Merge pull request #1077 from gazebosim/merge_9_main_20241004

Merge 9 -> main

.github/workflows/windows.yaml

@@ -0,0 +1,48 @@
+name: Windows
+on:
+  pull_request:
+
+jobs:
+  build:
+    name: Window CI
+    env:
+      PACKAGE: gz-rendering9
+    runs-on: windows-latest
+    steps:
+    - name: setup-pixi
+      uses: prefix-dev/[email protected]
+      with:
+        run-install: false
+
+    - name: Install build tools
+      run: |
+        pixi init
+        pixi add vcstool colcon-common-extensions pkgconfig
+    - name: Setup pixi env variables
+      shell: bash
+      run: |
+        eval "$(pixi shell-hook)"
+        echo CMAKE_PREFIX_PATH=$CONDA_PREFIX/Library >> $GITHUB_ENV
+    - name: Install base dependencies
+      run: |
+        # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
+        pixi add assimp dlfcn-win32 eigen ffmpeg freeimage gdal gflags ogre ogre-next spdlog tinyxml2
+    - name: Clone source dependencies
+      run: |
+        mkdir src
+        cd src
+        pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml
+
+    - uses: actions/checkout@v4
+      with:
+        path: src/gz-rendering
+
+    - name: Build Dependencies
+      run: |
+        pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-up-to ${env:PACKAGE}
+
+    - name: Build Package
+      run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+
+    - name: Test
+      run: pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

CMakeLists.txt

@@ -154,6 +154,11 @@ set(GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR
 set(GZ_RENDERING_ENGINE_INSTALL_DIR
   ${CMAKE_INSTALL_PREFIX}/${GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR})
 
+#--------------------------------------
+# Find DL if doing relocatable installation
+if (GZ_ENABLE_RELOCATABLE_INSTALL)
+  gz_find_package(DL REQUIRED)
+endif()
 
 #--------------------------------------
 # Find dependencies that we ignore for Visual Studio

Changelog.md

@@ -2,7 +2,36 @@
 
 ### Gazebo Rendering 9.X
 
-### Gazebo Rendering 9.0.0 (2024-09-XX)
+### Gazebo Rendering 9.0.0 (2024-09-25)
+
+1. **Baseline:** this includes all changes from 8.2.0 and earlier.
+
+1. Update code for loading normal and albedo maps from image data
+    * [Pull request #1068](https://github.com/gazebosim/gz-rendering/pull/1068)
+
+1. examples/depth_camera: Fixed windows usage
+    * [Pull request #1060](https://github.com/gazebosim/gz-rendering/pull/1060)
+
+1. examples/heightmap: Fixed Windows build
+    * [Pull request #1062](https://github.com/gazebosim/gz-rendering/pull/1062)
+
+1. Add Github Action for Windows and fix build
+    * [Pull request #1049](https://github.com/gazebosim/gz-rendering/pull/1049)
+
+1. Miscellaneous documentation fixes
+    * [Pull request #1051](https://github.com/gazebosim/gz-rendering/pull/1051)
+    * [Pull request #1053](https://github.com/gazebosim/gz-rendering/pull/1053)
+    * [Pull request #1054](https://github.com/gazebosim/gz-rendering/pull/1054)
+    * [Pull request #1055](https://github.com/gazebosim/gz-rendering/pull/1055)
+    * [Pull request #1061](https://github.com/gazebosim/gz-rendering/pull/1061)
+    * [Pull request #1064](https://github.com/gazebosim/gz-rendering/pull/1064)
+    * [Pull request #1069](https://github.com/gazebosim/gz-rendering/pull/1069)
+
+1. Update badges to point to gz-rendering9 branch
+    * [Pull request #1044](https://github.com/gazebosim/gz-rendering/pull/1044)
+
+1. Ionic Changelog
+    * [Pull request #1042](https://github.com/gazebosim/gz-rendering/pull/1042)
 
 1. Remove gl preference in cmake
     * [Pull request #1041](https://github.com/gazebosim/gz-rendering/pull/1041)

README.md

@@ -9,7 +9,7 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-rendering/branch/main)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-rendering/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-rendering/tree/main)
 Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_rendering-ci-main-noble-amd64)](https://build.osrfoundation.org/job/gz_rendering-ci-main-noble-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_rendering-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_rendering-main-win)](https://build.osrfoundation.org/job/gz_rendering-main-win)
@@ -31,9 +31,9 @@ of libraries designed to rapidly develop robot applications.
 
