Merge branch 'main' into lidar_near_clip

Author: iche033

.github/ci/packages.apt

@@ -2,7 +2,7 @@ freeglut3-dev
 libfreeimage-dev
 libglew-dev
 libignition-cmake2-dev
-libignition-common3-dev
+libignition-common4-dev
 libignition-math6-dev
 libignition-plugin-dev
 libogre-1.9-dev

CMakeLists.txt

@@ -3,18 +3,19 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-rendering4 VERSION 4.8.0)
+project(ignition-rendering6 VERSION 6.0.0)
 
 #============================================================================
 # Find ignition-cmake
 #============================================================================
 # If you get an error at this line, you need to install ignition-cmake
-find_package(ignition-cmake2 2.8.0 REQUIRED)
+find_package(ignition-cmake2 2.3 REQUIRED)
+set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 
 #============================================================================
 # Set up the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -33,8 +34,9 @@ set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-common
-ign_find_package(ignition-common3 REQUIRED COMPONENTS graphics events)
-set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR})
+ign_find_package(ignition-common4 REQUIRED
+  COMPONENTS graphics events)
+set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-plugin

Changelog.md

@@ -1,5 +1,142 @@
 ## Ignition Rendering
 
+### Ignition Rendering 6.X
+
+### Ignition Rendering 6.0.0 (20XX-XX-XX)
+
+### Ignition Rendering 5.X
+
+### Ignition Rendering 5.X.X (20XX-XX-XX)
+
+### Ignition Rendering 5.1.0 (2021-06-22)
+
+1. add ifdef for apple in integration test
+    * [Pull request #349](https://github.com/ignitionrobotics/ign-rendering/pull/349)
+
+1. Update light map tutorial
+    * [Pull request #346](https://github.com/ignitionrobotics/ign-rendering/pull/346)
+
+1. relax gaussian test tolerance
+    * [Pull request #344](https://github.com/ignitionrobotics/ign-rendering/pull/344)
+
+1. Fix custom shaders uniforms ign version number
+    * [Pull request #343](https://github.com/ignitionrobotics/ign-rendering/pull/343)
+
+1. recreate node only when needed
+    * [Pull request #342](https://github.com/ignitionrobotics/ign-rendering/pull/342)
+
+1. Backport memory fixes found by ASAN
+    * [Pull request #340](https://github.com/ignitionrobotics/ign-rendering/pull/340)
+
+1. Fix FSAA in UI and lower VRAM consumption
+    * [Pull request #313](https://github.com/ignitionrobotics/ign-rendering/pull/313)
+
+1. Fix depth alpha
+    * [Pull request #316](https://github.com/ignitionrobotics/ign-rendering/pull/316)
+
+1. Fix floating point precision bug handling alpha channel (#332)
+    * [Pull request #333](https://github.com/ignitionrobotics/ign-rendering/pull/333)
+
+1. Fix heap overflow when reading
+    * [Pull request #337](https://github.com/ignitionrobotics/ign-rendering/pull/337)
+
+1. Fix new [] / delete mismatch
+    * [Pull request #338](https://github.com/ignitionrobotics/ign-rendering/pull/338)
+
+1. Test re-enabling depth camera integration test on mac
+    * [Pull request #335](https://github.com/ignitionrobotics/ign-rendering/pull/335)
+
+1. Include MoveTo Helper class to ign-rendering
+    * [Pull request #311](https://github.com/ignitionrobotics/ign-rendering/pull/311)
+
+1. Remove `tools/code_check` and update codecov
+    * [Pull request #321](https://github.com/ignitionrobotics/ign-rendering/pull/321)
+
+1. [OGRE 1.x] Uniform buffer shader support
+    * [Pull request #294](https://github.com/ignitionrobotics/ign-rendering/pull/294)
+
+1. Helper function to get a scene
