Cherry-pick #2927 to gazebo11: Lens flare cleanup and colorization

gazebo/rendering/LensFlare.cc

@@ -36,8 +36,7 @@ namespace gazebo
   namespace rendering
   {
     /// \brief We'll create an instance of this class for each camera, to be
-    /// used to inject lens flare uniforms and time (for animating flare)
-    /// in each render call.
+    /// used to inject lens flare uniforms in each render call.
     class LensFlareCompositorListener
       : public Ogre::CompositorInstance::Listener
     {
@@ -72,6 +71,13 @@ namespace gazebo
         this->scale = _scale;
       }
 
+      /// \brief Set the color of lens flare.
+      /// \param[in] _color Color of lens flare
+      public: void SetColor(const ignition::math::Vector3d &_color)
+      {
+        this->color = _color;
+      }
+
       /// \brief Callback that OGRE will invoke for us on each render call
       /// \param[in] _passID OGRE material pass ID.
       /// \param[in] _mat Pointer to OGRE material.
@@ -97,9 +103,6 @@ namespace gazebo
             pass->getFragmentProgramParameters();
         GZ_ASSERT(!params.isNull(), "Null OGRE material GPU parameters");
 
-        // used for animating flare
-        params->setNamedConstant("time", static_cast<Ogre::Real>(
-            common::Time::GetWallTime().Double()));
         // for adjusting aspect ratio of flare
         params->setNamedConstant("viewport",
             Ogre::Vector3(static_cast<double>(this->camera->ViewportWidth()),
@@ -133,6 +136,8 @@ namespace gazebo
         params->setNamedConstant("lightPos", Conversions::Convert(pos));
         params->setNamedConstant("scale",
             static_cast<Ogre::Real>(lensFlareScale));
+        params->setNamedConstant("color",
+            Ogre::Vector3(this->color.X(), this->color.Y(), this->color.Z()));
       }
 
       /// \brief Get the lens flare position and scale for a normal camera
@@ -338,6 +343,10 @@ namespace gazebo
 
       /// \brief Scale of lens flare.
       private: double scale = 1.0;
+
+      /// \brief Color of lens flare.
+      private: ignition::math::Vector3d color
+          = ignition::math::Vector3d(1.0, 1.0, 1.0);
     };
 
     /// \brief Private data class for LensFlare
@@ -373,6 +382,10 @@ namespace gazebo
 
       /// \brief Scale of lens flare.
       public: double lensFlareScale = 1.0;
+
+      /// \brief Color of lens flare.
+      public: ignition::math::Vector3d lensFlareColor
+          = ignition::math::Vector3d(1.0, 1.0, 1.0);
     };
   }
 }
@@ -415,6 +428,8 @@ void LensFlare::SetCamera(CameraPtr _camera)
           LensFlareCompositorListener(this->dataPtr->camera, nullptr));
     this->dataPtr->lensFlareCompositorListener->SetScale(
         this->dataPtr->lensFlareScale);
+    this->dataPtr->lensFlareCompositorListener->SetColor(
+        this->dataPtr->lensFlareColor);
 
     this->dataPtr->lensFlareInstance =
         Ogre::CompositorManager::getSingleton().addCompositor(
@@ -442,6 +457,19 @@ void LensFlare::SetScale(const double _scale)
   }
 }
 
+//////////////////////////////////////////////////
+void LensFlare::SetColor(const ignition::math::Vector3d &_color)
+{
+  // lensFlareColor is intentionally not clamped so the user can work in
+  // HDR color spaces or be artistic.
+  this->dataPtr->lensFlareColor = _color;
+  if (this->dataPtr->lensFlareCompositorListener)
+  {
+    this->dataPtr->lensFlareCompositorListener->SetColor(
+        this->dataPtr->lensFlareColor);
+  }
+}
+
 //////////////////////////////////////////////////
 void LensFlare::Update()
 {

gazebo/rendering/LensFlare.hh

@@ -58,6 +58,10 @@ namespace gazebo
       /// \param[in] _scale Scale of lens flare
       public: void SetScale(const double _scale);
 
+      /// \brief Set the color of lens flare.
+      /// \param[in] _color Color of lens flare
+      public: void SetColor(const ignition::math::Vector3d &_color);
+
       /// \brief Update function to search light source
       private: void Update();
 

media/materials/programs/camera_lens_flare_fs.glsl

@@ -1,8 +1,6 @@
 // The input texture, which is set up by the Ogre Compositor infrastructure.
 uniform sampler2D RT;
-uniform sampler2D noiseRGBA;
 
-uniform float time;
 uniform vec3 viewport;
 
 // light pos in clip space
@@ -11,16 +9,8 @@ uniform vec3 lightPos;
 // lens flare scale
 uniform float scale;
 
