Re-review fixes

RobotecAI · Mar 5, 2024 · ae8df93 · ae8df93
1 parent cf763c2
commit ae8df93
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Showing 6 changed files with 19 additions and 23 deletions.
diff --git a/include/rgl/api/core.h b/include/rgl/api/core.h
@@ -584,7 +584,8 @@ RGL_API rgl_status_t rgl_node_raytrace_configure_distortion(rgl_node_t node, boo
 
 /**
  * Modifies RaytraceNode to set non-hit values for distance.
- * Sets and differentiates non-hit values for the RGL_FIELD_DISTANCE_F32 field, specifically:
+ * Default non-hit value for the RGL_FIELD_DISTANCE_F32 field is set to infinity.
+ * This function allows to set custom values:
  *  - for non-hits closer than a minimum range (`near`),
  *  - for non-hits beyond a maximum range (`far`).
  * Concurrently, it computes the RGL_FIELD_XYZ_VEC3_F32 field for these non-hit scenarios based on these distances, along with ray origin and direction.

diff --git a/src/gpu/optixPrograms.cu b/src/gpu/optixPrograms.cu
@@ -108,8 +108,10 @@ __forceinline__ __device__ void saveNonHitRayResult(float nonHitDistance)
 	Mat3x4f ray = ctx.rays[optixGetLaunchIndex().x];
 	Vec3f origin = ray * Vec3f{0, 0, 0};
 	Vec3f dir = ray * Vec3f{0, 0, 1} - origin;
-	Vec3f xyz = origin + dir.normalized() * nonHitDistance;
-	xyz = {isnan(xyz.x()) ? 0 : xyz.x(), isnan(xyz.y()) ? 0 : xyz.y(), isnan(xyz.z()) ? 0 : xyz.z()};
+	Vec3f displacement = dir.normalized() * nonHitDistance;
+	displacement = {isnan(displacement.x()) ? 0 : displacement.x(), isnan(displacement.y()) ? 0 : displacement.y(),
+	                isnan(displacement.z()) ? 0 : displacement.z()};
+	Vec3f xyz = origin + displacement;
 	saveRayResult<false>(xyz, nonHitDistance, 0, RGL_ENTITY_INVALID_ID, Vec3f{NAN}, Vec3f{NAN}, NAN, Vec3f{NAN}, NAN);
 }
 

diff --git a/test/include/helpers/commonHelpers.hpp b/test/include/helpers/commonHelpers.hpp
@@ -10,7 +10,6 @@
 
 static constexpr float EPSILON_F = 1e-6f;
 static constexpr int maxGPUCoresTestCount = 20000;
-static constexpr float INF = std::numeric_limits<float>::infinity();
 
 #define EXPECT_RGL_SUCCESS(status) EXPECT_EQ(status, rgl_status_t::RGL_SUCCESS)
 #define ASSERT_RGL_SUCCESS(status) ASSERT_EQ(status, rgl_status_t::RGL_SUCCESS)

diff --git a/test/src/graph/DistanceFieldTest.cpp b/test/src/graph/DistanceFieldTest.cpp
@@ -64,7 +64,6 @@ class DistanceFieldTest : public RGLTestWithParam<float>
 		ASSERT_RGL_SUCCESS(rgl_node_rays_from_mat3x4f(&useRaysNode, rayTf.data(), rayTf.size()));
 		ASSERT_RGL_SUCCESS(rgl_node_rays_set_range(&setRangeNode, &raytraceRange, 1));
 		ASSERT_RGL_SUCCESS(rgl_node_raytrace(&raytraceNode, nullptr));
-		EXPECT_RGL_SUCCESS(rgl_node_raytrace_configure_non_hits(raytraceNode, INF, INF));
 		ASSERT_RGL_SUCCESS(rgl_node_points_yield(&yieldPointsNode, fields.data(), fields.size()));
 	}
 
@@ -149,8 +148,8 @@ TEST_F(DistanceFieldTest, should_compute_nonhit_distance_for_object_off_ray_path
 	connectNodes(false);
 	getResults();
 
-	EXPECT_EQ(outDistances.at(0), INF);
-	EXPECT_EQ(outDistances.at(1), INF);
+	EXPECT_EQ(outDistances.at(0), std::numeric_limits<float>::infinity());
+	EXPECT_EQ(outDistances.at(1), std::numeric_limits<float>::infinity());
 }
 
 TEST_P(DistanceFieldTest, should_compute_nonhit_distance_for_object_out_of_max_range)
@@ -166,7 +165,7 @@ TEST_P(DistanceFieldTest, should_compute_nonhit_distance_for_object_out_of_max_r
 
 	getResults();
 
-	EXPECT_EQ(outDistances.at(0), INF);
+	EXPECT_EQ(outDistances.at(0), std::numeric_limits<float>::infinity());
 }
 
 TEST_P(DistanceFieldTest, should_compute_nonhit_distance_for_object_out_of_min_range)
@@ -182,7 +181,7 @@ TEST_P(DistanceFieldTest, should_compute_nonhit_distance_for_object_out_of_min_r
 
 	getResults();
 
