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Add Lens Flare System #1933

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Mar 17, 2023
Merged

Add Lens Flare System #1933

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a55e494
Add LensFlare System
jasmeet0915 Mar 11, 2023
dca07b8
Added example sdf for lens flare plugin
jasmeet0915 Mar 11, 2023
50309bf
Updates example lens flare sdf
jasmeet0915 Mar 16, 2023
4a6a9c9
Added integration tests
jasmeet0915 Mar 16, 2023
c9ec3ac
Made code style changes
jasmeet0915 Mar 17, 2023
1b7cc4e
Shifts lens flare test to tests_needing_display
jasmeet0915 Mar 17, 2023
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393 changes: 393 additions & 0 deletions examples/worlds/camera_lens_flare.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>

<gui fullscreen="0">
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-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="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>
</gz-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-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>
</gz-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Image Display -->
<plugin filename="ImageDisplay" name="Image Display">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
<topic>camera</topic>
</plugin>
</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name='box'>
<pose>1.6 2.4 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>

<!-- wide-angle camera model with lens flare plugin -->
<model name="wide_angle_camera_lensflare">
<static>true</static>
<pose>0.3 2.22 0.5 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="wide_angle_camera" type="wideanglecamera">
<camera>
<horizontal_fov>3.14159</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<lens>
<type>equidistant</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>1.5707</cutoff_angle>
<env_texture_size>512</env_texture_size>
</lens>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>wide_angle_camera</topic>
<plugin
filename="gz-sim-lens-flare-system"
name="gz::sim::systems::LensFlare">
</plugin>
</sensor>
</link>
</model>

<!-- camera model with lens flare plugin -->
<model name="camera_lensflare">
<static>true</static>
<pose>0 2 0.3 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
<plugin
filename="gz-sim-lens-flare-system"
name="gz::sim::systems::LensFlare">
<scale>0.5</scale>
<color>3 3 3</color>
</plugin>
</sensor>
</link>
</model>

</world>
</sdf>