+    * [Pull request #320](https://github.com/ignitionrobotics/ign-rendering/pull/320)
+
+1. fix capsule mouse picking
+    * [Pull request #319](https://github.com/ignitionrobotics/ign-rendering/pull/319)
+
+1. Fix depth alpha
+    * [Pull request #316](https://github.com/ignitionrobotics/ign-rendering/pull/316)
+
+1. Add shadows to Ogre2DepthCamera without crashing
+    * [Pull request #303](https://github.com/ignitionrobotics/ign-rendering/pull/303)
+
+1. Reduce lidar data discretization
+    * [Pull request #296](https://github.com/ignitionrobotics/ign-rendering/pull/296)
+
+1. update light visual size
+    * [Pull request #306](https://github.com/ignitionrobotics/ign-rendering/pull/306)
+
+1. Improve build times by reducing included headers
+    * [Pull request #299](https://github.com/ignitionrobotics/ign-rendering/pull/299)
+
+1. Add light map tutorial
+    * [Pull request #302](https://github.com/ignitionrobotics/ign-rendering/pull/302)
+
+1. Prevent console warnings when multiple texture coordinates are present
+    * [Pull request #301](https://github.com/ignitionrobotics/ign-rendering/pull/301)
+
+1. Fix gazebo scene viewer build
+    * [Pull request #289](https://github.com/ignitionrobotics/ign-rendering/pull/289)
+
+1. Silence noisy sky error
+    * [Pull request #282](https://github.com/ignitionrobotics/ign-rendering/pull/282)
+
+1. Added command line argument to pick version of Ogre
+    * [Pull request #277](https://github.com/ignitionrobotics/ign-rendering/pull/277)
+
+### Ignition Rendering 5.0.0 (2021-03-30)
+
+1. Add ogre2 skybox support
+    * [Pull request #168](https://github.com/ignitionrobotics/ign-rendering/pull/168)
+
+1. Add light visual support
+    * [Pull request #202](https://github.com/ignitionrobotics/ign-rendering/pull/202)
+    * [Pull request #228](https://github.com/ignitionrobotics/ign-rendering/pull/228)
+
+1. Add API for particle emitter scatter ratio
+    * [Pull request #275](https://github.com/ignitionrobotics/ign-rendering/pull/275)
+
+1. Added capsule geometry
+    * [Pull request #200](https://github.com/ignitionrobotics/ign-rendering/pull/200)
+    * [Pull request #278](https://github.com/ignitionrobotics/ign-rendering/pull/278)
+
+1. Added ellipsoid Geometry
+    * [Pull request #203](https://github.com/ignitionrobotics/ign-rendering/pull/203)
+
+1. ogre2: explicitly request OpenGL 3.3 core profile context.
+    * [Pull request #244](https://github.com/ignitionrobotics/ign-rendering/pull/244)
+
+1. Bump in edifice: ign-common4
+    * [Pull request #209](https://github.com/ignitionrobotics/ign-rendering/pull/209)
+
+1. Support setting horizontal and vertical resolution for GpuRays
+    * [Pull request #229](https://github.com/ignitionrobotics/ign-rendering/pull/229)
+
+1. Added Light Intensity
+    * [Pull request #233](https://github.com/ignitionrobotics/ign-rendering/pull/233)
+    * [Pull request #284](https://github.com/ignitionrobotics/ign-rendering/pull/284)
+
+1. Heightmap for Ogre 1
+    * [Pull request #180](https://github.com/ignitionrobotics/ign-rendering/pull/180)
+
+1. Added render order to material
+    * [Pull request #188](https://github.com/ignitionrobotics/ign-rendering/pull/188)
+
+1. Add support for lightmaps in ogre2
+    * [Pull request #182](https://github.com/ignitionrobotics/ign-rendering/pull/182)
+
+1. Documentation updates
+    * [Pull request #288](https://github.com/ignitionrobotics/ign-rendering/pull/288)
+    * [Pull request #287](https://github.com/ignitionrobotics/ign-rendering/pull/287)
+    * [Pull request #286](https://github.com/ignitionrobotics/ign-rendering/pull/286)
+
 ### Ignition Rendering 4.X
 
