Distortion/LensFlarePlugin: set compositor names (#3007)

* LensFlare: add API to set compositor name This can be used to set the pixel format of textures for example. * LensFlarePrivate: move data members Ensure the ConnectionPtr and SubscriberPtr are last. * Distortion: read compositor name from SDF param Read the compositor name from a custom element <ignition:compositor />. Signed-off-by: Steve Peters <[email protected]> * Add additional distortion and lens flare compositors * Create test world * Add test for set compositor names Signed-off-by: Audrow Nash <[email protected]> * JointInspector_TEST: use QCOMPARE * JointInspector_TEST: expect more fields This has been broken since we added the expressed_in field to joint.proto Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Steve Peters <[email protected]>
gazebosim · May 27, 2021 · c09a427 · c09a427
1 parent ce8b0ed
commit c09a427
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Showing 10 changed files with 473 additions and 16 deletions.
diff --git a/gazebo/gui/model/JointInspector_TEST.cc b/gazebo/gui/model/JointInspector_TEST.cc
@@ -169,7 +169,7 @@ void JointInspector_TEST::Swap()
   // Get swap button
   QList<QToolButton *> toolButtons =
       jointInspector->findChildren<QToolButton *>();
-  QVERIFY(toolButtons.size() == 2);
+  QCOMPARE(toolButtons.size(), 2);
 
   // Trigger swap
   toolButtons[1]->click();
@@ -201,7 +201,7 @@ void JointInspector_TEST::RemoveButton()
   // Get buttons
   QList<QToolButton *> toolButtons =
       jointInspector->findChildren<QToolButton *>();
-  QVERIFY(toolButtons.size() == 2);
+  QCOMPARE(toolButtons.size(), 2);
   QVERIFY(toolButtons[0]->text() == "");
 
   // Trigger remove
@@ -242,22 +242,22 @@ void JointInspector_TEST::AppliedSignal()
   // Get spins
   QList<QDoubleSpinBox *> spins =
       jointInspector->findChildren<QDoubleSpinBox *>();
-  QVERIFY(spins.size() == 34);
+  QCOMPARE(spins.size(), 34);
 
   // Get combo boxes
   QList<QComboBox *> combos =
       jointInspector->findChildren<QComboBox *>();
-  QVERIFY(combos.size() == 5);
+  QCOMPARE(combos.size(), 5);
 
   // Get line edits
   QList<QLineEdit *> lineEdits =
       jointInspector->findChildren<QLineEdit *>();
-  QVERIFY(lineEdits.size() == 41);
+  QCOMPARE(lineEdits.size(), 43);
 
   // Get push buttons
   QList<QPushButton *> pushButtons =
       jointInspector->findChildren<QPushButton *>();
-  QVERIFY(pushButtons.size() == 3);
+  QCOMPARE(pushButtons.size(), 3);
 
   // Edit link (1~2)
   combos[combos.size()-1]->setCurrentIndex(1);

diff --git a/gazebo/rendering/Distortion.cc b/gazebo/rendering/Distortion.cc
@@ -50,6 +50,9 @@ namespace gazebo
       /// \brief Lens center used for distortion
       public: ignition::math::Vector2d lensCenter = {0.5, 0.5};
 
+      /// \brief Compositor name to be used for distortion
+      public: std::string compositorName = "CameraDistortionMap/Default";
+
       /// \brief Scale applied to distorted image.
       public: ignition::math::Vector2d distortionScale = {1.0, 1.0};
 
@@ -113,6 +116,12 @@ void Distortion::Load(sdf::ElementPtr _sdf)
   this->dataPtr->lensCenter = _sdf->Get<ignition::math::Vector2d>("center");
 
   this->dataPtr->distortionCrop = this->dataPtr->k1 < 0;
+
+  const std::string compositorName = "ignition:compositor";
+  if (_sdf->HasElement(compositorName))
+  {
+    this->dataPtr->compositorName = _sdf->Get<std::string>(compositorName);
+  }
 }
 
 //////////////////////////////////////////////////
@@ -330,7 +339,7 @@ void Distortion::SetCamera(CameraPtr _camera)
 
   this->dataPtr->lensDistortionInstance =
       Ogre::CompositorManager::getSingleton().addCompositor(
-      _camera->OgreViewport(), "CameraDistortionMap/Default");
+      _camera->OgreViewport(), this->dataPtr->compositorName);
   this->dataPtr->lensDistortionInstance->getTechnique()->getOutputTargetPass()->
       getPass(0)->setMaterial(this->dataPtr->distortionMaterial);
 

diff --git a/gazebo/rendering/LensFlare.cc b/gazebo/rendering/LensFlare.cc
@@ -349,6 +349,16 @@ namespace gazebo
       public: std::shared_ptr<LensFlareCompositorListener>
           lensFlareCompositorListener;
 
+      /// \brief Scale of lens flare.
+      public: double lensFlareScale = 1.0;
+
+      /// \brief Color of lens flare.
+      public: ignition::math::Vector3d lensFlareColor
+          = ignition::math::Vector3d(1.0, 1.0, 1.0);
+
+      /// \brief Compositor name to be used for lens flare
+      public: std::string compositorName = "CameraLensFlare/Default";
+
       /// \brief Pointer to camera
       public: CameraPtr camera;
 
