Mitigate depth offset precision issues on web (#2187)

* run-wasm no longer pops up browser when running with --build-only

* add depth offset example

* mitigate depth issues on web

* deterministic order of depth offset determination

* inverte negative if

crates/re_log_types/src/hash.rs

@@ -8,7 +8,7 @@ use std::hash::BuildHasher;
 /// 10^-9  collision risk with 190k values.
 /// 10^-6  collision risk with   6M values.
 /// 10^-3  collision risk with 200M values.
-#[derive(Copy, Clone, Eq)]
+#[derive(Copy, Clone, Eq, PartialOrd, Ord)]
 pub struct Hash64(u64);
 
 impl Hash64 {

crates/re_log_types/src/path/entity_path.rs

@@ -8,7 +8,7 @@ use crate::{
 // ----------------------------------------------------------------------------
 
 /// A 64 bit hash of [`EntityPath`] with very small risk of collision.
-#[derive(Copy, Clone, Eq)]
+#[derive(Copy, Clone, Eq, PartialOrd, Ord)]
 pub struct EntityPathHash(Hash64);
 
 impl EntityPathHash {

crates/re_renderer/examples/depth_offset.rs

@@ -0,0 +1,157 @@
+//! Depth offset and depth precision comparison test scene.
+//!
+//! Rectangles are at close distance to each other in the z==0 plane.
+//! Rects on the left use "real" depth values, rects on the right use depth offset.
+//! You should see the least saturated rects in front of more saturated rects.
+//!
+//! Press arrow up/down to increase/decrease the distance of the camera to the z==0 plane in tandem with the scale of the rectangles.
+//! Press arrow left/right to increase/decrease the near plane distance.
+
+use ecolor::Hsva;
+use re_renderer::{
+    renderer::{ColormappedTexture, RectangleDrawData, RectangleOptions, TexturedRect},
+    view_builder::{self, Projection, ViewBuilder},
+};
+
+mod framework;
+
+struct Render2D {
+    distance_scale: f32,
+    near_plane: f32,
+}
+
+impl framework::Example for Render2D {
+    fn title() -> &'static str {
+        "Depth Offset"
+    }
+
+    fn new(_re_ctx: &mut re_renderer::RenderContext) -> Self {
+        Render2D {
+            distance_scale: 100.0,
+            near_plane: 0.1,
+        }
+    }
+
+    fn draw(
+        &mut self,
+        re_ctx: &mut re_renderer::RenderContext,
+        resolution: [u32; 2],
+        _time: &framework::Time,
+        pixels_from_point: f32,
+    ) -> Vec<framework::ViewDrawResult> {
+        let mut rectangles = Vec::new();
+
+        let extent_u = glam::vec3(1.0, 0.0, 0.0) * self.distance_scale;
+        let extent_v = glam::vec3(0.0, 1.0, 0.0) * self.distance_scale;
+
+        // Rectangles on the left from near to far, using z.
+        let base_top_left = glam::vec2(-0.8, -0.5) * self.distance_scale
+            - (extent_u.truncate() + extent_v.truncate()) * 0.5;
+        let xy_step = glam::vec2(-0.1, 0.1) * self.distance_scale;
+        let z_values = [0.1, 0.01, 0.001, 0.0001, 0.00001, 0.0]; // Make sure to go from near to far so that painter's algorithm would fail if depth values are no longer distinct.
+        for (i, z) in z_values.into_iter().enumerate() {
+            let saturation = 0.1 + i as f32 / z_values.len() as f32 * 0.9;
+            rectangles.push(TexturedRect {
+                top_left_corner_position: (base_top_left + i as f32 * xy_step).extend(z),
+                extent_u,
+                extent_v,
+                colormapped_texture: ColormappedTexture::from_unorm_srgba(
+                    re_ctx
+                        .texture_manager_2d
+                        .white_texture_unorm_handle()
+                        .clone(),
+                ),
+                options: RectangleOptions {
+                    multiplicative_tint: Hsva::new(0.0, saturation, 0.5, 1.0).into(),
+                    ..Default::default()
+                },
+            });
+        }
+
+        // Rectangles on the right from near to far, using depth offset.