 [Folder Structure](#folder-structure)
 
-[Code of Conduct](#code-of-conduct)
+[Contributing](#contributing)
 
-[Contributing](#code-of-contributing)
+[Code of Conduct](#code-of-conduct)
 
 [Versioning](#versioning)
 
@@ -80,8 +80,8 @@ Rendering engine plugin implementation code is stored in their own folders
 
 # Contributing
 
-Please see
-[CONTRIBUTING.md](https://gazebosim.org/docs/all/contributing).
+Please see the
+[contribution guide](https://gazebosim.org/docs/all/contributing).
 
 # Code of Conduct
 

examples/depth_camera/CMakeLists.txt

@@ -20,7 +20,9 @@ if (NOT APPLE)
   link_directories(${GLEW_LIBRARY_DIRS})
 endif()
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+endif()
 
 configure_file (example_config.hh.in ${PROJECT_BINARY_DIR}/example_config.hh)
 

examples/depth_camera/Main.cc

@@ -38,8 +38,13 @@
 using namespace gz;
 using namespace rendering;
 
+#if not defined(_WIN32)
 const std::string RESOURCE_PATH =
     common::joinPaths(std::string(PROJECT_BINARY_PATH), "media");
+#else
+const std::string RESOURCE_PATH =
+    common::joinPaths(std::string(PROJECT_BINARY_PATH), "..", "media");
+#endif
 
 void buildScene(ScenePtr _scene)
 {

examples/heightmap/CMakeLists.txt

@@ -20,7 +20,9 @@ if (NOT APPLE)
   link_directories(${GLEW_LIBRARY_DIRS})
 endif()
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+if(NOT MSVC)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+endif()
 
 configure_file (example_config.hh.in ${PROJECT_BINARY_DIR}/example_config.hh)
 

examples/heightmap/Main.cc

@@ -22,6 +22,8 @@
   #include <GL/glew.h>
   #include <GL/gl.h>
   #include <GL/glut.h>
+#else
+  #include <GL/glut.h>
 #endif
 
 #include <iostream>
@@ -39,8 +41,13 @@
 using namespace gz;
 using namespace rendering;
 
+#if not defined(_WIN32)
 const std::string RESOURCE_PATH =
     common::joinPaths(std::string(PROJECT_BINARY_PATH), "media");
+#else
+const std::string RESOURCE_PATH =
+    common::joinPaths(std::string(PROJECT_BINARY_PATH), "..", "media");
+#endif
 
 //////////////////////////////////////////////////
 void createImageHeightmaps(const ScenePtr _scene, VisualPtr _root)

examples/lux_core_engine/CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 set(GZ_PLUGIN_VER 2)
 set(GZ_COMMON_VER 5)
 
-find_package(gz-rendering7 REQUIRED)
+find_package(gz-rendering9 REQUIRED)
 find_package(gz-plugin3 REQUIRED COMPONENTS all)
 
 if (NOT DEFINED ENV{LUXCORE_SDK_PATH})

ogre2/src/Ogre2Material.cc

@@ -15,6 +15,8 @@
  *
  */
 
+#include <cstddef>
+
 // Note this include is placed in the src file because
 // otherwise ogre produces compile errors
 #ifdef _MSC_VER
@@ -31,6 +33,8 @@
 #include <OgreMaterialManager.h>
 #include <OgrePixelFormatGpuUtils.h>
 #include <OgreTechnique.h>
+#include <OgreTextureBox.h>
+#include <OgreTextureFilters.h>
 #include <OgreTextureGpuManager.h>
 #include <Vao/OgreVaoManager.h>
 #ifdef _MSC_VER
@@ -130,6 +134,23 @@ class gz::rendering::Ogre2MaterialPrivate
         return "invalid";
     }
   }
+
+  /// \brief Prepare for normal mapping by converting to two-component
+  /// normalized signed 8-bit format
+  /// \param[in] _texture Normal map texture
+  /// \param[in/out] _image Normal map image data
+  public: void PrepareForNormalMapping(Ogre::TextureGpu *_texture,
+      Ogre::Image2 &_image);
+
+  /// \brief Allocate mimaps for the texture. This should be done when the
+  /// texture's residency status is still OnStorage.
+  /// \param[in] _texture Input texture to allocate mimaps
+  public: void AllocateMipmaps(Ogre::TextureGpu *_texture);
+
+  /// \brief Generate mimaps for the texture. This should be done when the
+  /// texture's residency status is Resident.
+  /// \param[in] _texture Input texture to generate mimpas
+  public: void GenerateMipmaps(Ogre::TextureGpu *_texture);
 };
 
