Update internal texture formats used by gpu lidar #468

iche033 · 2021-10-12T18:35:16Z

🦟 Bug fix

Summary

Metal does not support RGB32_FLOAT format, see #461 (comment).

So switching to use supported texture formats:

cubeUVTexture: RGB32_FLOAT -> RGBA32_FLOAT
firstPassTextures: RGB32_FLOAT -> RG32_FLOAT
secondPassTexture: RGB32_FLOAT -> RGBA32_FLOAT
- note: this can also be RG32_FLOAT to save some memory

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Ian Chen <ichen@osrfoundation.org>

codecov · 2021-10-12T18:56:43Z

Codecov Report

Merging #468 (24e5b67) into ign-rendering6 (bfb22fb) will increase coverage by 0.03%.
The diff coverage is 100.00%.

@@                Coverage Diff                 @@
##           ign-rendering6     #468      +/-   ##
==================================================
+ Coverage           53.57%   53.60%   +0.03%     
==================================================
  Files                 194      194              
  Lines               19634    19645      +11     
==================================================
+ Hits                10519    10531      +12     
+ Misses               9115     9114       -1

Impacted Files	Coverage Δ
ogre2/src/Ogre2GpuRays.cc	`95.49% <100.00%> (+0.08%)`	⬆️
...e/ignition/rendering/base/BaseGaussianNoisePass.hh	`100.00% <0.00%> (+3.33%)`	⬆️

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- Complete port of the GPU Rays shader - This depends upon the pixel format fix in gazebosim#468 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

srmainwaring · 2021-10-13T10:55:58Z

Can confirm this works with Metal shaders.

- Complete port of the GPU Rays shader - This depends upon the pixel format fix in gazebosim#468 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

iche033 · 2021-11-02T23:23:49Z

@ahcorde can I get a review for this PR? thanks.

- Complete port of the GPU Rays shader - This depends upon the pixel format fix in gazebosim#468 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

- Add parameter "metal" and a member variable useMetalRenderSystem to Ogre2RenderEngine - Modify LoadPlugins to load the Metal render system if enabled - Modify CreateRenderSystem to select the Metal render system - Modify RegisterHlms to load the Metal resources - Add missing Metal shaders for the Terra (from Ogre2) - Add Metal shader for skybox - Update skybox material to support universal shaders - Create subdirectories for GLSL and Metal in media/materials/programs and update Ogre2RenderEngine with new resource locations - Add Metal and unified shaders to each material - Add placeholders for a number of shaders to prevent compile errors when running examples - Minor formatting changes to plain_color, point and skybox Metal shaders. - Port depth_camera_vs and selection_buffer_fs to Metal - The mouse_picker, ogre2_demo and transform_control demos now work correctly. - Shader formatting - replace tabs with whitespace - Port gaussian_noise vertex and pixel shaders from the GLSL counterparts - The ogre2_demo and render_pass examples now work correctly. - Port thermal_camera pixel shader - Correct error in thermal material script - Port thermal_camera pixel shaders from the GLSL counterparts - The thermal_camera examples now runs but further requires testing - Add stubs for the remaining vertex and pixel shaders to port from GLSL - Port heat_signature pixel shader - Initial ports of depth_camera and gpu_rays shaders - On Metal the compositor in Ogre2GpuRay has a pixel format exception - Texture sampling for depth_camera_final_fs.metal is not using the equivalent of OpenGL's texelFetch - Fix fragment program specifier in gaussian noise material - Unified shader had incorrect specifier - Fix depth camera vertex shader not found in selection buffer material - This is the same issue as fixed in gazebosim#456 - Switch to user RGBA format for internal textures in gpu ray sensor - Complete port of gpu rays 1st pass shader - Complete port of the GPU Rays shader - This depends upon the pixel format fix in gazebosim#468 - Add a method to render targets and cameras to retrieve the Metal texture id - These functions provide the Metal equivalent of GLId() and RenderTextureGLId() for OpenGL. - The argument is the address of a pointer to void* as the object required for Metal is an objective-c type id<MTLTexture> which we do not want exposed in the interface - There is a runtime dependency on an upstream change to ogre-next: OGRECave/ogre-next@3b11873 - cherry-pick 8fc230c - Ensure line length limits are adhered to. - Fix inconsistent parameter name in RenderTextureMetalId - Fix an inconsistent parameter name causing a CI failure. - Fix unused parameter warning in RenderTextureMetalId - Fix an unused parameter warning causing a CI failure. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