+        let base_top_left = glam::vec2(0.8, -0.5) * self.distance_scale
+            - (extent_u.truncate() + extent_v.truncate()) * 0.5;
+        let xy_step = glam::vec2(0.1, 0.1) * self.distance_scale;
+        let depth_offsets = [1000, 100, 10, 1, 0, -1]; // Make sure to go from near to far so that painter's algorithm would fail if depth values are no longer distinct.
+        for (i, depth_offset) in depth_offsets.into_iter().enumerate() {
+            let saturation = 0.1 + i as f32 / depth_offsets.len() as f32 * 0.9;
+            rectangles.push(TexturedRect {
+                top_left_corner_position: (base_top_left + i as f32 * xy_step).extend(0.0),
+                extent_u,
+                extent_v,
+                colormapped_texture: ColormappedTexture::from_unorm_srgba(
+                    re_ctx
+                        .texture_manager_2d
+                        .white_texture_unorm_handle()
+                        .clone(),
+                ),
+                options: RectangleOptions {
+                    multiplicative_tint: Hsva::new(0.68, saturation, 0.5, 1.0).into(),
+                    depth_offset,
+                    ..Default::default()
+                },
+            });
+        }
+
+        let mut view_builder = ViewBuilder::new(
+            re_ctx,
+            view_builder::TargetConfiguration {
+                name: "3D".into(),
+                resolution_in_pixel: resolution,
+                view_from_world: macaw::IsoTransform::look_at_rh(
+                    glam::Vec3::Z * 2.0 * self.distance_scale,
+                    glam::Vec3::ZERO,
+                    glam::Vec3::Y,
+                )
+                .unwrap(),
+                projection_from_view: Projection::Perspective {
+                    vertical_fov: 70.0 * std::f32::consts::TAU / 360.0,
+                    near_plane_distance: self.near_plane,
+                    aspect_ratio: resolution[0] as f32 / resolution[1] as f32,
+                },
+                pixels_from_point,
+                ..Default::default()
+            },
+        );
+        let command_buffer = view_builder
+            .queue_draw(&RectangleDrawData::new(re_ctx, &rectangles).unwrap())
+            .draw(re_ctx, ecolor::Rgba::TRANSPARENT)
+            .unwrap();
+
+        vec![{
+            framework::ViewDrawResult {
+                view_builder,
+                command_buffer,
+                target_location: glam::Vec2::ZERO,
+            }
+        }]
+    }
+
+    fn on_keyboard_input(&mut self, input: winit::event::KeyboardInput) {
+        if input.state == winit::event::ElementState::Pressed {
+            match input.virtual_keycode {
+                Some(winit::event::VirtualKeyCode::Up) => {
+                    self.distance_scale *= 1.1;
+                    re_log::info!(self.distance_scale);
+                }
+                Some(winit::event::VirtualKeyCode::Down) => {
+                    self.distance_scale /= 1.1;
+                    re_log::info!(self.distance_scale);
+                }
+                Some(winit::event::VirtualKeyCode::Right) => {
+                    self.near_plane *= 1.1;
+                    re_log::info!(self.near_plane);
+                }
+                Some(winit::event::VirtualKeyCode::Left) => {
+                    self.near_plane /= 1.1;
+                    re_log::info!(self.near_plane);
+                }
+                _ => {}
+            }
+        }
+    }
+}
+
+fn main() {
+    framework::start::<Render2D>();
+}

crates/re_renderer/shader/utils/depth_offset.wgsl

@@ -33,10 +33,41 @@ Without z offset, we get this:
 The negative -z axis is away from the camera, so with w=1 we get
 z_near mapping to z_ndc=1, and infinity mapping to z_ndc=0.
 