 using namespace gz;
@@ -1220,6 +1241,8 @@ void Ogre2Material::SetTextureMapDataImpl(const std::string& _name,
       root->getRenderSystem()->getTextureGpuManager();
 
   // create the gpu texture
+  Ogre::uint32 filters = Ogre::TextureFilter::TypeGenerateDefaultMipmaps;
+  filters |= this->ogreDatablock->suggestFiltersForType(_type);
   Ogre::uint32 textureFlags = 0;
   textureFlags |= Ogre::TextureFlags::AutomaticBatching;
   Ogre::TextureGpu *texture = textureMgr->createOrRetrieveTexture(
@@ -1228,7 +1251,7 @@ void Ogre2Material::SetTextureMapDataImpl(const std::string& _name,
       textureFlags | Ogre::TextureFlags::ManualTexture,
       Ogre::TextureTypes::Type2D,
       Ogre::ResourceGroupManager::AUTODETECT_RESOURCE_GROUP_NAME,
-      0u);
+      filters);
 
   // Has to be loaded
   if (texture->getWidth() == 0)
@@ -1241,13 +1264,31 @@ void Ogre2Material::SetTextureMapDataImpl(const std::string& _name,
     texture->setTextureType(Ogre::TextureTypes::Type2D);
     texture->setNumMipmaps(1u);
     texture->setResolution(_img->Width(), _img->Height());
-    texture->scheduleTransitionTo(Ogre::GpuResidency::Resident);
-    texture->waitForData();
 
-    // upload raw color image data to gpu texture
     Ogre::Image2 img;
     img.loadDynamicImage(&data[0], false, texture);
+
+    // Replicates the steps that ogre does when it loads a texture map from
+    // file. For normal maps, it is first converted to a two component signed
+    // 8 bit format. Albedo and normal maps will have mipmaps generated.
+    // \todo(iche033) See if there is a way to reuse these functions
+    // from ogre-next without copying the code here.
+
+    // Normal maps - convert to two component signed 8 bit format:
+    // Ogre::PFG_RG8_SNORM format
+    if (_type == Ogre::PBSM_NORMAL)
+      this->dataPtr->PrepareForNormalMapping(texture, img);
+
+    if (_type == Ogre::PBSM_DIFFUSE || _type == Ogre::PBSM_NORMAL)
+      this->dataPtr->AllocateMipmaps(texture);
+
+    // Upload raw color image data to gpu texture
+    texture->scheduleTransitionTo(Ogre::GpuResidency::Resident);
+    texture->waitForData();
     img.uploadTo(texture, 0, 0);
+
+    if (_type == Ogre::PBSM_DIFFUSE || _type == Ogre::PBSM_NORMAL)
+      this->dataPtr->GenerateMipmaps(texture);
   }
 