 ### Ignition Rendering 4.8.0 (2021-06-18)

Migration.md

@@ -5,6 +5,32 @@ 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 5.x to 6.x
+
+### Modifications
+
+1. **Scene.hh**
+    + Added `Scene::PostRender`. The function `Camera::Render` must be executed
+      between calls to `Scene::PreRender` and `Scene::PostRender`. Failure to do
+      so will result in asserts triggering informing users to correct their code.
+      Alternatively calling `Scene::SetCameraPassCountPerGpuFlush( 0 )` avoids
+      this strict requirement.
+      Users handling only one Camera can call `Camera::Update` or `Camera::Capture`
+      and thus do not need to worry.
+      However for more than one camera (of any type) the optimum way to handle them is to update them in the following pattern:
+      ```
+      scene->PreRender();
+      for( auto& camera in cameras )
+          camera->Render();
+      for( auto& camera in cameras )
+          camera->PostRender();
+      scene->PostRender();
+      ```
+      This pattern maximizes the chances of improving performance.
+      *Note*: Calling instead `Camera::Update` for each camera is a waste of CPU resources.
+    + It is invalid to modify the scene between `Scene::PreRender` and `Scene::PostRender` (e.g. add/remove objects, lights, etc)
+    + Added `Scene::SetCameraPassCountPerGpuFlush`. Setting this value to 0 forces legacy behavior which eases porting.
+    + Systems that rely on Graphics components like particle FXs and postprocessing are explicitly affected by Scene's Pre/PostRender. Once `Scene::PostRender` is called, the particle FXs' simulation is moved forward, as well as time values sent to postprocessing shaders. In previous ign-rendering versions each `Camera::Render` call would move the particle simulation forward, which could cause subtle bugs or inconsistencies when Cameras were rendering the same frame from different angles. Setting SetCameraPassCountPerGpuFlush to 0 will also cause these subtle bugs to reappear.
 
 ## Ignition Rendering 4.0 to 4.1
 

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/ign-rendering4/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-ign-rendering4-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-ign-rendering4-bionic-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-ign-rendering4-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-ign-rendering4-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ign-4-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ign-4-win/)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-bionic-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ci-win/)
 
 Ignition Rendering is a C++ library designed to provide an abstraction
 for different rendering engines. It offers unified APIs for creating
@@ -47,12 +47,12 @@ of libraries designed to rapidly develop robot applications.
 
 # Install
 
-See the [installation tutorial](https://ignitionrobotics.org/api/rendering/4.0/installation.html).
+See the [installation tutorial](https://ignitionrobotics.org/api/rendering/5.0/installation.html).
 
 # Usage
 
 The Ign Rendering API can be found in the documentation. See the
-[installation tutorial](https://ignitionrobotics.org/api/rendering/4.0/installation.html)
+[installation tutorial](https://ignitionrobotics.org/api/rendering/5.0/installation.html)
 on how to build the documentation files using Doxygen.
 
 You can also take a look at the sample applications in the `examples` folder.

bitbucket-pipelines.yml

@@ -20,12 +20,12 @@ pipelines:
             libignition-cmake2-dev
             libignition-math6-dev
             libignition-plugin-dev
-          #  libignition-common3-dev
+          #  libignition-common4-dev
           # Ignition common (uncomment if a specific branch is needed)
           - apt-get -y install
             libavcodec-dev libavdevice-dev libavformat-dev libavutil-dev
             libfreeimage-dev libgts-dev libswscale-dev libtinyxml2-dev
-          - git clone http://github.com/ignitionrobotics/ign-common -b ign-common3
+          - git clone http://github.com/ignitionrobotics/ign-common -b main
           - cd ign-common
           - mkdir build
           - cd build

examples/actor_animation/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-actor-animation)
-find_package(ignition-rendering4 REQUIRED)
+find_package(ignition-rendering6 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

examples/camera_tracking/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-camera-tracking)
-find_package(ignition-rendering4 REQUIRED)
+find_package(ignition-rendering6 REQUIRED)
 
 find_package(GLUT REQUIRED)
 include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})

examples/custom_scene_viewer/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-custom-scene-viewer)
-find_package(ignition-rendering4 REQUIRED)
+find_package(ignition-rendering6 REQUIRED)
 
 include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}

examples/custom_shaders/CMakeLists.txt

@@ -5,7 +5,7 @@ include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}
 )
 
