Add Support for wide-angle cameras in ogre2

[darksylinc]

🎉 New feature

Closes #729

Summary

This PR ports OgreWideAngleCamera to Ogre2 engine.

Includes Vulkan, OpenGL & Metal shaders (Metal support not tested)

Test it

Edit wide_angle_camera.sdf so that:

    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>

No longer says ogre and run:

gz sim wide_angle_camera.sdf

Can it be backported to Garden?

The only major/blocking issue I see is that Ogre2Scene::CreateWideAngleCameraImpl was added (and is obviously necessary) but adding it breaks the ABI.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #733 (372a256) into main (fcd52be) will increase coverage by 0.33%.
The diff coverage is 90.45%.

@@            Coverage Diff             @@
##             main     #733      +/-   ##
==========================================
+ Coverage   74.07%   74.40%   +0.33%     
==========================================
  Files         159      160       +1     
  Lines       14408    14684     +276     
==========================================
+ Hits        10673    10926     +253     
- Misses       3735     3758      +23     

Impacted Files	Coverage Δ
ogre2/src/Ogre2WideAngleCamera.cc	90.00% <90.00%> (ø)
ogre2/src/Ogre2RenderTarget.cc	82.16% <100.00%> (+0.98%)	⬆️
ogre2/src/Ogre2Scene.cc	78.33% <100.00%> (+0.13%)	⬆️

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[iche033]

I enabled the INTEGRATION_wide_angle_camera test for ogre2 with this patch:

diff --git a/test/integration/wide_angle_camera.cc b/test/integration/wide_angle_camera.cc
index 31481a72..2b604376 100644
--- a/test/integration/wide_angle_camera.cc
+++ b/test/integration/wide_angle_camera.cc
@@ -68,7 +68,7 @@ void OnNewWideAngleFrame(const unsigned char *_data,
 //////////////////////////////////////////////////
 TEST_F(WideAngleCameraTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(WideAngleCamera))
 {
-  CHECK_SUPPORTED_ENGINE("ogre");
+  CHECK_UNSUPPORTED_ENGINE("optix");
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
   ASSERT_NE(nullptr, scene);
@@ -205,7 +205,7 @@ TEST_F(WideAngleCameraTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(WideAngleCamera))
 //////////////////////////////////////////////////
 TEST_F(WideAngleCameraTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Projection))
 {
-  CHECK_SUPPORTED_ENGINE("ogre");
+  CHECK_UNSUPPORTED_ENGINE("optix");
 
   gz::rendering::ScenePtr scene = engine->CreateScene("scene");
   ASSERT_NE(nullptr, scene);

The first test passed but a few checks are failing in the Projection test

[darksylinc]

Perfect! I'll take a look after-tomorrow at those test failures.

[darksylinc]

I've enabled the Ogre2WideAngleCamera test for ogre2 and fixed its failures. It's now passing.

[darksylinc]

Nevermind, ignition_rendering-ci-pr_any-ubuntu_auto-amd64 CI says INTEGRATION_wide_angle_camera_ogre2_gl3plus fails with:

/home/jenkins/workspace/ignition_rendering-ci-pr_any-ubuntu_auto-amd64/ign-rendering/test/integration/wide_angle_camera.cc:252: Failure
57: Expected: (screenPt.Z()) > (1.0), actual: 8.84479e-08 vs 1

I can repro it. Looking into it.

[darksylinc]

Silly last-minute bug had crawled into the code; that's why the test failed. It should be working now.

Edit: I see the CI tests Metal as well! I managed to find a clever way to test whether the Metal shaders were valid without having to compile gazebo on a Mac; so I fixed all the shader compiler errors. Now let's cross fingers the CI passes on Metal too!

[mjcarroll]

Just a few notes on a quick review. Will give more feedback once I have a chance to run it.

[mjcarroll]

This doesn't have anything to do with your changes (unless something is really wrong), but it popped here:

No action required, just posting for posterity, because it probably needs to be addressed.

69: Test command: C:\Jenkins\workspace\ign_rendering-pr-win\ws\build\gz-rendering8\bin\Release\UNIT_Material_TEST.exe "--gtest_output=xml:C:/Jenkins/workspace/ign_rendering-pr-win/ws/build/gz-rendering8/test_results/UNIT_Material_TEST_ogre_gl3plus.xml"
69: Environment variables: 
69:  GZ_ENGINE_TO_TEST=ogre
69:  GZ_ENGINE_BACKEND=gl3plus
69: Test timeout computed to be: 240
69: Running main() from C:\Jenkins\workspace\ign_rendering-pr-win\ws\gz-rendering\test\gtest_vendor\src\gtest_main.cc
69: [==========] Running 2 tests from 1 test suite.
69: [----------] Global test environment set-up.
69: [----------] 2 tests from MaterialTest
69: [ RUN      ] MaterialTest.MaterialProperties
69: �[32m[Msg] �[m�[32mLoading plugin [�[m�[32mgz-rendering-ogre�[m�[32m]�[m�[32m
69: �[m[       OK ] MaterialTest.MaterialProperties (651 ms)
69: [ RUN      ] MaterialTest.Copy
69: �[32m[Msg] �[m�[32mLoading plugin [�[m�[32mgz-rendering-ogre�[m�[32m]�[m�[32m
69: �[munknown file: error: C++ exception with description "Ogre::ItemIdentityException::ItemIdentityException: Texture with the name C:\Jenkins\workspace\ign_rendering-pr-win\ws\gz-rendering\test\media\materials\textures\texture.png already exists. in ResourceManager::add at C:\vcpkg\buildtrees\ogre\src\eddf310f0b-6ab1152694.clean\OgreMain\src\OgreResourceManager.cpp (line 149)" thrown in the test body.
69: [  FAILED  ] MaterialTest.Copy (429 ms)
69: [----------] 2 tests from MaterialTest (1080 ms total)
69: 
69: [----------] Global test environment tear-down
69: [==========] 2 tests from 1 test suite ran. (1081 ms total)
69: [  PASSED  ] 1 test.
69: [  FAILED  ] 1 test, listed below:
69: [  FAILED  ] MaterialTest.Copy
69: 
69:  1 FAILED TEST
 69/110 Test  #69: UNIT_Material_TEST_ogre_gl3plus ......................***Failed    1.40 sec
test 70
        Start  70: check_UNIT_Material_TEST_ogre_gl3plus