From 7741aa78794939ea0b2e77765969f87efdcd6d47 Mon Sep 17 00:00:00 2001
From: William Lew <WilliamMilesLew@gmail.com>
Date: Thu, 24 Mar 2022 14:51:21 -0700
Subject: [PATCH] Use Anti-aliasing SDF element when setting up camera

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
---
 gazebo/rendering/Camera.cc        | 6 +++++-
 gazebo/rendering/CameraPrivate.hh | 3 +++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/gazebo/rendering/Camera.cc b/gazebo/rendering/Camera.cc
index 502f122a13..a97e425234 100644
--- a/gazebo/rendering/Camera.cc
+++ b/gazebo/rendering/Camera.cc
@@ -118,6 +118,8 @@ Camera::Camera(const std::string &_name, ScenePtr _scene,
 
   this->dataPtr->node = transport::NodePtr(new transport::Node());
   this->dataPtr->node->Init();
+
+  this->dataPtr->antiAliasingValue = 4;
 }
 
 //////////////////////////////////////////////////
@@ -143,6 +145,8 @@ void Camera::Load()
     this->imageHeight = imgElem->Get<int>("height");
     this->imageFormat = this->OgrePixelFormat(
         imgElem->Get<std::string>("format"));
+
+    this->dataPtr->antiAliasingValue = imgElem->Get<int>("anti_aliasing");
   }
   else
     gzthrow("Camera has no <image> tag.");
@@ -1480,7 +1484,7 @@ void Camera::CreateRenderTexture(const std::string &_textureName)
       RenderEngine::Instance()->FSAALevels();
 
   // check if target fsaa is supported
-  unsigned int targetFSAA = 4;
+  unsigned int targetFSAA = this->dataPtr->antiAliasingValue;
   auto const it = std::find(fsaaLevels.begin(), fsaaLevels.end(), targetFSAA);
   if (it != fsaaLevels.end())
     fsaa = targetFSAA;
diff --git a/gazebo/rendering/CameraPrivate.hh b/gazebo/rendering/CameraPrivate.hh
index 686333c742..ac8b24e20f 100644
--- a/gazebo/rendering/CameraPrivate.hh
+++ b/gazebo/rendering/CameraPrivate.hh
@@ -117,6 +117,9 @@ namespace gazebo
 
       /// \brief Fixed axis to yaw around.
       public: ignition::math::Vector3d yawFixedAxis;
+
+      /// \brief Anti-aliasing value
+      public: uint32_t antiAliasingValue;
     };
   }
 }