Merge pull request gazebosim#592 from ignitionrobotics/merge_6_7_2022…

…0321

6 -> main

.github/ci/packages-bionic.apt

@@ -0,0 +1 @@
+libogre-2.2-dev

.github/ci/packages-focal.apt

@@ -0,0 +1 @@
+libogre-2.2-dev

.github/ci/packages-jammy.apt

@@ -0,0 +1 @@
+libogre-next-dev

.github/ci/packages.apt

@@ -8,7 +8,6 @@ libignition-math7-eigen3-dev
 libignition-plugin-dev
 libignition-utils1-dev
 libogre-1.9-dev
-libogre-2.2-dev
 libxi-dev
 libxmu-dev
 uuid-dev

.github/workflows/ci.yml

@@ -17,3 +17,12 @@ jobs:
           cppcheck-enabled: true
           cpplint-enabled: true
           doxygen-enabled: true
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@jammy

CMakeLists.txt

@@ -101,14 +101,21 @@ if (OGRE_FOUND)
 endif()
 
 #--------------------------------------
-# Find OGRE2
-ign_find_package(IgnOGRE2 VERSION 2.2.0
-    COMPONENTS HlmsPbs HlmsUnlit Overlay
-    REQUIRED_BY ogre2
-    PRIVATE_FOR ogre2)
-
-if (OGRE2_FOUND)
+# Find OGRE-Next
+find_package(OGRE-Next QUIET)
+if (OGRE-Next_FOUND)
   set(HAVE_OGRE2 TRUE)
+  set(HAVE_OGRE-Next TRUE)
+else()
+  # Find OGRE2
+  ign_find_package(IgnOGRE2 VERSION 2.2.0
+      COMPONENTS HlmsPbs HlmsUnlit Overlay
+      REQUIRED_BY ogre2
+      PRIVATE_FOR ogre2)
+
+  if (OGRE2_FOUND)
+    set(HAVE_OGRE2 TRUE)
+  endif()
 endif()
 
 # Plugin install dirs

examples/render_pass/Main.cc

@@ -160,18 +160,24 @@ CameraPtr createCamera(const std::string &_engineName,
   {
     // add gaussian noise pass
     RenderPassPtr pass = rpSystem->Create<GaussianNoisePass>();
-    GaussianNoisePassPtr noisePass =
-        std::dynamic_pointer_cast<GaussianNoisePass>(pass);
-    noisePass->SetMean(0.1);
-    noisePass->SetStdDev(0.08);
-    camera->AddRenderPass(noisePass);
+    if (pass)
+    {
+      GaussianNoisePassPtr noisePass =
+          std::dynamic_pointer_cast<GaussianNoisePass>(pass);
+      noisePass->SetMean(0.1);
+      noisePass->SetStdDev(0.08);
+      camera->AddRenderPass(noisePass);
+    }
 
     // add distortion pass
     pass = rpSystem->Create<DistortionPass>();
-    DistortionPassPtr distortionPass =
-        std::dynamic_pointer_cast<DistortionPass>(pass);
-    distortionPass->SetK1(0.5);
-    camera->AddRenderPass(distortionPass);
+    if (pass)
+    {
+      DistortionPassPtr distortionPass =
+          std::dynamic_pointer_cast<DistortionPass>(pass);
+      distortionPass->SetK1(0.5);
+      camera->AddRenderPass(distortionPass);
+    }
   }
   //! [get render pass system]
 

ogre2/src/CMakeLists.txt

@@ -27,9 +27,18 @@ set_property(
   OGRE2_VERSION="${OGRE2_VERSION}"
 )
 