* [Metal] enable loading of the Metal render system for ogre2 - Add parameter "metal" and a member variable useMetalRenderSystem to Ogre2RenderEngine - Modify LoadPlugins to load the Metal render system if enabled - Modify CreateRenderSystem to select the Metal render system - Modify RegisterHlms to load the Metal resources - Add missing Metal shaders for the Terra (from Ogre2) Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] enable metal render system for some examples Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] add Metal shader for skybox and update material - Add Metal shader for skybox - Update skybox material to support universal shaders - Create subdirectories for GLSL and Metal in media/materials/programs and update Ogre2RenderEngine with new resource locations Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] add Metal and unified shaders to each material (wip) - Add Metal and unified shaders to each material - Add placeholders for a number of shaders to prevent compile errors when running examples Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] enable metal render system for remaining examples [do not merge] - Note: these changes will need to be modified / reverted before merging Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] update examples to accept optional command line option "metal" - Examples accept an additional command line option metal when specifying the ogre2 render engine. - Pass parameters to the createCamera function. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] fix formatting on example ogre2_demo Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] revert changes to example text_geom - This example is for ogre only (not ogre2) Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] update formatting of shaders - Minor formatting changes to plain_color, point and skybox Metal shaders. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] port depth_camera and selection_buffer shaders - Port depth_camera_vs and selection_buffer_fs to Metal - The mouse_picker, ogre2_demo and transform_control demos now work correctly. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] shader formatting - replace tabs with whitespace Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] port gaussian_noise shaders - Port gaussian_noise vertex and pixel shaders from the GLSL counterparts - The ogre2_demo and render_pass examples now work correctly. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] port thermal_camera pixel shader - Correct error in thermal material script - Port thermal_camera pixel shaders from the GLSL counterparts - The thermal_camera examples now runs but further requires testing Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] add placeholders for remaining shaders - Add stubs for the remaining vertex and pixel shaders to port from GLSL Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] port heat_signature pixel shader Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] port depth_camera and gpu_rays shaders [wip] - Initial ports of depth_camera and gpu_rays shaders - This is work in progress: - On Metal the compositor in Ogre2GpuRay has a pixel format exception - Texture sampling for depth_camera_final_fs.metal is not using the equivalent of OpenGL's texelFetch Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] update custom_scene_viewer example to accept optional command line option "metal" Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] fix fragment program specifier in gaussian noise material - Unified shader had incorrect specifier Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] fix depth camera vertex shader not found in selection buffer material - This is the same issue as fixed in #456 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * switch to user RGBA format for internal textures in gpu ray sensor Signed-off-by: Ian Chen <ichen@osrfoundation.org> * [Metal] complete port of gpu rays 1st pass shader - Complete port of the GPU Rays shader - This depends upon the pixel format fix in #468 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] update shaders to fix lidar near plane clipping - Update Metal shaders to match changes made in PR #356 - Update CrossPlatformSettings_piece to #define outVs_gl_ClipDistance - Update Ign_piece_vs_any to use cross platform version of gl_ClipDistance Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * Fix style for code check - Remove line end whitespace causing CI to fail. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] incorporate review feedback - Revert debug output in Ogre2RenderEngine - Fix codecheck issue with variable declaration shadows previous local - Revert changes to simple_demo_qml - Move useMetalRenderSystem to Ogre2RenderEnginePrivate Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] introduce enum for graphics interface - Add enum class GraphicsAPI to RenderEngine.hh - Add utils class GraphicsAPIUtils for setting enum from string - Update Ogre2RenderEngine to use GraphicsAPI enum - Update examples to use GraphicsAPI enum Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] refactor enum for graphics interface - Move GraphicsAPI to own file Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] fix examples - Fix custom_scene_viewer Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] fix class description - Fix code check - Change GraphicsAPIUtils class documentation - Improve graphics API check in Ogre2RenderEngine Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * [Metal] fix codecheck - Fix code check - uninitialised variable warning Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Ian Chen <ichen@osrfoundation.org>