-	EXPECT_EQ(outDistances.at(0), INF);
+	EXPECT_EQ(outDistances.at(0), std::numeric_limits<float>::infinity());
 }
 
 TEST_P(DistanceFieldTest, object_in_range_behind_object_out_of_min_range)
@@ -202,7 +201,7 @@ TEST_P(DistanceFieldTest, object_in_range_behind_object_out_of_min_range)
 
 	getResults();
 
-	EXPECT_EQ(outDistances.at(0), INF);
+	EXPECT_EQ(outDistances.at(0), std::numeric_limits<float>::infinity());
 }
 
 TEST_P(DistanceFieldTest, should_compute_correct_distances_for_various_ray_angles)

diff --git a/test/src/graph/VelocityDistortionTest.cpp b/test/src/graph/VelocityDistortionTest.cpp
@@ -53,7 +53,6 @@ TEST_F(VelocityDistortionTest, smoke_test)
 	EXPECT_RGL_SUCCESS(rgl_node_raytrace(&raytrace, nullptr));
 	EXPECT_RGL_SUCCESS(rgl_node_raytrace_configure_velocity(raytrace, &linearVelocity, &angularVelocity));
 	EXPECT_RGL_SUCCESS(rgl_node_raytrace_configure_distortion(raytrace, true));
-	EXPECT_RGL_SUCCESS(rgl_node_raytrace_configure_non_hits(raytrace, INF, INF));
 	EXPECT_RGL_SUCCESS(rgl_node_points_yield(&yield, outFields.data(), outFields.size()));
 
 	EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(useRays, offsetsNode));

diff --git a/test/src/graph/nodes/RaytraceNodeTest.cpp b/test/src/graph/nodes/RaytraceNodeTest.cpp
@@ -115,6 +115,11 @@ TEST_F(RaytraceNodeTest, config_non_hits_should_not_impact_hits)
 	float resolution = 30.0f;
 	std::vector<rgl_mat3x4f> rays = makeLidar3dRays(fovX, fovY, resolution, resolution);
 
+	rgl_node_t rangeRaysNode = nullptr;
+	std::vector<rgl_vec2f> ranges{
+	    rgl_vec2f{0.0f, CUBE_HALF_EDGE + 1.0f}  // Ray should hit the cube
+	};
+
 	std::vector<rgl_field_t> outFields{XYZ_VEC3_F32, IS_HIT_I32, DISTANCE_F32};
 
 	/**
@@ -125,10 +130,12 @@ TEST_F(RaytraceNodeTest, config_non_hits_should_not_impact_hits)
 	rgl_node_t yieldNode = nullptr;
 
 	ASSERT_RGL_SUCCESS(rgl_node_rays_from_mat3x4f(&raysNode, rays.data(), rays.size()));
+	ASSERT_RGL_SUCCESS(rgl_node_rays_set_range(&rangeRaysNode, ranges.data(), ranges.size()));
 	ASSERT_RGL_SUCCESS(rgl_node_raytrace(&raytraceNode, nullptr));
 	ASSERT_RGL_SUCCESS(rgl_node_points_yield(&yieldNode, outFields.data(), outFields.size()));
 
-	ASSERT_RGL_SUCCESS(rgl_graph_node_add_child(raysNode, raytraceNode));
+	ASSERT_RGL_SUCCESS(rgl_graph_node_add_child(raysNode, rangeRaysNode));
+	ASSERT_RGL_SUCCESS(rgl_graph_node_add_child(rangeRaysNode, raytraceNode));
 	ASSERT_RGL_SUCCESS(rgl_graph_node_add_child(raytraceNode, yieldNode));
 
 	ASSERT_RGL_SUCCESS(rgl_graph_run(raysNode));
@@ -143,22 +150,11 @@ TEST_F(RaytraceNodeTest, config_non_hits_should_not_impact_hits)
 	 * Hits with raytrace non hits configuration scenario
 	 */
 
-	rgl_node_t rangeRaysNode = nullptr;
-	std::vector<rgl_vec2f> ranges{
-	    rgl_vec2f{0.0f, CUBE_HALF_EDGE + 1.0f}  // Ray should hit the cube
-	};
-
-	ASSERT_RGL_SUCCESS(rgl_node_rays_set_range(&rangeRaysNode, ranges.data(), ranges.size()));
-
 	const float nearNonHitDistance = 123.0f;
 	const float farNonHitDistance = 321.0f;
 
 	ASSERT_RGL_SUCCESS(rgl_node_raytrace_configure_non_hits(raytraceNode, nearNonHitDistance, farNonHitDistance));
 
-	ASSERT_RGL_SUCCESS(rgl_graph_node_remove_child(raysNode, raytraceNode));
-	ASSERT_RGL_SUCCESS(rgl_graph_node_add_child(raysNode, rangeRaysNode));
-	ASSERT_RGL_SUCCESS(rgl_graph_node_add_child(rangeRaysNode, raytraceNode));
-
 	ASSERT_RGL_SUCCESS(rgl_graph_run(raysNode));
 
 	TestPointCloud outPointCloud = TestPointCloud::createFromNode(yieldNode, outFields);