-find_package(ignition-rendering4 REQUIRED)
+find_package(ignition-rendering6 REQUIRED)
 
 find_package(GLUT REQUIRED)
 include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})

examples/custom_shaders_uniforms/CMakeLists.txt

@@ -5,7 +5,7 @@ include_directories(SYSTEM
   ${PROJECT_BINARY_DIR}
 )
 
-find_package(ignition-rendering4)
+find_package(ignition-rendering6)
 
 set(TARGET_THIRD_PARTY_DEPENDS "")
 

examples/gazebo_scene_viewer/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(ignition-rendering-gazebo-scene-viewer)
-find_package(ignition-rendering4 REQUIRED)
+find_package(ignition-rendering6 REQUIRED)
 find_package(gazebo REQUIRED)
 
 include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS})

examples/gazebo_scene_viewer/CameraWindow.cc

@@ -14,7 +14,6 @@
  * limitations under the License.
  *
  */
-#include "CameraWindow.hh"
 
 #if __APPLE__
   #include <OpenGL/gl.h>
@@ -28,6 +27,7 @@
 
 #if !defined(__APPLE__) && !defined(_WIN32)
   #include <GL/glx.h>
+  #undef Status
 #endif
 
 #include <gazebo/common/Console.hh>
@@ -37,6 +37,7 @@
 #include <ignition/rendering/Image.hh>
 #include <ignition/rendering/Scene.hh>
 
+#include "CameraWindow.hh"
 #include "SceneManager.hh"
 
 #define KEY_ESC 27
@@ -166,7 +167,7 @@ void GlutKeyboard(unsigned char _key, int, int)
   {
     // stop transport
     gazebo::transport::stop();
-    gazebo::transport::fini();  
+    gazebo::transport::fini();
     exit(0);
   }
   else if (_key == KEY_TAB)

examples/gazebo_scene_viewer/SceneManager.cc

@@ -22,6 +22,7 @@
 #include <ignition/math/Helpers.hh>
 
 #include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/Capsule.hh>
 #include <ignition/rendering/Scene.hh>
 #include <ignition/rendering/Visual.hh>
 
@@ -1505,6 +1506,20 @@ void SubSceneManager::ProcessCone(
   _parent->AddGeometry(cone);
 }
 
+//////////////////////////////////////////////////
+void SubSceneManager::ProcessCapsule(
+    const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent)
+{
+  // \todo(anyone) needs gazebo capsule msg
+  CapsulePtr capsule = this->activeScene->CreateCapsule();
+  // Const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule();
+  // Double x = 2 * capsuleMsg.radius();
+  // Double y = 2 * capsuleMsg.radius();
+  // Double z = capsuleMsg.length();
+  // _parent->SetLocalScale(x, y, z);
+  _parent->AddGeometry(std::dynamic_pointer_cast<Geometry>(capsule));
+}
+
 //////////////////////////////////////////////////
 //! [process cylinder]
 void SubSceneManager::ProcessCylinder(
@@ -1820,10 +1835,14 @@ void SubSceneManager::CreateGeometryFunctionMap()
   this->geomFunctions[gazebo::msgs::Geometry::BOX] =
       &SubSceneManager::ProcessBox;
 
-  // TODO(anyone): enable when cone protobuf msg created
+  // todo(anyone): enable when cone protobuf msg is created
   // this->geomFunctions[gazebo::msgs::Geometry::CONE] =
   //     &SubSceneManager::ProcessCone;
 
+  // todo(anyone): enable when capsule protobuf msg is created
+  // this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] =
+  //     &SubSceneManager::ProcessSphere;
+
   this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] =
       &SubSceneManager::ProcessCylinder;