Merge pull request #1029 from gazebosim/merge_8_main_20240802

Merge 8 -> main

Changelog.md

@@ -6,6 +6,29 @@
 
 ### Gazebo Rendering 8.X
 
+### Gazebo Rendering 8.2.0
+
+1. Backport: Adding cone primitives.
+    * [Pull request #1003](https://github.com/gazebosim/gz-rendering/pull/1003)
+
+1. Fixes deleter passed to the std::shared_ptr<void>
+    * [Pull request #1009](https://github.com/gazebosim/gz-rendering/pull/1009)
+
+1. ogre2: Set custom projection matrix for other types of cameras
+    * [Pull request #1002](https://github.com/gazebosim/gz-rendering/pull/1002)
+
+1. Fix gz-cmake declaration on package.xml (Fix windows builds)
+    * [Pull request #1005](https://github.com/gazebosim/gz-rendering/pull/1005)
+
+1. Add package.xml
+    * [Pull request #981](https://github.com/gazebosim/gz-rendering/pull/981)
+
+1. Workaround on warnings for Ubuntu Noble
+    * [Pull request #995](https://github.com/gazebosim/gz-rendering/pull/995)
+
+1. Ogre2RenderEngine: on Windows if useCurrentGLContext is specified, set the externalWindowsHandle ogre-next option
+    * [Pull request #992](https://github.com/gazebosim/gz-rendering/pull/992)
+
 ### Gazebo Rendering 8.1.1 (2024-04-10)
 
 1. Use relative install paths for plugin shared libraries and media files

examples/simple_demo_qml/GzRenderer.cc

@@ -224,13 +224,20 @@ void GzRenderer::InitialiseOnMainThread()
 //////////////////////////////////////////////////
 void GzRenderer::Render()
 {
-  // pre-render may regenerate textureId if the size changes
-  this->camera->PreRender();
-  this->textureId = this->camera->RenderTextureGLId();
-
   // render to texture
   this->camera->Update();
 
+  GLuint texIdSrgb = this->camera->RenderTextureGLId();
+
+  if (this->textureId != texIdSrgb)
+  {
+    glBindTexture(GL_TEXTURE_2D, texIdSrgb);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SRGB_DECODE_EXT,
+                    GL_SKIP_DECODE_EXT);
+  }
+
+  this->textureId = texIdSrgb;
+
   // Move camera
   this->UpdateCamera();
 }
@@ -278,10 +285,6 @@ void GzRenderer::InitEngine()
   // quick check on sizing...
   gzmsg << "imageW: " << this->camera->ImageWidth() << "\n";
   gzmsg << "imageH: " << this->camera->ImageHeight() << "\n";
-
-  // pre-render will force texture creation and may update texture id
-  this->camera->PreRender();
-  this->textureId = this->camera->RenderTextureGLId();
 }
 
 //////////////////////////////////////////////////

examples/simple_demo_qml/ThreadRenderer.cpp

@@ -321,22 +321,25 @@ void TextureNode::NewTexture(int _id, const QSize &_size)
 void TextureNode::PrepareNode()
 {
     this->mutex.lock();
+    // new render engine texture ID
     int newId = this->id;
-    QSize size = this->size;
+    QSize newSize = this->size;
     this->id = 0;
     this->mutex.unlock();
+
     if (newId)
     {
         delete this->texture;
         this->texture = nullptr;
         // note: include QQuickWindow::TextureHasAlphaChannel if the rendered content
         // has alpha.
+
 #if QT_VERSION < QT_VERSION_CHECK(5, 14, 0)
 # ifndef _WIN32
 #   pragma GCC diagnostic push
 #   pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 # endif
-        this->texture = this->window->createTextureFromId(newId, size);
+        this->texture = this->window->createTextureFromId(newId, newSize);
 # ifndef _WIN32
 #   pragma GCC diagnostic pop
 # endif
@@ -346,7 +349,7 @@ void TextureNode::PrepareNode()
                 QQuickWindow::NativeObjectTexture,
                 static_cast<void *>(&newId),
                 0,
-                size);
+                newSize);
 #endif
         this->setTexture(this->texture);
 

ogre/src/OgreDistortionPass.cc

@@ -196,8 +196,8 @@ void OgreDistortionPass::CreateRenderPass()
       distortedLocation,
       newDistortedCoordinates,
       currDistortedCoordinates;
-  unsigned int distortedIdx,
-      distortedCol,
+  unsigned int distortedIdx;
+  int distortedCol,
       distortedRow;
   double normalizedColLocation, normalizedRowLocation;
 
