From Ogre 2.1 to Ogre 2.2 #272

ahcorde · 2021-03-16T22:28:02Z

This PR updates the Ogre2 from Ogre 2.1 to Ogre 2.2.

There are some issues that need to be resolved yet

GPURays not working
When more than one rendering sensor is added the cameras are not showing anything
The 3DScene is completely black ( not getting the right GLID )
Expose EGL
Clean up code

Related with:

ahcorde · 2021-03-19T22:23:58Z

@mjcarroll and @iche033, this PR is ready for a initial review.

There is a know issue in the Ogre2SelectionBuffer but the rest of classes should work fine:

Camera
DepthCamera
ThermalCamera
GPURay
LidarVisual
Lightvisual
RayQuery
Grid
Renderpass
Gizmo

ahcorde · 2021-03-22T10:19:14Z

I fixed the Ogre2Selectionbuffer.

I will create a PR on top of this one to enable EGL

mjcarroll · 2021-03-22T18:29:50Z

Can you split the media updates into their own commit to make it a bit easier to review?

Signed-off-by: ahcorde <[email protected]>

mjcarroll

A few comments, moving on to checking tests and examples

ogre2/include/ignition/rendering/ogre2/Ogre2RenderEngine.hh

ogre2/src/Ogre2SelectionBuffer.cc

ogre2/src/Ogre2ThermalCamera.cc

mjcarroll · 2021-03-23T21:25:58Z

ogre2/src/Ogre2RenderTarget.cc

+  if (texture == nullptr){
+    return;
+  }
+
  // TODO(anyone) handle Bayer conversions


This may be handed by Ogre::Image2 if I understand correctly?

Signed-off-by: ahcorde <[email protected]>

iche033

did a first pass review. Looking good

ogre2/include/ignition/rendering/ogre2/Ogre2RenderEngine.hh

ogre2/include/ignition/rendering/ogre2/Ogre2SelectionBuffer.hh

include/ignition/rendering/RenderEngine.hh

ogre2/src/Ogre2RenderEngine.cc

iche033 · 2021-03-24T02:27:05Z

ogre2/src/Ogre2DepthCamera.cc

-    rt0TexDef->automipmaps = false;
-    rt0TexDef->hwGammaWrite = Ogre::TextureDefinitionBase::BoolFalse;
+    rt0TexDef->format = Ogre::PFG_RGBA32_FLOAT;
+    rt0TexDef->textureFlags |= !Ogre::TextureFlags::Uav;


there is a compile warning here and other places with this line. I think it's for removing the flag? i.e. rt0TexDef->textureFlags &= ~Ogre::TextureFlags::Uav;? or maybe we can just set it to Ogre::TextureFlags::RenderToTexture

Signed-off-by: ahcorde <[email protected]>

Signed-off-by: Michael Carroll <[email protected]>

Co-authored-by: Michael Carroll <[email protected]> Signed-off-by: ahcorde <[email protected]>

codecov · 2021-03-24T23:41:19Z

Codecov Report

Merging #272 (95af386) into main (04b2af1) will increase coverage by 0.11%.
The diff coverage is 87.32%.

@@            Coverage Diff             @@
##             main     #272      +/-   ##
==========================================
+ Coverage   58.59%   58.71%   +0.11%     
==========================================
  Files         174      174              
  Lines       17064    17184     +120     
==========================================
+ Hits         9999    10089      +90     
- Misses       7065     7095      +30

