Add Lens Flare System #1933

jasmeet0915 · 2023-03-16T16:14:56Z

🎉 New feature

Closes #1909

Summary

Added Lens Flare System that adds Lens Flare Render Pass to the camera and allows users to enable lens flare in camera images. The lens flares can be configured using <scale>, <color>, and <occlusion_steps> tags in the SDF.
Added an example camera_lens_flare.sdf file for testing which contains 2 cameras(wide angle and normal) with different configurations for the lens flare (one default and other custom).

Test it

Make sure to use the gz-sim8 and compatible versions of other packages especially gz-rendering8 since it contains the Lens Flare Pass.
Launch the examples/worlds/camera_lens_flare.sdf file from the gz-sim repo using:

gz sim camera_lens_flare.sdf

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.

🎈 Release

Preparation for <X.Y.Z> release.

Comparison to <x.y.z>: https://github.com/gazebosim//compare/<LATEST_TAG_BRANCH>...<RELEASE_BRANCH>

Needed by <PR(s)>

Checklist

Asked team if this is a good time for a release
There are no changes to be ported from the previous major version
No PRs targeted at this major version are close to getting in
Bumped minor for new features, patch for bug fixes
Updated changelog
Updated migration guide (as needed)
Link to PR updating dependency versions in appropriate repository in gazebo-release (as needed):

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.

iche033

nice, this works well for me! I left a few comments, mostly coding style changes.

examples/worlds/camera_lens_flare.sdf

iche033 · 2023-03-16T21:32:45Z

src/systems/lens_flare/LensFlare.cc

@@ -0,0 +1,244 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation


2020 -> 2023

iche033 · 2023-03-16T21:33:17Z

src/systems/lens_flare/LensFlare.hh

@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation


2020 -> 2023

iche033 · 2023-03-16T21:33:35Z

test/integration/camera_lens_flare.cc

@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation


2022 -> 2023

iche033 · 2023-03-16T21:49:17Z

src/systems/lens_flare/LensFlare.cc

+}
+
+
+


remove a couple of extra lines here

iche033 · 2023-03-16T22:45:03Z

examples/worlds/camera_lens_flare.sdf

+              <far>100</far>
+            </clip>
+            <lens>
+              <type>gnomonical</type>


hmm just noticed that there could an issue with the gnomonical type on certain graphics drivers, e.g. on mesa + llvmpipe the camera does not render properly but works fine on Nvidia drivers. Something to be investigated later. In the mean time, can you change this to equidistant? and maybe make the the horizontal_fov larger to make it obvious it's a wide angle camera, e.g. 3.14159

iche033 · 2023-03-16T22:48:02Z

src/systems/lens_flare/LensFlare.cc

+    // call function that connects to post render event
+    // using a separate function because unique_ptr (this->dataPtr)
+    // is not supported as a argument of std::bind
+    this->dataPtr->ConnectToPostRender();


you should be able to do:

this->dataPtr->postRenderConn = this->dataPtr->eventMgr->Connect<events::PostRender>( std::bind(&LensFlarePrivate::OnPostRender, this->dataPtr.get()));

iche033 · 2023-03-16T22:49:45Z

src/systems/lens_flare/LensFlare.cc

to be consistent with gazebo coding style, can you change indentation from 4 spaces to 2 spaces in this file?

I think you missed this one. Can you update the indentation?

iche033 · 2023-03-16T22:53:15Z

test/integration/camera_lens_flare.cc

can you add this test to CMakeLists.txt here?

iche033 · 2023-03-16T23:20:02Z

can you also sign your commits?

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

- Adds doxygen comments in LensFlare.hh Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

jasmeet0915 · 2023-03-17T06:14:36Z

@iche033 I have made all the suggested changes in the latest commit and have signed all previous commits as well ✔️

iche033 · 2023-03-17T18:28:49Z

test/integration/CMakeLists.txt

@@ -11,6 +11,7 @@ set(tests
  breadcrumbs.cc
  buoyancy.cc
  buoyancy_engine.cc
+  camera_lens_flare.cc


can you move this line to the tests_needing_display list below?

iche033 · 2023-03-17T18:29:31Z

src/systems/lens_flare/LensFlare.cc

I think you missed this one. Can you update the indentation?

- Updated LensFlare.cc indentation to 2 spaces Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

jasmeet0915 · 2023-03-17T19:10:07Z

@iche033 Not sure how I missed that one 😅. Anyways, I have made the required changes.

iche033

awesome, thanks for your contribution!

jasmeet0915 requested a review from mjcarroll as a code owner March 16, 2023 16:14

osrf-triage added this to Inbox in Core development Mar 16, 2023

github-actions bot added the 🎵 harmonic Gazebo Harmonic label Mar 16, 2023

jasmeet0915 force-pushed the jasmeet/lens_flare_system branch 3 times, most recently from 3693e6f to 433e4ea Compare March 16, 2023 16:24

jasmeet0915 mentioned this pull request Mar 16, 2023

Port LensFlareSensorPlugin from gazebo-classic to a LensFlare system #1909

Closed

iche033 reviewed Mar 16, 2023

View reviewed changes

jasmeet0915 added 4 commits March 17, 2023 11:14

Add LensFlare System

a55e494

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

Added example sdf for lens flare plugin

dca07b8

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

Updates example lens flare sdf

50309bf

- Adds doxygen comments in LensFlare.hh Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

Added integration tests

4a6a9c9

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

jasmeet0915 force-pushed the jasmeet/lens_flare_system branch from 433e4ea to 4a6a9c9 Compare March 17, 2023 05:45

Made code style changes

c9ec3ac

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

iche033 reviewed Mar 17, 2023

View reviewed changes

Shifts lens flare test to tests_needing_display

1b7cc4e

- Updated LensFlare.cc indentation to 2 spaces Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

iche033 approved these changes Mar 17, 2023

View reviewed changes

Core development automation moved this from Inbox to In review Mar 17, 2023

iche033 merged commit 309906a into gazebosim:main Mar 17, 2023
2 of 4 checks passed

Core development automation moved this from In review to Done Mar 17, 2023

azeey moved this from Done to Highlights in Core development Mar 20, 2023

nkoenig mentioned this pull request Jun 21, 2023

Merge gz-sim7 ➡️ main #2011

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Add Lens Flare System #1933

Add Lens Flare System #1933

jasmeet0915 commented Mar 16, 2023

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iche033 commented Mar 16, 2023

jasmeet0915 commented Mar 17, 2023

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jasmeet0915 commented Mar 17, 2023

iche033 left a comment

		@@ -0,0 +1,244 @@
		/*
		* Copyright (C) 2020 Open Source Robotics Foundation

		@@ -0,0 +1,73 @@
		/*
		* Copyright (C) 2020 Open Source Robotics Foundation

		@@ -0,0 +1,103 @@
		/*
		* Copyright (C) 2022 Open Source Robotics Foundation

Add Lens Flare System #1933

Add Lens Flare System #1933

Conversation

jasmeet0915 commented Mar 16, 2023

🎉 New feature

Summary

Test it

Checklist

🎈 Release

Checklist

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iche033 commented Mar 16, 2023

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