- Add parameter "metal" and a member variable useMetalRenderSystem to Ogre2RenderEngine - Modify LoadPlugins to load the Metal render system if enabled - Modify CreateRenderSystem to select the Metal render system - Modify RegisterHlms to load the Metal resources - Add missing Metal shaders for the Terra (from Ogre2) - Add Metal shader for skybox - Update skybox material to support universal shaders - Create subdirectories for GLSL and Metal in media/materials/programs and update Ogre2RenderEngine with new resource locations - Add Metal and unified shaders to each material - Add placeholders for a number of shaders to prevent compile errors when running examples - Minor formatting changes to plain_color, point and skybox Metal shaders. - Port depth_camera_vs and selection_buffer_fs to Metal - The mouse_picker, ogre2_demo and transform_control demos now work correctly. - Shader formatting - replace tabs with whitespace - Port gaussian_noise vertex and pixel shaders from the GLSL counterparts - The ogre2_demo and render_pass examples now work correctly. - Port thermal_camera pixel shader - Correct error in thermal material script - Port thermal_camera pixel shaders from the GLSL counterparts - The thermal_camera examples now runs but further requires testing - Add stubs for the remaining vertex and pixel shaders to port from GLSL - Port heat_signature pixel shader - Initial ports of depth_camera and gpu_rays shaders - On Metal the compositor in Ogre2GpuRay has a pixel format exception - Texture sampling for depth_camera_final_fs.metal is not using the equivalent of OpenGL's texelFetch - Fix fragment program specifier in gaussian noise material - Unified shader had incorrect specifier - Fix depth camera vertex shader not found in selection buffer material - This is the same issue as fixed in gazebosim#456 - Switch to user RGBA format for internal textures in gpu ray sensor - Complete port of gpu rays 1st pass shader - Complete port of the GPU Rays shader - This depends upon the pixel format fix in gazebosim#468 - Add a method to render targets and cameras to retrieve the Metal texture id - These functions provide the Metal equivalent of GLId() and RenderTextureGLId() for OpenGL. - The argument is the address of a pointer to void* as the object required for Metal is an objective-c type id<MTLTexture> which we do not want exposed in the interface - There is a runtime dependency on an upstream change to ogre-next: OGRECave/ogre-next@3b11873 - cherry-pick 8fc230c - Ensure line length limits are adhered to. - Fix inconsistent parameter name in RenderTextureMetalId - Fix an inconsistent parameter name causing a CI failure. - Fix unused parameter warning in RenderTextureMetalId - Fix an unused parameter warning causing a CI failure. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

switch to user RGBA format for internal textures in gpu ray sensor

d980146

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

github-actions bot added 🌱 garden Ignition Garden 🏯 fortress Ignition Fortress labels Oct 12, 2021

iche033 mentioned this pull request Oct 12, 2021

Add Metal support for the Ogre2 Render Engine #461

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18 tasks

Merge branch 'ign-rendering6' into gpu_ray_rgba

c464a72

Merge branch 'ign-rendering6' into gpu_ray_rgba

66e02e9

Merge branch 'ign-rendering6' into gpu_ray_rgba

9ab95a3

chapulina requested a review from ahcorde October 25, 2021 18:57

Merge branch 'ign-rendering6' into gpu_ray_rgba

9dcc493

Merge branch 'ign-rendering6' into gpu_ray_rgba

24e5b67

ahcorde approved these changes Nov 3, 2021

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iche033 merged commit 056023a into ign-rendering6 Nov 3, 2021

iche033 deleted the gpu_ray_rgba branch November 3, 2021 17:01

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Update internal texture formats used by gpu lidar #468

Update internal texture formats used by gpu lidar #468

iche033 commented Oct 12, 2021 •

edited

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codecov bot commented Oct 12, 2021 •

edited

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srmainwaring commented Oct 13, 2021

iche033 commented Nov 2, 2021

Update internal texture formats used by gpu lidar #468

Update internal texture formats used by gpu lidar #468

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iche033 commented Oct 12, 2021 • edited Loading

🦟 Bug fix

Summary

Checklist

codecov bot commented Oct 12, 2021 • edited Loading

Codecov Report

srmainwaring commented Oct 13, 2021

iche033 commented Nov 2, 2021

iche033 commented Oct 12, 2021 •

edited

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codecov bot commented Oct 12, 2021 •

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