@@ -223,9 +223,9 @@ void OgreDistortionPass::CreateRenderPass()
           focalLength);
 
       // compute the index in the distortion map
-      distortedCol = static_cast<unsigned int>(round(distortedLocation.X() *
+      distortedCol = static_cast<int>(round(distortedLocation.X() *
         this->dataPtr->distortionTexWidth));
-      distortedRow = static_cast<unsigned int>(round(distortedLocation.Y() *
+      distortedRow = static_cast<int>(round(distortedLocation.Y() *
         this->dataPtr->distortionTexHeight));
 
       // Note that the following makes sure that, for significant distortions,
@@ -235,8 +235,11 @@ void OgreDistortionPass::CreateRenderPass()
       // nonlegacy distortion modes.
 
       // Make sure the distorted pixel is within the texture dimensions
-      if (distortedCol < this->dataPtr->distortionTexWidth &&
-          distortedRow < this->dataPtr->distortionTexHeight)
+      if (distortedCol >= 0 && distortedRow >= 0 &&
+          static_cast<unsigned int>(distortedCol) <
+            this->dataPtr->distortionTexWidth &&
+          static_cast<unsigned int>(distortedRow) <
+            this->dataPtr->distortionTexHeight)
       {
         distortedIdx = distortedRow * this->dataPtr->distortionTexWidth +
           distortedCol;

ogre/src/OgreWideAngleCamera.cc

@@ -452,7 +452,11 @@ void OgreWideAngleCamera::CreateWideAngleTexture()
 
   double vfov = 2.0 * atan(tan(this->HFOV().Radian() / 2.0) / ratio);
   this->dataPtr->ogreCamera->setAspectRatio(ratio);
-  this->dataPtr->ogreCamera->setFOVy(Ogre::Radian(vfov));
+  // Setting the fov is likely not necessary for the ogreCamera but
+  // clamp to max fov supported by ogre to avoid issues with building the
+  // frustum
+  this->dataPtr->ogreCamera->setFOVy(Ogre::Radian(
+      Ogre::Real(std::clamp(vfov, 0.0, GZ_PI))));
 
   // create the env cameras and textures
   this->CreateEnvCameras();

ogre2/src/CMakeLists.txt

@@ -17,7 +17,13 @@ set(engine_name "ogre2")
 gz_add_component(${engine_name} SOURCES ${sources} GET_TARGET_NAME ogre2_target)
 
 set(OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}")
-string(REPLACE ";" ":" OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}")
+# On non-Windows, we need to convert the CMake list delimited (;) to the 
+# list delimiter used in list of paths in code (:)
+# On Windows, the list delimiter in code is already ;, not need to change it to :
+if(NOT WIN32)
+  string(REPLACE ";" ":" OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}")
+endif()
+
 set_property(
   SOURCE Ogre2RenderEngine.cc
   PROPERTY COMPILE_DEFINITIONS
@@ -65,7 +71,10 @@ if (TARGET OpenGL::EGL)
   add_definitions(-DHAVE_EGL=1)
 endif()
 
