New shadow tuning parameter

MRPT · Jul 2, 2023 · 2278da0 · 2278da0
1 parent 01787e4
commit 2278da0
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Showing 6 changed files with 21 additions and 2 deletions.
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -4,6 +4,7 @@
 - Changes in libraries:
   - \ref mrpt_opengl_grp
     - Move the parameter eyeDistance2lightShadowExtension from TRenderMatrices to mrpt::opengl::TLightParameters so it can be changed from user code (ABI change).
+    - New parameter mrpt::opengl::TLightParameters::minimum_shadow_map_extension_ratio
 - BUG FIXES:
   - pymrpt was not automatically built when invoking the python tests using `make test_legacy`.
 

diff --git a/libs/opengl/include/mrpt/opengl/TLightParameters.h b/libs/opengl/include/mrpt/opengl/TLightParameters.h
@@ -45,6 +45,15 @@ struct TLightParameters
 	 */
 	double eyeDistance2lightShadowExtension = 2.0;
 
+	/** Minimum extension (in [0,1] ratio of the light distance) of the shadow
+	 * map square ortho frustum. Should be roughly the maximum area of the
+	 * largest room for indoor environments to ensure no missing shadows in
+	 * distant areas.
+	 *
+	 * \note (New in MRPT 2.10.0)
+	 */
+	float minimum_shadow_map_extension_ratio = 0.03f;
+
 	void writeToStream(mrpt::serialization::CArchive& out) const;
 	void readFromStream(mrpt::serialization::CArchive& in);
 

diff --git a/libs/opengl/src/TLightParameters.cpp b/libs/opengl/src/TLightParameters.cpp
@@ -23,7 +23,8 @@ void TLightParameters::writeToStream(mrpt::serialization::CArchive& out) const
 
 	out << diffuse << ambient << specular << direction << color;
 	out << shadow_bias << shadow_bias_cam2frag << shadow_bias_normal;  // v2
-	out << eyeDistance2lightShadowExtension;  // v3
+	out << eyeDistance2lightShadowExtension
+		<< minimum_shadow_map_extension_ratio;	// v3
 }
 
 void TLightParameters::readFromStream(mrpt::serialization::CArchive& in)
@@ -49,7 +50,9 @@ void TLightParameters::readFromStream(mrpt::serialization::CArchive& in)
 			in >> diffuse >> ambient >> specular >> direction >> color;
 			if (version >= 2)
 				in >> shadow_bias >> shadow_bias_cam2frag >> shadow_bias_normal;
-			if (version >= 3) in >> eyeDistance2lightShadowExtension;
+			if (version >= 3)
+				in >> eyeDistance2lightShadowExtension >>
+					minimum_shadow_map_extension_ratio;
 			break;
 		default: MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
 	};

diff --git a/libs/opengl/src/TRenderMatrices.cpp b/libs/opengl/src/TRenderMatrices.cpp
@@ -158,6 +158,10 @@ void TRenderMatrices::computeLightProjectionMatrix(
 	m_last_light_z_far = zmax;
 
 	float dist = eyeDistance * lp.eyeDistance2lightShadowExtension;
+
+	// Ensure dist is not too small:
+	mrpt::keep_max(dist, zmax * lp.minimum_shadow_map_extension_ratio);
+
 	light_p = OrthoProjectionMatrix(-dist, dist, -dist, dist, zmin, zmax);
 
 	// "up" vector from elevation:

diff --git a/python/src/mrpt/opengl/DefaultShaders.cpp b/python/src/mrpt/opengl/DefaultShaders.cpp
@@ -142,6 +142,7 @@ void bind_mrpt_opengl_DefaultShaders(std::function< pybind11::module &(std::stri
 		cl.def_readwrite("shadow_bias_cam2frag", &mrpt::opengl::TLightParameters::shadow_bias_cam2frag);
 		cl.def_readwrite("shadow_bias_normal", &mrpt::opengl::TLightParameters::shadow_bias_normal);
 		cl.def_readwrite("eyeDistance2lightShadowExtension", &mrpt::opengl::TLightParameters::eyeDistance2lightShadowExtension);
+		cl.def_readwrite("minimum_shadow_map_extension_ratio", &mrpt::opengl::TLightParameters::minimum_shadow_map_extension_ratio);
 		cl.def("writeToStream", (void (mrpt::opengl::TLightParameters::*)(class mrpt::serialization::CArchive &) const) &mrpt::opengl::TLightParameters::writeToStream, "C++: mrpt::opengl::TLightParameters::writeToStream(class mrpt::serialization::CArchive &) const --> void", pybind11::arg("out"));
 		cl.def("readFromStream", (void (mrpt::opengl::TLightParameters::*)(class mrpt::serialization::CArchive &)) &mrpt::opengl::TLightParameters::readFromStream, "C++: mrpt::opengl::TLightParameters::readFromStream(class mrpt::serialization::CArchive &) --> void", pybind11::arg("in"));
 		cl.def("assign", (struct mrpt::opengl::TLightParameters & (mrpt::opengl::TLightParameters::*)(const struct mrpt::opengl::TLightParameters &)) &mrpt::opengl::TLightParameters::operator=, "C++: mrpt::opengl::TLightParameters::operator=(const struct mrpt::opengl::TLightParameters &) --> struct mrpt::opengl::TLightParameters &", pybind11::return_value_policy::automatic, pybind11::arg(""));

diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
@@ -3606,6 +3606,7 @@ class TLightParameters:
     diffuse: float
     direction: Any
     eyeDistance2lightShadowExtension: float
+    minimum_shadow_map_extension_ratio: float
     shadow_bias: float
     shadow_bias_cam2frag: float
     shadow_bias_normal: float