Impacted Files	Coverage Δ
include/ignition/rendering/Camera.hh	`100.00% <ø> (ø)`
include/ignition/rendering/RenderEngine.hh	`100.00% <ø> (ø)`
include/ignition/rendering/base/BaseCamera.hh	`66.17% <0.00%> (-0.50%)`	⬇️
...lude/ignition/rendering/ogre2/Ogre2RenderEngine.hh	`100.00% <ø> (ø)`
ogre2/src/Ogre2Conversions.cc	`92.85% <0.00%> (-7.15%)`	⬇️
ogre2/src/Ogre2DynamicRenderable.cc	`75.22% <ø> (ø)`
ogre2/src/Ogre2Geometry.cc	`100.00% <ø> (ø)`
ogre2/src/Ogre2ParticleNoiseListener.hh	`0.00% <ø> (-100.00%)`	⬇️
ogre2/src/Ogre2RenderTargetMaterial.cc	`0.00% <0.00%> (ø)`
ogre2/src/Ogre2Visual.cc	`79.50% <ø> (ø)`
... and 18 more

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Signed-off-by: Ian Chen <[email protected]>

darksylinc · 2021-09-04T18:56:55Z

INTEGRATION_lidar_visual is passing however there's lot of:

[Err] [Ogre2GpuRays.cc:262] Error casting user data: Unexpected index

in stderr which aren't happening in Edifice. I'm taking a look to see what's going on.

Update

OK it doesn't seem to be a rendering bug. This error happens before rendering.
ogreVisual->UserData(laserRetroKey) tries to retrieve the value for key laser_retro but:

In Edifice everything fails until it reaches retroValue = std::get<int>(tempLaserRetro); which succeds but the value is always 0.
In 2.2 branch (probably a side effect of being in Fortress, since the code involved spans several modules) everything fails, and thus the value ends up being -1. As a result, the material is never switched (because negative values are ignored) and rendering will now diverge from Edifice.

I don't see laser_retro being set anywhere except ign-gazebo/src/rendering/SceneManager.cc and ign-rendering/test/integration/gpu_rays.cc but neither of them are set during INTEGRATION_lidar_visual test.

This leads me to believe there was a change in how Variant treats undefined values by default (i.e. defaulting to int 0 vs throwing); which is unrelated to rendering or Ogre 2.1/2.2 but may have undesired consequences in the test

Probably a copy-paste bug, after enabling DEPTH_CLAMP we must disable once we're done; but we call glEnable again instead of disabling it. Signed-off-by: Matias N. Goldberg <[email protected]>

chapulina · 2021-09-08T18:39:27Z

I ticketed gazebo-tooling/release-tools#509 so the macOS and Windows builds to turn yellow when Ogre 2 isn't found.

For macOS, we may need to set SKIP_ogre2 for now. But we shouldn't regress on Windows CI. What's the status of that?

mjcarroll · 2021-09-08T20:45:53Z

The OGRE2 rendering plugin builds correctly on Windows with OGRE2.2, but tests fail with:

Failed to load plugin ignition-rendering-ogre2: couldn't load library on path, which is the same as with OGRE2.1, so not a regression, but not an improvement either.

chapulina · 2021-09-08T21:08:40Z

Ahh I hadn't noticed that Windows found Ogre2, all good!

@iche033 , can we get this in?

iche033 · 2021-09-08T22:26:44Z

yes merging! 🤞

Signed-off-by: Ashton Larkin <[email protected]>

ahcorde added the 🏢 edifice Ignition Edifice label Mar 16, 2021

ahcorde self-assigned this Mar 16, 2021

chapulina added needs upstream release Blocked by a release of an upstream library beta Targeting beta release of upcoming collection labels Mar 16, 2021

chapulina requested a review from mjcarroll March 19, 2021 02:15

ahcorde force-pushed the ahcorde/update/ogre2.2 branch from f8ddf8a to ce84c10 Compare March 19, 2021 22:19

ahcorde marked this pull request as ready for review March 19, 2021 23:26

ahcorde requested a review from iche033 as a code owner March 19, 2021 23:26

ahcorde added 3 commits March 23, 2021 17:57

Ogre2.2

025f72a

Signed-off-by: ahcorde <[email protected]>

Added media files

1cff215

Signed-off-by: ahcorde <[email protected]>

Added Headless mode

e5979b8

Signed-off-by: ahcorde <[email protected]>

ahcorde force-pushed the ahcorde/update/ogre2.2 branch from 0e0be44 to e5979b8 Compare March 23, 2021 18:54

