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Support reversed Z rendering and float32 offscreen depth buffer

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Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.

Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
This commit is contained in:
Levi Burner
2023-06-14 14:42:42 -04:00
parent e1549376f6
commit fc7b212369
10 changed files with 193 additions and 17 deletions
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python/mujoco/render.cc
+34
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@@ -34,6 +34,10 @@ class MjWrapper<raw::MjrContext> : public WrapperBase<raw::MjrContext> {
public:
MjWrapper();
MjWrapper(const MjModelWrapper& model, int fontscale);
MjWrapper(const MjModelWrapper& model,
int fontscale,
mjtDepthMapping depthmapping,
mjtDepthPrecision depthprecision);
MjWrapper(const MjWrapper&) = delete;
MjWrapper(MjWrapper&&) = default;
~MjWrapper() = default;
@@ -122,6 +126,35 @@ MjrContextWrapper::MjWrapper(const MjModelWrapper& model, int fontscale)
X_SKIN(skinfaceVBO),
X(charWidth),
X(charWidthBig) {}
MjrContextWrapper::MjWrapper(const MjModelWrapper& model,
int fontscale,
mjtDepthMapping depthmapping,
mjtDepthPrecision depthprecision)
: WrapperBase([fontscale, depthmapping, depthprecision](const raw::MjModel* m) {
raw::MjrContext *const ctx = new raw::MjrContext;
mjr_defaultContext(ctx);
ctx->depthMapping = depthmapping;
ctx->depthPrecision = depthprecision;
InterceptMjErrors(mjr_makeContext)(m, ctx, fontscale);
return ctx;
}(model.get()), &MjrContextCapsuleDestructor),
X(fogRGBA),
X(auxWidth),
X(auxHeight),
X(auxSamples),
X(auxFBO),
X(auxFBO_r),
X(auxColor),
X(auxColor_r),
X(textureType),
X(texture),
X_SKIN(skinvertVBO),
X_SKIN(skinnormalVBO),
X_SKIN(skintexcoordVBO),
X_SKIN(skinfaceVBO),
X(charWidth),
X(charWidthBig) {}
#undef X_SKIN
#undef X
@@ -166,6 +199,7 @@ PYBIND11_MODULE(_render, pymodule) {
py::class_<MjrContextWrapper> mjrContext(pymodule, "MjrContext");
mjrContext.def(py::init<>());
mjrContext.def(py::init<const MjModelWrapper&, int>());
mjrContext.def(py::init<const MjModelWrapper&, int, mjtDepthMapping, mjtDepthPrecision>());
mjrContext.def(
"free", [](MjrContextWrapper& self) { self.Free(); },
py::doc("Frees resources in current active OpenGL context, sets struct "