3 ➡️ 4 (#120)

Signed-off-by: Louise Poubel <[email protected]>

.github/ci/after_make.sh

@@ -0,0 +1,10 @@
+#!/bin/sh -l
+
+set -x
+
+make install
+
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/packages.apt

@@ -0,0 +1,13 @@
+freeglut3-dev
+libfreeimage-dev
+libglew-dev
+libignition-cmake2-dev
+libignition-common3-dev
+libignition-math6-dev
+libignition-plugin-dev
+libogre-1.9-dev
+libogre-2.1-dev
+libxi-dev
+libxmu-dev
+uuid-dev
+xvfb

.github/workflows/ci.yml

@@ -0,0 +1,27 @@
+name: Ubuntu CI
+
+on: [push]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}

Changelog.md

@@ -44,6 +44,9 @@
 
 ### Ignition Rendering 3.X.X
 
+1. Update test configuration to use ogre2
+    * [Pull request 83](https://github.com/ignitionrobotics/ign-rendering/pull/83)
+
 1. Ogre2 GPU Ray: Cleanup all resources on destruction
     * [BitBucket pull request 258](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/258)
 
@@ -113,6 +116,12 @@
 
 ### Ignition Rendering 2.X.X (20XX-XX-XX)
 
+
+### Ignition Rendering 2.4.0 (2020-04-17)
+
+1. Fix flaky VisualAt test
+    * [BitBucket pull request 248](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/248)
+
 1. Port windows fixes
     * [BitBucket pull request 253](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/253)
 
@@ -122,6 +131,8 @@
 1. Backport transparency setting based on diffuse alpha
     * [BitBucket pull request 247](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/247)
 
+### Ignition Rendering 2.3.0 (2020-02-19)
+
 1. Add API to check which engines are loaded
     * [BitBucket pull request 233](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/233)
 

README.md

@@ -114,7 +114,7 @@ Install dependencies:
 
 Clone source code
 
-    # This checks out the `default` branch. You can append `-b ign-rendering#` (replace # with a number) to checkout a specific version
+    # This checks out the `master` branch. You can append `-b ign-rendering#` (replace # with a number) to checkout a specific version
     git clone http://github.com/ignitionrobotics/ign-rendering
 
 #### Version 0 (Legacy version for Ubuntu Xenial 16.04 or above)

ogre/src/OgreGrid.cc

@@ -77,7 +77,8 @@ void OgreGrid::Create()
 
   this->dataPtr->manualObject->clear();
 
-  double extent = (this->cellLength * static_cast<double>(this->cellCount))/2;
+  double baseExtent = (this->cellLength *
+      static_cast<double>(this->cellCount - this->cellCount % 2))/2;
 
   this->dataPtr->manualObject->setCastShadows(false);
   this->dataPtr->manualObject->estimateVertexCount(
@@ -91,20 +92,30 @@ void OgreGrid::Create()
   for (unsigned int h = 0; h <= this->verticalCellCount; ++h)
   {
     double hReal = this->heightOffset +
-        (this->verticalCellCount / 2.0f - static_cast<double>(h))
+        (this->verticalCellCount / 2 - static_cast<double>(h))
         * this->cellLength;
+
+    // If there are odd vertical cells, shift cell planes up
+    if (this->verticalCellCount % 2)
+      hReal += this->cellLength;
+
     for (unsigned int i = 0; i <= this->cellCount; i++)
     {
-      double inc = extent - (i * this->cellLength);
+      double extent = baseExtent;
+
+      // If there is an odd cell count, extend a row and column along
+      // the positive x and y axes
+      if (this->cellCount % 2)
+        extent += this->cellLength;
 