   // Now assign it to the material
@@ -1563,3 +1604,89 @@ ShaderParamsPtr Ogre2Material::FragmentShaderParams()
 {
   return this->dataPtr->fragmentShaderParams;
 }
+
+//////////////////////////////////////////////////
+void Ogre2MaterialPrivate::PrepareForNormalMapping(Ogre::TextureGpu *_texture,
+    Ogre::Image2 &_image)
+{
+  // code adpated from PrepareForNormalMapping::_executeStreaming function in
+  // OgreMain/src/OgreTextureFilters.cpp (v2-3)
+  const Ogre::uint8 numMipmaps = _image.getNumMipmaps();
+  const Ogre::PixelFormatGpu dstFormat = Ogre::PFG_RG8_SNORM;
+  const Ogre::uint32 rowAlignment = 4u;
+  const size_t dstSizeBytes = Ogre::PixelFormatGpuUtils::calculateSizeBytes(
+      _image.getWidth(),
+      _image.getHeight(),
+      _image.getDepth(),
+      _image.getNumSlices(),
+      dstFormat, numMipmaps,
+      rowAlignment );
+  void *imgData = OGRE_MALLOC_SIMD( dstSizeBytes, Ogre::MEMCATEGORY_RESOURCE);
+  for (Ogre::uint8 mip = 0; mip < numMipmaps; ++mip)
+  {
+    Ogre::TextureBox srcBox = _image.getData( mip );
+    const Ogre::uint32 width = srcBox.width;
+    const Ogre::uint32 height = srcBox.height;
+
+    Ogre::TextureBox dstBox = srcBox;
+    dstBox.bytesPerPixel =
+        Ogre::PixelFormatGpuUtils::getBytesPerPixel(dstFormat);
+    dstBox.bytesPerRow =
+        Ogre::PixelFormatGpuUtils::getSizeBytes(
+        width, 1u, 1u, 1u, dstFormat, 4u);
+    dstBox.bytesPerImage =
+        Ogre::PixelFormatGpuUtils::getSizeBytes(width, height, 1u, 1u,
+        dstFormat, 4u);
+    dstBox.data = Ogre::PixelFormatGpuUtils::advancePointerToMip(
+        imgData, width, height, srcBox.depth, srcBox.numSlices, mip, dstFormat);
+
+    Ogre::PixelFormatGpuUtils::convertForNormalMapping(
+        srcBox, _image.getPixelFormat(),
+        dstBox, dstFormat);
+  }
+  _image.loadDynamicImage(imgData, _image.getWidth(), _image.getHeight(),
+      _image.getDepthOrSlices(), _image.getTextureType(), dstFormat, false,
+      numMipmaps);
+  _texture->setPixelFormat(dstFormat);
+}
+
+//////////////////////////////////////////////////
+void Ogre2MaterialPrivate::AllocateMipmaps(Ogre::TextureGpu *_texture)
+{
+  // code adpated from GenerateHwMipmaps::_executeStreaming function in
+  // OgreMain/src/OgreTextureFilters.cpp (v2-3)
+  Ogre::uint8 maxMipmaps = Ogre::PixelFormatGpuUtils::getMaxMipmapCount(
+      _texture->getWidth(),
+      _texture->getHeight(),
+      _texture->getDepth() );
+  _texture->setNumMipmaps(maxMipmaps);
+}
+
+//////////////////////////////////////////////////
+void Ogre2MaterialPrivate::GenerateMipmaps(Ogre::TextureGpu *_texture)
+{
+  // code adpated from GenerateHwMipmaps::_executeSerial function in
+  // OgreMain/src/OgreTextureFilters.cpp (v2-3)
+  Ogre::TextureGpuManager *textureManager = _texture->getTextureManager();
+  Ogre::TextureGpu *tempTexture = textureManager->createTexture(
+      "___tempMipmapTexture",
+      Ogre::GpuPageOutStrategy::Discard,
+      Ogre::TextureFlags::RenderToTexture |
+      Ogre::TextureFlags::AllowAutomipmaps |
+      Ogre::TextureFlags::DiscardableContent,
+      _texture->getTextureType());
+  tempTexture->copyParametersFrom(_texture);
+  tempTexture->unsafeScheduleTransitionTo(Ogre::GpuResidency::Resident);
+  Ogre::TextureBox box = _texture->getEmptyBox(0);
+  _texture->copyTo(tempTexture, box, 0, box, 0);
+  tempTexture->_autogenerateMipmaps();
+
+  Ogre::uint8 mipmaps = _texture->getNumMipmaps();
+  for (size_t i = 1u; i < mipmaps; ++i)
+  {
+    box = _texture->getEmptyBox( i );
+    tempTexture->copyTo(_texture, box, i, box, i);
+  }
+  textureManager->destroyTexture(tempTexture);
+  tempTexture = 0;
+}