Add lightmap demo #471

iche033 · 2020-12-02T20:59:18Z

depends on:

~~Add lightmap to 1.7 spec and PBR material DOM sdformat#429~~ released in 10.1.0
~~Add support for lightmaps in ogre2 gz-rendering#182~~
~~Add Lightmap to material gz-common#132~~ released in 3.9.0
~~Fix light map URI in materials gz-fuel-tools#146~~ released in 5.1.1

This PR demo's the new lightmap feature added in ign-rendering. It reads a new lightmap parameter from SDF and creates a material with lightmap using the new ign-rendering APIs.

One caveat is in the sdf-to-msgs conversion functions. I didn't add a lightmap field to the material.proto file in ign-msgs as that breaks ABI. So it's temporarily stored to the header. We can consider bumping ign-msgs if this is too much of a hack.

An indoor environment model has been uploaded onto Fuel. To run the demo:

ign gazebo -v 4 lightmap.sdf

Signed-off-by: Ian Chen ichen@osrfoundation.org

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

codebot · 2020-12-03T06:55:59Z

I'm not sure exactly where the problem lies, but I get this (followed by maybe a dozen similar errors) when running it:

[GUI] [Err] [SystemPaths.cc:450] File [/home/osrf/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/indoor_lightmap/1/meshes/indoor_lightmap.dae] resolved to path [/home/osrf/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/indoor_lightmap/1/meshes/indoor_lightmap.dae] but the path does not exist

The files are actually found in

/home/mquigley/.ignition/fuel/fuel.ignitionrobotics.org/OpenRobotics/models/Indoor Lightmap/1

so it seems the username is incorrect as well as the caplitalization/space-vs-underscore of the generated filename

iche033 · 2020-12-03T23:08:17Z

I'm not sure exactly where the problem lies, but I get this (followed by maybe a dozen similar errors) when running it.

oops, I've fixed the paths in model.sdf and have updated the model on Fuel

chapulina · 2020-12-10T02:16:19Z

I think you also need to add light_map to ign-fuel-tools here:

https://github.com/ignitionrobotics/ign-fuel-tools/blob/ef6c20d604fd744d709d1fb7a7e8bbf7a58e5a80/src/LocalCache.cc#L643-L658

Otherwise it's not getting converted to the URL, i.e.

                    <pbr>
                        <metal>
                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Indoor Lightmap/1/files/materials/textures/Wall_Albedo.png</albedo_map>
                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Indoor Lightmap/1/files/materials/textures/Wall_Roughness.png</roughness_map>
                            <environment_map>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Indoor Lightmap/1/files/materials/textures/IndoorCubemap.dds</environment_map>
                            <light_map uv_set="1">model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png</light_map>
                            <metalness>0.0</metalness>
                        </metal>
                    </pbr>

And results in these errors:

[GUI] [Err] [SystemPaths.cc:357] Unable to find file with URI [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SystemPaths.cc:444] Could not resolve file [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SceneManager.cc:547] Unable to find file [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SystemPaths.cc:357] Unable to find file with URI [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SystemPaths.cc:444] Could not resolve file [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SceneManager.cc:547] Unable to find file [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SystemPaths.cc:357] Unable to find file with URI [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SystemPaths.cc:444] Could not resolve file [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]
[GUI] [Err] [SceneManager.cc:547] Unable to find file [model://indoor_lightmap/materials/textures/LightmapEqualizeHistogram.png]

examples/worlds/lightmap.sdf

chapulina · 2020-12-10T02:19:55Z

src/Conversions.cc

@@ -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


Can we ticket an issue for this?

ticketed gazebosim/gz-msgs#109

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)

sure sounds good

I think this is unblocked now

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

iche033 · 2020-12-10T18:57:09Z

I think you also need to add light_map to ign-fuel-tools here:

ah good catch, created pull request: gazebosim/gz-fuel-tools#146

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

examples/worlds/lightmap.sdf

nkoenig · 2021-01-28T00:40:49Z

src/Conversions_TEST.cc

@@ -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);


Is the light_map.png file suppose to exist?

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

src/Conversions_TEST.cc

src/Conversions.cc

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

chapulina · 2021-01-30T01:16:41Z

src/Conversions_TEST.cc

@@ -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);


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

src/rendering/SceneManager.cc

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

codecov · 2021-01-30T03:21:00Z

Codecov Report

Merging #471 (bc3e0eb) into main (55ddac7) will increase coverage by 0.00%.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main     #471   +/-   ##
=======================================
  Coverage   77.38%   77.39%           
=======================================
  Files         213      213           
  Lines       11954    11958    +4     
=======================================
+ Hits         9251     9255    +4     
  Misses       2703     2703

Impacted Files	Coverage Δ
src/Conversions.cc	`82.33% <100.00%> (+0.09%)`	⬆️

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add lightamp to material and conversion functions, and lightmap world

69f4c07

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

iche033 requested a review from chapulina as a code owner December 2, 2020 20:59

github-actions bot added the 🏢 edifice Ignition Edifice label Dec 2, 2020

iche033 added needs upstream release Blocked by a release of an upstream library 🏢 edifice Ignition Edifice and removed 🏢 edifice Ignition Edifice labels Dec 2, 2020

chapulina reviewed Dec 10, 2020

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This was referenced Dec 10, 2020

Fix light map URI in materials gazebosim/gz-fuel-tools#146

Merged

Add light map field to material.proto gazebosim/gz-msgs#109

Closed

removed topics

b2bd070

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

This was referenced Dec 18, 2020

⬆️ 5.1.1 gazebosim/gz-fuel-tools#147

Merged

⬆️ 3.9.0 gazebosim/gz-common#141

Merged

Bump to ign-transport10 and msgs7

31c8410

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig changed the base branch from main to ign-gazebo5 December 23, 2020 23:34

chapulina changed the base branch from ign-gazebo5 to main January 5, 2021 00:29

iche033 added 3 commits January 8, 2021 16:17

use lightmap in msg

08fe4f9

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Merge from main

f76a128

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Merge remote-tracking branch 'origin/ign-gazebo5' into lightmap

94f382a

iche033 mentioned this pull request Jan 9, 2021

Add lightmap texcoord set field gazebosim/gz-msgs#124

Merged

chapulina mentioned this pull request Jan 26, 2021

Add screenshots of simulation demos gazebosim/docs#135

Closed

nkoenig reviewed Jan 28, 2021

View reviewed changes

remove todos

d28afcc

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

chapulina reviewed Jan 30, 2021

View reviewed changes

fix build, use asFullPath

1659774

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Merge branch 'main' into lightmap

bc3e0eb

chapulina approved these changes Feb 1, 2021

View reviewed changes

chapulina removed the needs upstream release Blocked by a release of an upstream library label Feb 1, 2021

chapulina merged commit d719838 into main Feb 1, 2021

chapulina deleted the lightmap branch February 1, 2021 17:37

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Add lightmap demo #471

Add lightmap demo #471

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Add lightmap demo #471

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