-      Ogre::Vector3 p1(inc, -extent, hReal);
+      double inc = extent - (i * this->cellLength);
+      Ogre::Vector3 p1(inc, -baseExtent, hReal);
       Ogre::Vector3 p2(inc, extent , hReal);
-      Ogre::Vector3 p3(-extent, inc, hReal);
+      Ogre::Vector3 p3(-baseExtent, inc, hReal);
       Ogre::Vector3 p4(extent, inc, hReal);
 
       this->dataPtr->manualObject->position(p1);
       this->dataPtr->manualObject->position(p2);
-
       this->dataPtr->manualObject->position(p3);
       this->dataPtr->manualObject->position(p4);
     }
@@ -116,14 +127,30 @@ void OgreGrid::Create()
     {
       for (unsigned int y = 0; y <= this->cellCount; ++y)
       {
-        double xReal = extent - x * this->cellLength;
-        double yReal = extent - y * this->cellLength;
+        double xReal = baseExtent - x * this->cellLength;
+        double yReal = baseExtent - y * this->cellLength;
 
         double zTop = (this->verticalCellCount / 2.0f) * this->cellLength;
         double zBottom = -zTop;
 
+        // If odd vertical cell count, add cell length offset to adjust
+        // z min and max
+        if (this->verticalCellCount % 2)
+        {
+          zTop += this->cellLength / 2.0f;
+          zBottom += this->cellLength / 2.0f;
+        }
+
+        // If odd horizontal cell count, shift vertical lines
+        // towards positive x, y axes
+        if (this->cellCount % 2)
+        {
+          xReal += this->cellLength;
+          yReal += this->cellLength;
+        }
+
         this->dataPtr->manualObject->position(xReal, yReal, zBottom);
-        this->dataPtr->manualObject->position(xReal, yReal, zBottom);
+        this->dataPtr->manualObject->position(xReal, yReal, zTop);
       }
     }
   }

ogre2/include/ignition/rendering/ogre2/Ogre2Camera.hh

@@ -97,6 +97,8 @@ namespace ignition
       // Documentation inherited.
       public: virtual void Destroy() override;
 
+      public: Ogre::Camera *OgreCamera() const;
+
       // Documentation inherited.
       public: virtual void SetVisibilityMask(uint32_t _mask) override;
 

ogre2/src/Ogre2Camera.cc

@@ -264,6 +264,12 @@ void Ogre2Camera::SetFarClipPlane(const double _far)
   this->ogreCamera->setFarClipDistance(_far);
 }
 
+//////////////////////////////////////////////////
+Ogre::Camera *Ogre2Camera::OgreCamera() const
+{
+  return ogreCamera;
+}
+
 //////////////////////////////////////////////////
 void Ogre2Camera::SetVisibilityMask(uint32_t _mask)
 {

ogre2/src/Ogre2DepthCamera.cc

@@ -319,6 +319,7 @@ void Ogre2DepthCamera::CreateDepthTexture()
   //     {
   //       material DepthCamera // Use copy instead of original
   //       input 0 depthTexture
+  //       input 1 colorTexture
   //       quad_normals camera_far_corners_view_space
   //     }
   //   }

ogre2/src/Ogre2Grid.cc

@@ -80,19 +80,31 @@ void Ogre2Grid::Create()
   this->dataPtr->grid->Update();
 
   this->dataPtr->grid->SetOperationType(MarkerType::MT_LINE_LIST);
-  double extent = (this->cellLength * static_cast<double>(this->cellCount))/2;
+  double baseExtent = (this->cellLength *
+     static_cast<double>(this->cellCount - this->cellCount % 2))/2;
   for (unsigned int h = 0; h <= this->verticalCellCount; ++h)
   {
     double hReal = this->heightOffset +
-        (this->verticalCellCount / 2.0f - static_cast<double>(h))
+        (this->verticalCellCount / 2 - static_cast<double>(h))
         * this->cellLength;
+
+    // If there are odd vertical cells, shift cell planes up
+    if (this->verticalCellCount % 2)
+      hReal += this->cellLength;
+
     for (unsigned int i = 0; i <= this->cellCount; i++)
     {
-      double inc = extent - (i * this->cellLength);
+      double extent = baseExtent;
+
+      // If there is an odd cell count, extend a row and column along
+      // the positive x and y axes
+      if (this->cellCount % 2)
+        extent += this->cellLength;
 
