}
 
 	// Set up the vertex array:

libs/opengl/src/CRenderizableShaderTriangles.cpp

@@ -88,6 +88,15 @@ void CRenderizableShaderTriangles::render(const RenderContext& rc) const
 	{
 		// bound to GL_TEXTURE0 + "i":
 		s.setInt("shadowMap", SHADOW_MAP_TEXTURE_UNIT);
+
+		// Shadow params:
+		if (const auto& l = rc.lights; l)
+		{
+			rc.shader->setFloat("shadow_bias", l->shadow_bias);
+			rc.shader->setFloat(
+				"shadow_bias_cam2frag", l->shadow_bias_cam2frag);
+			rc.shader->setFloat("shadow_bias_normal", l->shadow_bias_normal);
+		}
 	}
 
 	// Set up the vertex array:

libs/opengl/src/DefaultShaders.cpp

@@ -145,10 +145,21 @@ Program::Ptr mrpt::opengl::LoadDefaultShader(const shader_id_t id)
 #include "../shaders/shadow-calculation.f.glsl"
 				;
 			uniforms = {
-				"p_matrix",		   "v_matrix",		 "m_matrix",
-				"light_pv_matrix", "shadowMap",		 "light_diffuse",
-				"light_ambient",   "light_specular", "light_direction",
-				"light_color",	   "cam_position",	 "materialSpecular"};
+				"p_matrix",
+				"v_matrix",
+				"m_matrix",
+				"light_pv_matrix",
+				"shadowMap",
+				"light_diffuse",
+				"light_ambient",
+				"light_specular",
+				"light_direction",
+				"shadow_bias",
+				"shadow_bias_cam2frag",
+				"shadow_bias_normal",
+				"light_color",
+				"cam_position",
+				"materialSpecular"};
 			attribs = {"position", "vertexColor", "vertexNormal"};
 			break;
 
@@ -174,11 +185,23 @@ Program::Ptr mrpt::opengl::LoadDefaultShader(const shader_id_t id)
 			fragShaderIncludes =
 #include "../shaders/shadow-calculation.f.glsl"
 				;
-			uniforms = {"p_matrix",		   "v_matrix",		 "m_matrix",
-						"light_pv_matrix", "shadowMap",		 "light_diffuse",
-						"light_ambient",   "light_specular", "light_direction",
-						"light_color",	   "cam_position",	 "materialSpecular",
-						"textureSampler"};
+			uniforms = {
+				"p_matrix",
+				"v_matrix",
+				"m_matrix",
+				"light_pv_matrix",
+				"shadowMap",
+				"light_diffuse",
+				"light_ambient",
+				"light_specular",
+				"light_direction",
+				"shadow_bias",
+				"shadow_bias_cam2frag",
+				"shadow_bias_normal",
+				"light_color",
+				"cam_position",
+				"materialSpecular",
+				"textureSampler"};
 			attribs = {"position", "vertexNormal", "vertexUV"};
 			break;
 

libs/opengl/src/Shader.cpp

@@ -387,9 +387,12 @@ void Program::setInt(const char* uniformName, int value) const
 #endif
 }
 
-void Program::setFloat(const char* uniformName, float value) const
+void Program::setFloat(
+	const char* uniformName, float value, bool failIfNotExists) const
 {
 #if MRPT_HAS_OPENGL_GLUT || MRPT_HAS_EGL
+	if (!failIfNotExists && !hasUniform(uniformName)) return;
+
 	glUniform1f(uniformId(uniformName), value);
 #endif
 }

libs/opengl/src/TLightParameters.cpp

@@ -18,10 +18,11 @@ using namespace std;
 
 void TLightParameters::writeToStream(mrpt::serialization::CArchive& out) const
 {
-	const uint8_t version = 1;
+	const uint8_t version = 2;
 	out << version;
 
 	out << diffuse << ambient << specular << direction << color;
+	out << shadow_bias << shadow_bias_cam2frag << shadow_bias_normal;  // v2
 }
 
 void TLightParameters::readFromStream(mrpt::serialization::CArchive& in)
@@ -42,7 +43,12 @@ void TLightParameters::readFromStream(mrpt::serialization::CArchive& in)
 		}
 		break;
 		case 1:
+		case 2:
 			in >> diffuse >> ambient >> specular >> direction >> color;
+			if (version >= 2)
+			{
+				in >> shadow_bias >> shadow_bias_cam2frag >> shadow_bias_normal;
+			}
 			break;
 		default: MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
 	};

package.xml

@@ -7,7 +7,7 @@
 <package format="3">
   <name>mrpt2</name>
   <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
-  <version>2.8.0</version>
+  <version>2.8.1</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="[email protected]">Jose-Luis Blanco-Claraco</author>

version_prefix.txt

@@ -1,4 +1,4 @@
-2.8.0
+2.8.1
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically