remove unused code, update migration guide, use numeric limits

gazebosim · Nov 5, 2019 · 05572c9 · 05572c9
1 parent 89a926b
commit 05572c9
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Showing 5 changed files with 23 additions and 10 deletions.
diff --git a/Migration.md b/Migration.md
@@ -5,6 +5,14 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+
+## Ignition Rendering 2.X to 3.X
+
+### Deletions
+
+1. **Ogre2DepthCamera.hh**
+    + Removed unused member variables `captureData` and `newData`
+
 ## Ignition Rendering 1.X to 2.X
 
 ### Modifications

diff --git a/ogre/src/OgreMaterialSwitcher.cc b/ogre/src/OgreMaterialSwitcher.cc
@@ -42,6 +42,9 @@ Ogre::Technique *OgreMaterialSwitcher::handleSchemeNotFound(
     Ogre::Material *_originalMaterial, uint16_t /*_lodIndex*/,
     const Ogre::Renderable *_rend)
 {
+  // selection buffer: check scheme name against the one specified in
+  // OgreSelectionBuffer::CreateRTTBuffer. Only proceed if this is a callback
+  // from the selection camera.
   if (_schemeName != "selection")
     return nullptr;
 

diff --git a/ogre/src/OgreThermalCamera.cc b/ogre/src/OgreThermalCamera.cc
@@ -20,6 +20,9 @@
   #define NOMINMAX
   #include <windows.h>
 #endif
+
+#include <limits>
+
 #include <ignition/math/Helpers.hh>
 #include "ignition/rendering/ShaderParams.hh"
 #include "ignition/rendering/ogre/OgreThermalCamera.hh"
@@ -83,7 +86,6 @@ class OgreThermalCameraMaterialSwitcher : public Ogre::RenderTargetListener,
 class ignition::rendering::OgreThermalCameraPrivate
 {
   /// \brief The thermal material
-  // public: Ogre::Material *thermalMaterial = nullptr;
   public: MaterialPtr thermalMaterial = nullptr;
 
   /// \brief thermal camera texture
@@ -105,7 +107,7 @@ class ignition::rendering::OgreThermalCameraPrivate
   public: uint16_t *thermalImage = nullptr;
 
   /// \brief maximum value used for data outside sensor range
-  public: uint16_t dataMaxVal = 65535u;
+  public: uint16_t dataMaxVal = std::numeric_limits<uint16_t>::max();
 
   /// \brief minimum value used for data outside sensor range
   public: uint16_t dataMinVal = 0u;
@@ -229,14 +231,13 @@ Ogre::Technique *OgreThermalCameraMaterialSwitcher::handleSchemeNotFound(
     if (temp >= 0.0)
     {
       // normalize temperature value
-      float color = temp * 100.0 / 65535.0;
+      float color = temp * 100.0 / static_cast<float>(
+          std::numeric_limits<uint16_t>::max());
       const_cast<Ogre::SubEntity *>(subEntity)->setCustomParameter(
           this->customParamIdx,
-          // Ogre::Vector4(color, color, color, 1.0));
           Ogre::Vector4(color, 0.0, 0.0, 1.0));
 
       return this->heatSourceMaterial->getSupportedTechnique(0);
-      // return this->heatSourceMaterial->getTechnique(0);
     }
   }
 
@@ -309,7 +310,6 @@ void OgreThermalCamera::Init()
 {
   BaseThermalCamera::Init();
   this->CreateCamera();
-  // this->CreateThermalTexture();
   this->CreateRenderTexture();
   this->Reset();
 }
@@ -532,7 +532,7 @@ void OgreThermalCamera::UpdateRenderTarget(Ogre::RenderTarget *_target,
   float d = farPlane / (farPlane - nearPlane);
   float temp = this->ambient - this->ambientRange * 0.5 + (1.0 - d)
       * this->ambientRange;
-  temp /= 655.35;
+  temp /= (this->dataPtr->dataMaxVal * 0.01);
   vp->setBackgroundColour(Ogre::ColourValue(temp, 0, 0));
 
   Ogre::CompositorManager::getSingleton().setCompositorEnabled(

diff --git a/ogre/src/media/materials/programs/thermal_camera_fs.glsl b/ogre/src/media/materials/programs/thermal_camera_fs.glsl
@@ -38,7 +38,6 @@ void main()
 
   // check for heat source
   float heat = texture2D(heatTexture, gl_TexCoord[0].xy).x;
-  // float heat = 0.2;
   if (heat > 0.0)
   {
     // heat is normalized so convert back to work in kelvin

diff --git a/ogre2/src/Ogre2ThermalCamera.cc b/ogre2/src/Ogre2ThermalCamera.cc
@@ -22,6 +22,8 @@
 #endif
 
 #include <math.h>
+#include <limits>
+
 #include <ignition/common/Console.hh>
 #include <ignition/math/Helpers.hh>
 
@@ -92,7 +94,7 @@ class ignition::rendering::Ogre2ThermalCameraPrivate
   public: uint16_t *thermalImage = nullptr;
 
   /// \brief maximum value used for data outside sensor range
-  public: uint16_t dataMaxVal = 65535u;
+  public: uint16_t dataMaxVal = std::numeric_limits<uint16_t>::max();
 
   /// \brief minimum value used for data outside sensor range
   public: uint16_t dataMinVal = 0u;
@@ -214,7 +216,8 @@ void Ogre2ThermalCameraMaterialSwitcher::preRenderTargetUpdate(
             if (!subItem->hasCustomParameter(this->customParamIdx))
             {
               // normalize temperature value
-              float color = temp * 100.0 / 65535.0;
+              float color = temp * 100.0 /
+                  static_cast<float>(std::numeric_limits<uint16_t>::max());
               subItem->setCustomParameter(this->customParamIdx,
                   Ogre::Vector4(color, color, color, 1.0));
             }