-target_compile_definitions(${ogre2_target} PRIVATE $<$<CONFIG:Debug>:DEBUG=1 _DEBUG=1>)
+# You might need to uncomment the following `target_compile_definitions`
+# if you've built Ogre from source in Debug mode
+# https://github.com/OGRECave/ogre-next/blob/003f51a0a90d1cf93fbea3c7302565b07c4f87b0/OgreMain/include/OgrePlatform.h#L350-L372
+# target_compile_definitions(${ogre2_target} PRIVATE $<$<CONFIG:Debug>:DEBUG=1 _DEBUG=1>)
 
 
 set (versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})

ogre2/src/Ogre2DepthCamera.cc

@@ -92,15 +92,13 @@ class Ogre2DepthGaussianNoisePass : public Ogre2GaussianNoisePass
 /// \brief Private data for the Ogre2DepthCamera class
 class gz::rendering::Ogre2DepthCameraPrivate
 {
-  /// \brief The depth buffer
+  /// \brief The depth buffer - also the outgoing point cloud data used
+  /// by newRgbPointCloud event
   public: float *depthBuffer = nullptr;
 
   /// \brief Outgoing depth data, used by newDepthFrame event.
   public: float *depthImage = nullptr;
 
-  /// \brief Outgoing point cloud data, used by newRgbPointCloud event.
-  public: float *pointCloudImage = nullptr;
-
   /// \brief maximum value used for data outside sensor range
   public: float dataMaxVal = gz::math::INF_D;
 
@@ -316,12 +314,6 @@ void Ogre2DepthCamera::Destroy()
     this->dataPtr->depthImage = nullptr;
   }
 
-  if (this->dataPtr->pointCloudImage)
-  {
-    delete [] this->dataPtr->pointCloudImage;
-    this->dataPtr->pointCloudImage = nullptr;
-  }
-
   if (!this->ogreCamera)
     return;
 
@@ -1195,10 +1187,6 @@ void Ogre2DepthCamera::PostRender()
   {
     this->dataPtr->depthImage = new float[len];
   }
-  if (!this->dataPtr->pointCloudImage)
-  {
-    this->dataPtr->pointCloudImage = new float[len * channelCount];
-  }
 
   // fill depth data
   for (unsigned int i = 0; i < height; ++i)
@@ -1216,10 +1204,8 @@ void Ogre2DepthCamera::PostRender()
   // point cloud data
   if (this->dataPtr->newRgbPointCloud.ConnectionCount() > 0u)
   {
-    memcpy(this->dataPtr->pointCloudImage,
-      this->dataPtr->depthBuffer, len * channelCount * sizeof(float));
     this->dataPtr->newRgbPointCloud(
-        this->dataPtr->pointCloudImage, width, height, channelCount,
+        this->dataPtr->depthBuffer, width, height, channelCount,
         "PF_FLOAT32_RGBA");
 
     // Uncomment to debug color output
@@ -1229,7 +1215,7 @@ void Ogre2DepthCamera::PostRender()
     //   for (unsigned int j = 0; j < width; ++j)
     //   {
     //     float color =
-    //         this->dataPtr->pointCloudImage[step + j*channelCount + 3];
+    //         this->dataPtr->depthBuffer[step + j*channelCount + 3];
     //     // unpack rgb data
     //     uint32_t *rgba = reinterpret_cast<uint32_t *>(&color);
     //     unsigned int r = *rgba >> 24 & 0xFF;
@@ -1246,9 +1232,9 @@ void Ogre2DepthCamera::PostRender()
     // {
     //   for (unsigned int j = 0; j < width; ++j)
     //   {
-    //     gzdbg << "[" << this->dataPtr->pointCloudImage[i*width*4+j*4] << "]"
-    //       << "[" << this->dataPtr->pointCloudImage[i*width*4+j*4+1] << "]"
-    //       << "[" << this->dataPtr->pointCloudImage[i*width*4+j*4+2] << "],";
+    //     gzdbg << "[" << this->dataPtr->depthBuffer[i*width*4+j*4] << "]"
+    //       << "[" << this->dataPtr->depthBuffer[i*width*4+j*4+1] << "]"
+    //       << "[" << this->dataPtr->depthBuffer[i*width*4+j*4+2] << "],";
     //   }
     //   gzdbg << std::endl;
     // }