ahcorde mentioned this pull request Mar 23, 2021

Add a flag to force headless rendering mode gazebosim/gz-sim#701

Merged

8 tasks

mjcarroll reviewed Mar 23, 2021

View reviewed changes

Added feedback

fc89bef

Signed-off-by: ahcorde <[email protected]>

iche033 reviewed Mar 24, 2021

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ahcorde and others added 3 commits March 24, 2021 16:07

Added feedback

c5c077c

Signed-off-by: ahcorde <[email protected]>

Add OGRE2.2 to dependencies

8033623

Signed-off-by: Michael Carroll <[email protected]>

Fixed GPUray and depthCamera test

a82820c

Co-authored-by: Michael Carroll <[email protected]> Signed-off-by: ahcorde <[email protected]>

chapulina mentioned this pull request Mar 24, 2021

🎈 2.7.0~pre2 gazebosim/gz-cmake#161

Merged

7 tasks

ahcorde and others added 2 commits March 25, 2021 00:43

Merge branch 'main' into ahcorde/update/ogre2.2

b5c639e

cast based on pf

b664ade

Signed-off-by: Ian Chen <[email protected]>

iche033 added 6 commits September 1, 2021 18:31

fixing tests

f53d5db

Signed-off-by: Ian Chen <[email protected]>

add ifdef

0d1999e

Signed-off-by: Ian Chen <[email protected]>

suppress warnings

588100c

Signed-off-by: Ian Chen <[email protected]>

update syntax

20e24e9

Signed-off-by: Ian Chen <[email protected]>

update syntax

93599aa

Signed-off-by: Ian Chen <[email protected]>

Merge branch 'main' into ahcorde/update/ogre2.2

be61509

This was referenced Sep 4, 2021

Add Ogre2Heightmap functionality #386

Merged

Error casting user data: Unexpected index #394

Closed

Don't keep DEPTH_CLAMP enabled after it's used (#393)

95af386

Probably a copy-paste bug, after enabling DEPTH_CLAMP we must disable once we're done; but we call glEnable again instead of disabling it. Signed-off-by: Matias N. Goldberg <[email protected]>

chapulina added the beta Targeting beta release of upcoming collection label Sep 8, 2021

mjcarroll approved these changes Sep 8, 2021

View reviewed changes

chapulina mentioned this pull request Sep 8, 2021

CMake warnings should turn macOS and Windows builds yellow gazebo-tooling/release-tools#509

Closed

iche033 approved these changes Sep 8, 2021

View reviewed changes

iche033 merged commit 7def756 into main Sep 8, 2021

iche033 deleted the ahcorde/update/ogre2.2 branch September 8, 2021 22:26

chapulina restored the ahcorde/update/ogre2.2 branch September 8, 2021 23:28

chapulina deleted the ahcorde/update/ogre2.2 branch September 8, 2021 23:29

scpeters mentioned this pull request Sep 9, 2021

Use libogre-2.2 gazebo-release/gz-rendering6-release#2

Merged

iche033 mentioned this pull request Sep 10, 2021

Ogre2.2 errors when launching ign gazebo #402

Closed

1 task

adlarkin referenced this pull request Sep 16, 2021

working on updating segmentation camera to ogre2.2

f81dd61

Signed-off-by: Ashton Larkin <[email protected]>

chapulina mentioned this pull request Oct 11, 2021

Red meshes with Fortress (Ogre 2.2) #464

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From Ogre 2.1 to Ogre 2.2 #272

From Ogre 2.1 to Ogre 2.2 #272

ahcorde commented Mar 16, 2021 •

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From Ogre 2.1 to Ogre 2.2 #272

From Ogre 2.1 to Ogre 2.2 #272

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