+if (HAVE_OGRE-Next)
+  target_include_directories(${ogre2_target}
+    PUBLIC
+      ${OGRE-Next_INCLUDE_DIRS}
+      ${OGRE-Next_HlmsUnlit_INCLUDE_DIRS}
+      ${OGRE-Next_HlmsPbs_INCLUDE_DIRS}/../Common
+  )
+endif()
+
 target_include_directories(${ogre2_target}
   PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
 target_link_libraries(${ogre2_target}
@@ -39,7 +48,17 @@ target_link_libraries(${ogre2_target}
     ignition-plugin${IGN_PLUGIN_VER}::register
     ${OPENGL_LIBRARIES}
     terra
-    IgnOGRE2::IgnOGRE2)
+)
+
+if (HAVE_OGRE-Next)
+  target_link_libraries(${ogre2_target}
+    PRIVATE
+      ${OGRE-Next_LIBRARIES})
+else()
+  target_link_libraries(${ogre2_target}
+    PRIVATE
+      IgnOGRE2::IgnOGRE2)
+endif()
 
 set (versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 set (unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})

ogre2/src/Ogre2GpuRays.cc

@@ -480,7 +480,6 @@ void Ogre2LaserRetroMaterialSwitcher::passPosExecute(
   engine->SetIgnOgreRenderingMode(IORM_NORMAL);
 }
 
-
 //////////////////////////////////////////////////
 Ogre2GpuRays::Ogre2GpuRays()
   : dataPtr(new Ogre2GpuRaysPrivate)

ogre2/src/Ogre2ThermalCamera.cc

@@ -156,7 +156,6 @@ class Ogre2ThermalCameraMaterialSwitcher : public Ogre::Camera::Listener
 }
 }
 
-
 /// \internal
 /// \brief Private data for the Ogre2ThermalCamera class
 class ignition::rendering::Ogre2ThermalCameraPrivate

ogre2/src/terrain/Terra/CMakeLists.txt

@@ -29,13 +29,31 @@ add_definitions(-DOGRE_IGNORE_UNKNOWN_DEBUG)
 #  $<$<CONFIG:Debug>:DEBUG=1 _DEBUG=1>)
 
 target_include_directories(${PROJECT_NAME}
-  PRIVATE
-    # Hlms files inside Hlms/Pbs do not have #include <Hlms/Pbs/...> thus
-    # we must add this one manually for this to build correctly
-    ${OGRE2_INCLUDE}/Hlms/Pbs
-    ${OGRE2_INCLUDE}/Hlms/Common
   PUBLIC
     ${CMAKE_CURRENT_LIST_DIR}/include
 )
 
-target_link_libraries(${PROJECT_NAME} PRIVATE IgnOGRE2::IgnOGRE2)
+if (HAVE_OGRE-Next)
+  target_include_directories(${PROJECT_NAME}
+    PRIVATE
+      # Hlms files inside Hlms/Pbs do not have #include <Hlms/Pbs/...> thus
+      # we must add this one manually for this to build correctly
+      ${OGRE-Next_INCLUDE_DIRS}
+      ${OGRE-Next_INCLUDE_DIRS}/OGRE-Next/PlanarReflections
+      ${OGRE-Next_HlmsPbs_INCLUDE_DIRS}
+      ${OGRE-Next_HlmsPbs_INCLUDE_DIRS}/..
+      ${OGRE-Next_HlmsPbs_INCLUDE_DIRS}/../Common
+  )
+
+  target_link_libraries(${PROJECT_NAME} PRIVATE ${OGRE-Next_LIBRARIES})
+else()
+  target_include_directories(${PROJECT_NAME}
+    PRIVATE
+      # Hlms files inside Hlms/Pbs do not have #include <Hlms/Pbs/...> thus
+      # we must add this one manually for this to build correctly
+      ${OGRE2_INCLUDE}/Hlms/Pbs
+      ${OGRE2_INCLUDE}/Hlms/Common
+  )
+
+  target_link_libraries(${PROJECT_NAME} PRIVATE IgnOGRE2::IgnOGRE2)
+endif()

test/integration/camera.cc

@@ -22,10 +22,14 @@
 #include "test_config.h"  // NOLINT(build/include)
 