-The code below act on the *_proj values by adding a scale multiplier on `w_proj` resulting in:
+The code in apply_depth_offset acts on the *_proj values by adding a scale multiplier on `w_proj` resulting in:
     x_ndc: x_proj / (-z * w_scale)
     y_ndc: y_proj / (-z * w_scale)
     z_ndc: z_proj / (-z * w_scale)
+
+
+On GLES/WebGL, the NDC clipspace range for depth is from -1 to 1 and y is flipped.
+wgpu/Naga counteracts this by patching all vertex shaders with:
+"gl_Position.yz = vec2(-gl_Position.y, gl_Position.z * 2.0 - gl_Position.w);"
+Meaning projected coordinates (without any offset) become:
+
+    x_proj_gl: x_proj,
+    y_proj_gl: -y_proj,
+    z_proj_gl: z_proj * 2 - w_proj,
+    w_proj_gl: w_proj
+
+For NDC follows:
+
+    x_ndc: x_proj / w_proj                  = x * f / aspect_ratio / -z
+    y_ndc: -y_proj / w_proj                 = -y * f / -z
+    z_ndc: (z_proj * 2 - w_proj) / w_proj   = (w * z_near * 2 + z) / -z
+
+Which means depth precision is greatly reduced before hitting the depth buffer
+and then further by shifting back to the [0, 1] range in which depth is stored.
+
+This is a general issue, not specific to our depth offset implementation, affecting precision for all depth values.
+
+Note that for convenience we still use inverse depth (otherwise we'd have to flip all depth tests),
+but this does actually neither improve not worsen precision, in any case most of the precision is
+somewhere in the middle of the depth range (see also https://developer.nvidia.com/content/depth-precision-visualized).
+
+The only reliable ways to mitigate this we found so far are:
+* higher near plane distance
+* larger depth offset
+
 */
 
 fn apply_depth_offset(position: Vec4, offset: f32) -> Vec4 {
@@ -52,8 +83,15 @@ fn apply_depth_offset(position: Vec4, offset: f32) -> Vec4 {
     // so a great depth offset should result in a large z_ndc.
     // How do we get there? We let large depth offset lead to a smaller divisor (w_proj):
 
+    var w_scale_bias = f32eps * offset;
+    if frame.hardware_tier == HARDWARE_TIER_GLES {
+        // Empirically determined, see section on GLES above.
+        w_scale_bias *= 1000.0;
+    }
+    let w_scale = 1.0 - w_scale_bias;
+
     return Vec4(
         position.xyz,
-        position.w * (1.0 - f32eps * offset),
+        position.w * w_scale,
     );
 }

crates/re_viewer/src/ui/view_spatial/scene/mod.rs

@@ -1,4 +1,7 @@
-use std::{collections::BTreeMap, sync::Arc};
+use std::{
+    collections::{BTreeMap, BTreeSet},
+    sync::Arc,
+};
 
 use ahash::HashMap;
 
@@ -10,8 +13,6 @@ use re_log_types::{
 };
 use re_renderer::{renderer::TexturedRect, Color32, OutlineMaskPreference, Size};
 use re_viewer_context::{auto_color, AnnotationMap, Annotations, SceneQuery, ViewerContext};
-use smallvec::smallvec;
-use smallvec::SmallVec;
 
 use crate::misc::{mesh_loader::LoadedMesh, SpaceViewHighlights, TransformCache};
 
@@ -130,6 +131,7 @@ impl SceneSpatial {
     ) -> EntityDepthOffsets {
         crate::profile_function!();
 
+        #[derive(PartialEq, PartialOrd, Eq, Ord)]
         enum DrawOrderTarget {
             Entity(EntityPathHash),
             DefaultBox2D,
@@ -138,7 +140,8 @@ impl SceneSpatial {
             DefaultPoints,
         }
 