@@ -369,13 +379,6 @@ namespace gazebo
 
       /// \brief Connection for the pre render event.
       public: event::ConnectionPtr preRenderConnection;
-
-      /// \brief Scale of lens flare.
-      public: double lensFlareScale = 1.0;
-
-      /// \brief Color of lens flare.
-      public: ignition::math::Vector3d lensFlareColor
-          = ignition::math::Vector3d(1.0, 1.0, 1.0);
     };
   }
 }
@@ -423,7 +426,7 @@ void LensFlare::SetCamera(CameraPtr _camera)
 
     this->dataPtr->lensFlareInstance =
         Ogre::CompositorManager::getSingleton().addCompositor(
-        this->dataPtr->camera->OgreViewport(), "CameraLensFlare/Default");
+        this->dataPtr->camera->OgreViewport(), this->dataPtr->compositorName);
     this->dataPtr->lensFlareInstance->getTechnique()->getOutputTargetPass()->
         getPass(0)->setMaterial(lensFlareMaterial);
 
@@ -460,6 +463,12 @@ void LensFlare::SetColor(const ignition::math::Vector3d &_color)
   }
 }
 
+//////////////////////////////////////////////////
+void LensFlare::SetCompositorName(const std::string &_name)
+{
+  this->dataPtr->compositorName = _name;
+}
+
 //////////////////////////////////////////////////
 void LensFlare::Update()
 {

diff --git a/gazebo/rendering/LensFlare.hh b/gazebo/rendering/LensFlare.hh
@@ -123,6 +123,11 @@ namespace gazebo
       /// \param[in] _color Color of lens flare
       public: void SetColor(const ignition::math::Vector3d &_color);
 
+      /// \brief Set the name of the lens flare compositor to use the next
+      /// time SetCamera is called.
+      /// \param[in] _name Name of the compositor to use
+      public: void SetCompositorName(const std::string &_name);
+
       /// \brief Update function to search light source
       protected: void Update();
 

diff --git a/media/materials/scripts/distortion.compositor b/media/materials/scripts/distortion.compositor
@@ -4,7 +4,7 @@ compositor CameraDistortionMap/Default
     {
         // Temporary textures
         texture rt0 target_width target_height PF_A8R8G8B8
- 
+
         target rt0
         {
             // Render output from previous compositor (or original scene)
@@ -24,3 +24,30 @@ compositor CameraDistortionMap/Default
         }
     }
 }
+
+compositor CameraDistortionMap/PF_FLOAT32_R
+{
+    technique
+    {
+        // Temporary textures
+        texture rt0 target_width target_height PF_FLOAT32_R
+
+        target rt0
+        {
+            // Render output from previous compositor (or original scene)
+            input previous
+        }
+        target_output
+        {
+            // Start with clear output
+            input none
+            // Draw a fullscreen quad with noise
+            pass render_quad
+            {
+                // Renders a fullscreen quad with a material
+                material Gazebo/CameraDistortionMap
+                input 0 rt0
+            }
+        }
+    }
+}
diff --git a/media/materials/scripts/lens_flare.compositor b/media/materials/scripts/lens_flare.compositor
@@ -24,3 +24,30 @@ compositor CameraLensFlare/Default
     }
   }
 }
+
+compositor CameraLensFlare/PF_FLOAT32_R
+{
+  technique
+  {
+    // Temporary textures
+    texture rt0 target_width target_height PF_FLOAT32_R
+
+    target rt0
+    {
+      // Render output from previous compositor (or original scene)
+      input previous
+    }
+    target_output
+    {
+      // Start with clear output
+      input none
+      // Draw a fullscreen quad
+      pass render_quad
+      {
+        // Renders a fullscreen quad with a material
+        material Gazebo/CameraLensFlare
+        input 0 rt0
+      }
+    }
+  }
+}
diff --git a/plugins/LensFlareSensorPlugin.cc b/plugins/LensFlareSensorPlugin.cc
@@ -39,6 +39,9 @@ namespace gazebo
     /// \brief Lens flare color
     public: ignition::math::Vector3d color
         = ignition::math::Vector3d(1.4, 1.2, 1.0);
+
+    /// \brief Lens flare compositor name
+    public: std::string compositorName;
   };
 }
 
@@ -84,6 +87,12 @@ void LensFlareSensorPlugin::Load(sensors::SensorPtr _sensor,
     this->dataPtr->color = _sdf->Get<ignition::math::Vector3d>("color");
   }
 
+  const std::string compositorName = "compositor";
+  if (_sdf->HasElement(compositorName))
+  {
+    this->dataPtr->compositorName = _sdf->Get<std::string>(compositorName);
+  }
+
   sensors::CameraSensorPtr cameraSensor =
     std::dynamic_pointer_cast<sensors::CameraSensor>(_sensor);
 