 #include "ignition/rendering/Camera.hh"
+#include "ignition/rendering/GpuRays.hh"
 #include "ignition/rendering/RenderEngine.hh"
 #include "ignition/rendering/RenderingIface.hh"
 #include "ignition/rendering/Scene.hh"
+#include "ignition/rendering/SegmentationCamera.hh"
 #include "ignition/rendering/ShaderParams.hh"
+#include "ignition/rendering/ThermalCamera.hh"
+
 
 using namespace ignition;
 using namespace rendering;
@@ -629,6 +633,10 @@ void CameraTest::ShaderSelection(const std::string &_renderEngine)
   visual->SetWorldRotation(0.0, 0.0, 0.0);
   visual->SetMaterial(shader);
   root->AddChild(visual);
+  // for thermal camera
+  visual->SetUserData("temperature", 310.0f);
+  // for segmentation camera
+  visual->SetUserData("label", 1);
 
   // visual will clone and create a unique material
   // so destroy this one
@@ -646,8 +654,55 @@ void CameraTest::ShaderSelection(const std::string &_renderEngine)
   camera->SetHFOV(IGN_PI / 2);
   root->AddChild(camera);
 
+  // Create a gpu ray
+  // laser retro material switching may also affect shader materials
+  const double hMinAngle = -IGN_PI/2.0;
+  const double hMaxAngle = IGN_PI/2.0;
+  const double minRange = 0.1;
+  const double maxRange = 10.0;
+  const int hRayCount = 320;
+  const int vRayCount = 1;
+  GpuRaysPtr gpuRays = scene->CreateGpuRays("gpu_rays");
+  gpuRays->SetWorldPosition(0, 0, 0);
+  gpuRays->SetNearClipPlane(minRange);
+  gpuRays->SetFarClipPlane(maxRange);
+  gpuRays->SetAngleMin(hMinAngle);
+  gpuRays->SetAngleMax(hMaxAngle);
+  gpuRays->SetRayCount(hRayCount);
+  gpuRays->SetVerticalRayCount(vRayCount);
+  root->AddChild(gpuRays);
+
+  // Create thermal camera
+  // heat map material switching may also affect shader materials
+  auto thermalCamera = scene->CreateThermalCamera("ThermalCamera");
+  ASSERT_NE(thermalCamera, nullptr);
+  thermalCamera->SetAmbientTemperature(296.0f);
+  thermalCamera->SetAspectRatio(1.333);
+  thermalCamera->SetImageWidth(320);
+  thermalCamera->SetImageHeight(240);
+  thermalCamera->SetHFOV(IGN_PI_2);
+  root->AddChild(thermalCamera);
+
+  // Currently, only ogre2 supports segmentation cameras
+  SegmentationCameraPtr segmentationCamera;
   if (_renderEngine == "ogre2")
   {
+    // Create segmentation camera
+    // segmentation material switching may also affect shader materials
+    segmentationCamera =
+        scene->CreateSegmentationCamera("SegmentationCamera");
+    ASSERT_NE(camera, nullptr);
+    segmentationCamera->SetLocalPosition(0.0, 0.0, 0.0);
+    segmentationCamera->SetLocalRotation(0.0, 0.0, 0.0);
+    segmentationCamera->SetBackgroundLabel(23);
+    segmentationCamera->SetSegmentationType(SegmentationType::ST_SEMANTIC);
+    segmentationCamera->EnableColoredMap(false);
+    segmentationCamera->SetAspectRatio(1.333);
+    segmentationCamera->SetImageWidth(320);
+    segmentationCamera->SetImageHeight(240);
+    segmentationCamera->SetHFOV(IGN_PI_2);
+    root->AddChild(segmentationCamera);
+
     // worldviewproj_matrix is a constant defined by ogre.
     // Here we add a line to add this constant to the params.
     // The specified value is ignored as it will be auto bound to the
@@ -664,6 +719,10 @@ void CameraTest::ShaderSelection(const std::string &_renderEngine)
   for (auto i = 0; i < 30; ++i)
   {
     camera->Update();
+    gpuRays->Update();
+    thermalCamera->Update();
+    if (segmentationCamera)
+      segmentationCamera->Update();
   }
 
   // capture a frame