-        let mut entities_per_draw_order = BTreeMap::<DrawOrder, SmallVec<[_; 4]>>::new();
+        // Use a BTreeSet for entity hashes to get a stable order.
+        let mut entities_per_draw_order = BTreeMap::<DrawOrder, BTreeSet<DrawOrderTarget>>::new();
         for (ent_path, _) in query.iter_entities() {
             if let Some(draw_order) = query_latest_single::<DrawOrder>(
                 &ctx.log_db.entity_db.data_store,
@@ -148,26 +151,26 @@ impl SceneSpatial {
                 entities_per_draw_order
                     .entry(draw_order)
                     .or_default()
-                    .push(DrawOrderTarget::Entity(ent_path.hash()));
+                    .insert(DrawOrderTarget::Entity(ent_path.hash()));
             }
         }
 
         // Push in default draw orders. All of them using the none hash.
         entities_per_draw_order.insert(
             DrawOrder::DEFAULT_BOX2D,
-            smallvec![DrawOrderTarget::DefaultBox2D],
+            [DrawOrderTarget::DefaultBox2D].into(),
         );
         entities_per_draw_order.insert(
             DrawOrder::DEFAULT_IMAGE,
-            smallvec![DrawOrderTarget::DefaultImage],
+            [DrawOrderTarget::DefaultImage].into(),
         );
         entities_per_draw_order.insert(
             DrawOrder::DEFAULT_LINES2D,
-            smallvec![DrawOrderTarget::DefaultLines2D],
+            [DrawOrderTarget::DefaultLines2D].into(),
         );
         entities_per_draw_order.insert(
             DrawOrder::DEFAULT_POINTS2D,
-            smallvec![DrawOrderTarget::DefaultPoints],
+            [DrawOrderTarget::DefaultPoints].into(),
         );
 
         // Determine re_renderer draw order from this.
@@ -210,7 +213,7 @@ impl SceneSpatial {
                             }
                         }
                     })
-                    .collect::<SmallVec<[_; 4]>>()
+                    .collect::<Vec<_>>()
             })
             .collect();
 

crates/re_viewer/src/ui/view_spatial/ui_2d.rs

@@ -445,7 +445,7 @@ fn setup_target_config(
 
     let projection_from_view = re_renderer::view_builder::Projection::Perspective {
         vertical_fov: pinhole.fov_y().unwrap_or(Eye::DEFAULT_FOV_Y),
-        near_plane_distance: 0.01,
+        near_plane_distance: 0.1,
         aspect_ratio: pinhole
             .aspect_ratio()
             .unwrap_or(canvas_size.x / canvas_size.y),

run_wasm/src/main.rs

@@ -99,21 +99,25 @@ fn main() {
     let host = host.as_deref().unwrap_or("localhost");
     let port = port.as_deref().unwrap_or("8000");
 
-    std::thread::Builder::new()
+    let thread = std::thread::Builder::new()
         .name("cargo_run_wasm".into())
         .spawn(|| {
             cargo_run_wasm::run_wasm_with_css(CSS);
         })
         .expect("Failed to spawn thread");
 
-    // It would be nice to start a webbrowser, but we can't really know when the server is ready.
-    // So we just sleep for a while and hope it works.
-    std::thread::sleep(Duration::from_millis(500));
+    if args.contains("--build-only") {
+        thread.join().unwrap();
+    } else {
+        // It would be nice to start a web-browser, but we can't really know when the server is ready.
+        // So we just sleep for a while and hope it works.
+        std::thread::sleep(Duration::from_millis(500));
 
-    // Open browser tab.
-    let viewer_url = format!("http://{host}:{port}",);
-    webbrowser::open(&viewer_url).ok();
-    println!("Opening browser at {viewer_url}");
+        // Open browser tab.
+        let viewer_url = format!("http://{host}:{port}",);
+        webbrowser::open(&viewer_url).ok();
+        println!("Opening browser at {viewer_url}");
 
-    std::thread::sleep(Duration::from_secs(u64::MAX));
+        std::thread::sleep(Duration::from_secs(u64::MAX));
+    }
 }