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Add lightmap demo #471

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merged 9 commits into from
Feb 1, 2021
Merged

Add lightmap demo #471

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69f4c07
add lightamp to material and conversion functions, and lightmap world
iche033 Dec 2, 2020
b2bd070
removed topics
iche033 Dec 10, 2020
31c8410
Bump to ign-transport10 and msgs7
Dec 23, 2020
08fe4f9
use lightmap in msg
iche033 Jan 9, 2021
f76a128
Merge from main
iche033 Jan 9, 2021
94f382a
Merge remote-tracking branch 'origin/ign-gazebo5' into lightmap
iche033 Jan 9, 2021
d28afcc
remove todos
iche033 Jan 30, 2021
1659774
fix build, use asFullPath
iche033 Jan 30, 2021
bc3e0eb
Merge branch 'main' into lightmap
iche033 Jan 30, 2021
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111 changes: 111 additions & 0 deletions examples/worlds/lightmap.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,111 @@
<?xml version="1.0" ?>
<!--

A world demonstrating an indoor environment model that uses a lightmap.
There are no dynamic lights or shadows in the scene.

-->

<sdf version="1.7">
<world name="lightmap">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="libignition-gazebo-physics-system.so"
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name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
<grid>false</grid>
</scene>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-5.5 -2 0.5 0 0.0 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/lightmap/control</service>
<stats_topic>/world/lightmap/stats</stats_topic>
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</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/lightmap/stats</topic>
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</plugin>
</gui>

<include>
<static>true</static>
<name>Indoor Lightmap</name>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Indoor Lightmap</uri>
</include>


</world>
</sdf>
21 changes: 21 additions & 0 deletions src/Conversions.cc
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Expand Up @@ -301,6 +301,14 @@ msgs::Material ignition::gazebo::convert(const sdf::Material &_in)
asFullPath(workflow->EnvironmentMap(), _in.FilePath()));
pbrMsg->set_emissive_map(workflow->EmissiveMap().empty() ? "" :
asFullPath(workflow->EmissiveMap(), _in.FilePath()));

// todo(anyone) add light_map to material.proto
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Can we ticket an issue for this?

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ticketed gazebosim/gz-msgs#109

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This was addressed on gazebosim/gz-msgs#111. We could wait until ign-gazebo5 is updated to use ign-msgs7 and use the new field here (gazebo-tooling/release-tools#362)

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sure sounds good

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I think this is unblocked now

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// storing lightmap in header for now
auto data = out.mutable_header()->add_data();
data->set_key("lightmap");
data->add_value(workflow->LightMap().empty() ? "" :
asFullPath(workflow->LightMap(), _in.FilePath()));
data->add_value(std::to_string(workflow->LightMapTexCoordSet()));
}
}
return out;
Expand Down Expand Up @@ -338,6 +346,19 @@ sdf::Material ignition::gazebo::convert(const msgs::Material &_in)
workflow.SetEnvironmentMap(pbrMsg.environment_map());
workflow.SetAmbientOcclusionMap(pbrMsg.ambient_occlusion_map());
workflow.SetEmissiveMap(pbrMsg.emissive_map());

// todo(anyone) add light_map to material.proto
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// lightmap is temporarily stored in header
for (int i = 0; i < _in.header().data_size(); ++i)
{
if (_in.header().data(i).key() == "lightmap")
{
workflow.SetLightMap(_in.header().data(i).value(0),
std::stoi(_in.header().data(i).value(1)));
break;
}
}

pbr.SetWorkflow(workflow.Type(), workflow);
out.SetPbrMaterial(pbr);
}
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8 changes: 8 additions & 0 deletions src/Conversions_TEST.cc
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Expand Up @@ -218,6 +218,7 @@ TEST(Conversions, Material)
workflow.SetEmissiveMap("emissive_map.png");
workflow.SetGlossinessMap("dummy_glossiness_map.png");
workflow.SetSpecularMap("dummy_specular_map.png");
workflow.SetLightMap("light_map.png", 1u);
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Is the light_map.png file suppose to exist?

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No, I think this is just testing that the conversion between SDF and messages works fine, without worrying about resolving the file.

workflow.SetMetalness(0.3);
workflow.SetRoughness(0.9);
workflow.SetGlossiness(0.1);
Expand Down Expand Up @@ -247,6 +248,11 @@ TEST(Conversions, Material)
EXPECT_EQ("ambient_occlusion_map.png", pbrMsg.ambient_occlusion_map());
EXPECT_EQ("dummy_glossiness_map.png", pbrMsg.glossiness_map());
EXPECT_EQ("dummy_specular_map.png", pbrMsg.specular_map());

// todo(anyone) add light_map to material.proto
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EXPECT_EQ("light_map.png", materialMsg.header().data(0).value(0));
EXPECT_EQ(1, std::stoi(materialMsg.header().data(0).value(1)));

EXPECT_DOUBLE_EQ(0.3, pbrMsg.metalness());
EXPECT_DOUBLE_EQ(0.9, pbrMsg.roughness());
EXPECT_DOUBLE_EQ(0.1, pbrMsg.glossiness());
Expand All @@ -272,6 +278,8 @@ TEST(Conversions, Material)
EXPECT_EQ("ambient_occlusion_map.png", newWorkflow->AmbientOcclusionMap());
EXPECT_EQ("dummy_glossiness_map.png", newWorkflow->GlossinessMap());
EXPECT_EQ("dummy_specular_map.png", newWorkflow->SpecularMap());
EXPECT_EQ("light_map.png", newWorkflow->LightMap());
EXPECT_EQ(1u, newWorkflow->LightMapTexCoordSet());
EXPECT_DOUBLE_EQ(0.3, newWorkflow->Metalness());
EXPECT_DOUBLE_EQ(0.9, newWorkflow->Roughness());
EXPECT_DOUBLE_EQ(0.1, newWorkflow->Glossiness());
Expand Down
18 changes: 17 additions & 1 deletion src/rendering/SceneManager.cc
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Expand Up @@ -492,7 +492,7 @@ rendering::MaterialPtr SceneManager::LoadMaterial(
{
material->SetTexture(fullPath);
// Use alpha channel for transparency
material->SetAlphaFromTexture(true);
material->SetAlphaFromTexture(true, 0.5, false);
}
else
ignerr << "Unable to find file [" << albedoMap << "]\n";
Expand Down Expand Up @@ -531,6 +531,22 @@ rendering::MaterialPtr SceneManager::LoadMaterial(
else
ignerr << "Unable to find file [" << emissiveMap << "]\n";
}

// light map
std::string lightMap = workflow->LightMap();
if (!lightMap.empty())
{
std::string fullPath = common::findFile(lightMap);
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if (!fullPath.empty())
{
unsigned int uvSet = workflow->LightMapTexCoordSet();
material->SetLightMap(fullPath, uvSet);
}
else
{
ignerr << "Unable to find file [" << lightMap << "]\n";
}
}
}
return material;
}
Expand Down