@@ -140,6 +149,10 @@ void LensFlareSensorPlugin::AddLensFlare(rendering::CameraPtr _camera)
 
   rendering::LensFlarePtr lensFlare;
   lensFlare.reset(new rendering::LensFlare);
+  if (!this->dataPtr->compositorName.empty())
+  {
+    lensFlare->SetCompositorName(this->dataPtr->compositorName);
+  }
   lensFlare->SetCamera(_camera);
   lensFlare->SetScale(this->dataPtr->scale);
   lensFlare->SetColor(this->dataPtr->color);

diff --git a/plugins/LensFlareSensorPlugin.hh b/plugins/LensFlareSensorPlugin.hh
@@ -28,6 +28,7 @@ namespace gazebo
   /// \brief Plugin that adds lens flare effect to a camera or multicamera
   /// sensor
   /// The plugin has the following optional parameter:
+  /// <compositor>  Name of the lens flare compositor to use.
   /// <scale>       Scale of lens flare. Must be greater than 0
   /// <color>       Color of lens flare.
   /// \todo A potentially useful feature would be an option for constantly

diff --git a/test/integration/camera_sensor.cc b/test/integration/camera_sensor.cc
@@ -1929,3 +1929,115 @@ TEST_F(CameraSensor, Light)
   }
   EXPECT_EQ(newColor, sun->DiffuseColor());
 }
+
+/////////////////////////////////////////////////
+TEST_F(CameraSensor, SetCompositorNames)
+{
+#if not defined(__APPLE__)
+  Load("worlds/test/issue_3005_set_compositor_names.world");
+
+  // Make sure the render engine is available.
+  if (rendering::RenderEngine::Instance()->GetRenderPathType() ==
+      rendering::RenderEngine::NONE)
+  {
+    gzerr << "No rendering engine, unable to run camera test\n";
+    return;
+  }
+
+  const unsigned int width  = 12;
+  const unsigned int height = 12;
+
+  for (auto camera_name : {
+    "camera_distortion_default", "camera_lens_flare_default"})
+  {
+    // check camera with default texture format
+    sensors::SensorPtr sensor = sensors::get_sensor(camera_name);
+    sensors::CameraSensorPtr cameraSensor =
+        std::dynamic_pointer_cast<sensors::CameraSensor>(sensor);
+
+    imageCount = 0;
+    img = new unsigned char[width * height * 3];
+    event::ConnectionPtr c =
+      cameraSensor->Camera()->ConnectNewImageFrame(
+          std::bind(&::OnNewCameraFrame, &imageCount, img,
+            std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
+            std::placeholders::_4, std::placeholders::_5));
+
+    // Get some images
+    int sleep = 0;
+    int maxSleep = 30;
+    while (imageCount < 10 && sleep < maxSleep)
+    {
+      common::Time::MSleep(50);
+      sleep++;
+    }
+
+    unsigned int rSum = 0;
+    unsigned int gSum = 0;
+    unsigned int bSum = 0;
+    for (unsigned int i = 0; i < height*width*3; i+=3)
+    {
+      unsigned int r = img[i];
+      unsigned int g = img[i+1];
+      unsigned int b = img[i+2];
+      rSum += r;
+      gSum += g;
+      bSum += b;
+    }
+
+    EXPECT_NE(rSum, gSum);
+    EXPECT_NE(rSum, bSum);
+    EXPECT_NE(gSum, bSum);
+
+    EXPECT_GT(rSum - bSum, 25000.0);
+    EXPECT_GT(rSum - gSum, 20000.0);
+
+    delete [] img;
+  }
+
+  for (auto camera_name : {"camera_distortion_test", "camera_lens_flare_test"})
+  {
+    // check camera with grayscale texture format
+    sensors::SensorPtr sensor = sensors::get_sensor(camera_name);
+    sensors::CameraSensorPtr cameraSensor =
+        std::dynamic_pointer_cast<sensors::CameraSensor>(sensor);
+
+    imageCount = 0;
+    img = new unsigned char[width * height * 3];
+    event::ConnectionPtr c =
+      cameraSensor->Camera()->ConnectNewImageFrame(
+          std::bind(&::OnNewCameraFrame, &imageCount, img,
+            std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
+            std::placeholders::_4, std::placeholders::_5));
+
+    // Get some images
+    int sleep = 0;
+    int maxSleep = 30;
+    while (imageCount < 10 && sleep < maxSleep)
+    {
+      common::Time::MSleep(50);
+      sleep++;
+    }
+
+    unsigned int rSum = 0;
+    unsigned int gSum = 0;
+    unsigned int bSum = 0;
+    for (unsigned int i = 0; i < height*width*3; i+=3)
+    {
+      unsigned int r = img[i];
+      unsigned int g = img[i+1];
+      unsigned int b = img[i+2];
+      rSum += r;
+      gSum += g;
+      bSum += b;
+    }
+
+    // For grayscale, all RGB channels should have the same value
+    EXPECT_EQ(rSum, gSum);
+    EXPECT_EQ(gSum, bSum);
+    EXPECT_GT(gSum, 10000u);
+
+    delete [] img;
+  }
+#endif
+}