-      math::Vector3d p1{inc, -extent, hReal};
+      double inc = extent - (i * this->cellLength);
+      math::Vector3d p1{inc, -baseExtent, hReal};
       math::Vector3d p2{inc, extent , hReal};
-      math::Vector3d p3{-extent, inc, hReal};
+      math::Vector3d p3{-baseExtent, inc, hReal};
       math::Vector3d p4{extent, inc, hReal};
 
       this->dataPtr->grid->AddPoint(p1);
@@ -101,20 +113,36 @@ void Ogre2Grid::Create()
       this->dataPtr->grid->AddPoint(p4);
     }
   }
-
   if (this->verticalCellCount > 0)
   {
     for (unsigned int x = 0; x <= this->cellCount; ++x)
     {
       for (unsigned int y = 0; y <= this->cellCount; ++y)
       {
-        double xReal = extent - x * this->cellLength;
-        double yReal = extent - y * this->cellLength;
+        double xReal = baseExtent - x * this->cellLength;
+        double yReal = baseExtent - y * this->cellLength;
 
         double zTop = (this->verticalCellCount / 2.0f) * this->cellLength;
         double zBottom = -zTop;
 
+        // If odd vertical cell count, add cell length offset to adjust
+        // z min and max
+        if (this->verticalCellCount % 2)
+        {
+          zTop += this->cellLength / 2.0f;
+          zBottom += this->cellLength / 2.0f;
+        }
+
+        // If odd horizontal cell count, shift vertical lines
+        // towards positive x, y axes
+        if (this->cellCount % 2)
+        {
+          xReal += this->cellLength;
+          yReal += this->cellLength;
+        }
+
         this->dataPtr->grid->AddPoint(xReal, yReal, zBottom);
+        this->dataPtr->grid->AddPoint(xReal, yReal, zTop);
       }
     }
   }

test/integration/depth_camera.cc

@@ -384,7 +384,7 @@ void DepthCameraTest::DepthCameraBoxes(
 
     // Verify Depth
     {
-      // box not detected so all should return max val
+      // all points should have the same depth value
       EXPECT_FLOAT_EQ(expectedRange, scan[mid]);
       EXPECT_FLOAT_EQ(expectedRange, scan[left]);
       EXPECT_FLOAT_EQ(expectedRange, scan[right]);
@@ -398,7 +398,7 @@ void DepthCameraTest::DepthCameraBoxes(
         for (unsigned int j = 0; j < depthCamera->ImageWidth(); ++j)
         {
           float x = pointCloudData[step + j*pointCloudChannelCount];
-          EXPECT_FLOAT_EQ(expectedRange, x);
+          EXPECT_NEAR(expectedRange, x, DOUBLE_TOL);
         }
       }
 
@@ -434,7 +434,11 @@ void DepthCameraTest::DepthCameraBoxes(
   ignition::rendering::unloadEngine(engine->Name());
 }
 
+#ifdef __APPLE__
+TEST_P(DepthCameraTest, DISABLED_DepthCameraBoxes)
+#else
 TEST_P(DepthCameraTest, DepthCameraBoxes)
+#endif
 {
   DepthCameraBoxes(GetParam());
 }

test/test_config.h.in

@@ -9,7 +9,7 @@
 #define RENDER_ENGINE_VALUES ::testing::ValuesIn(\
     ignition::rendering::TestValues())
 
-static const std::vector<const char *> kRenderEngineTestValues{"ogre", "optix"};
+static const std::vector<const char *> kRenderEngineTestValues{"ogre2", "optix"};
 
 #include <vector>
 #include <ignition/common/Util.hh>