-float noise(float t)
-{
-  // 256 is the size of noiseRGBA texture
-  return texture2D(noiseRGBA, vec2(t, 0.0) / vec2(256.0)).x;
-}
-
-float noise(vec2 t)
-{
-  return texture2D(noiseRGBA,(t + vec2(time)) / vec2(256.0)).x;
-}
+// lens flare color
+uniform vec3 color;
 
 vec3 lensflare(vec2 uv,vec2 pos)
 {
@@ -30,12 +20,9 @@ vec3 lensflare(vec2 uv,vec2 pos)
 
   float ang = atan(main.y, main.x);
   float dist = length(main); dist = pow(dist,.1);
-  float n = noise(vec2((ang-time/9.0)*16.0,dist*32.0));
 
   float f0 = 1.0/(length(uv-pos)*16.0/scale+1.0);
 
-  f0 = f0+f0*(sin((ang+time/18.0 + noise(abs(ang)+n/2.0)*2.0)*12.0)*.1+dist*.1+.8);
-
   float f2 = max(1.0/(1.0+32.0*pow(length(uvd+0.8*pos),2.0)),.0)*00.25;
   float f22 = max(1.0/(1.0+32.0*pow(length(uvd+0.85*pos),2.0)),.0)*00.23;
   float f23 = max(1.0/(1.0+32.0*pow(length(uvd+0.9*pos),2.0)),.0)*00.21;
@@ -67,13 +54,6 @@ vec3 lensflare(vec2 uv,vec2 pos)
   return c;
 }
 
-// color modifier
-vec3 cc(vec3 color, float factor, float factor2)
-{
-  float w = color.x+color.y+color.z;
-  return mix(color,vec3(w)*factor,w*factor2);
-}
-
 void main()
 {
   // return if light is behind the view
@@ -97,9 +77,8 @@ void main()
   pos.x *= aspect;
 
   // compute lens flare
-  vec3 color = vec3(1.4,1.2,1.0)*lensflare(uv, pos.xy);
-  color = cc(color,.5,.1);
+  vec3 finalColor = color * lensflare(uv, pos.xy);
 
   // apply lens flare
-  gl_FragColor = texture2D(RT, gl_TexCoord[0].xy) + vec4(color, 1.0);
+  gl_FragColor = texture2D(RT, gl_TexCoord[0].xy) + vec4(finalColor, 1.0);
 }

media/materials/scripts/gazebo.material

@@ -1533,23 +1533,22 @@ material Gazebo/WideLensMap
 }
 
 
-vertex_program Gazebo/CameraLesnFlareVS glsl
+vertex_program Gazebo/CameraLensFlareVS glsl
 {
   source camera_lens_flare_vs.glsl
 }
 
-fragment_program Gazebo/CameraLesnFlareFS glsl
+fragment_program Gazebo/CameraLensFlareFS glsl
 {
   source camera_lens_flare_fs.glsl
 
   default_params
   {
     param_named RT int 0
-    param_named noiseRGBA int 1
-    param_named time float 0.0
     param_named viewport float3 0.0 0.0 0.0
     param_named lightPos float3 0 0 0
     param_named scale float 1.0
+    param_named color float3 1.4 1.2 1.0
   }
 }
 
@@ -1559,19 +1558,15 @@ material Gazebo/CameraLensFlare
   {
     pass
     {
-      vertex_program_ref Gazebo/CameraLesnFlareVS { }
-      fragment_program_ref Gazebo/CameraLesnFlareFS { }
+      vertex_program_ref Gazebo/CameraLensFlareVS { }
+      fragment_program_ref Gazebo/CameraLensFlareFS { }
 
       texture_unit RT
       {
         tex_coord_set 0
         tex_address_mode border
         filtering linear linear linear
       }
-      texture_unit noiseRGBA
-      {
-        texture noise_rgba.png
-      }
     }
   }
 }

media/materials/textures/CMakeLists.txt

@@ -19,7 +19,6 @@ set (files
   heightmap_bowl.png
   heightmap_valley.png
   motorway.jpg
-  noise_rgba.png
   paintedWall.jpg
   pioneerBody.jpg
   primary.jpg

plugins/LensFlareSensorPlugin.cc

@@ -35,6 +35,10 @@ namespace gazebo
 
     /// \brief Lens flare scale
     public: double scale = 1.0;
+
+    /// \brief Lens flare color
+    public: ignition::math::Vector3d color
+        = ignition::math::Vector3d(1.4, 1.2, 1.0);
   };
 }
 
@@ -75,6 +79,11 @@ void LensFlareSensorPlugin::Load(sensors::SensorPtr _sensor,
       gzerr << "Lens flare scale must be greater than 0" << std::endl;
   }
 
+  if (_sdf->HasElement("color"))
+  {
+    this->dataPtr->color = _sdf->Get<ignition::math::Vector3d>("color");
+  }
+
   sensors::CameraSensorPtr cameraSensor =
     std::dynamic_pointer_cast<sensors::CameraSensor>(_sensor);
 
@@ -101,6 +110,28 @@ void LensFlareSensorPlugin::Load(sensors::SensorPtr _sensor,
   return;
 }
 
+/////////////////////////////////////////////////
+void LensFlareSensorPlugin::SetScale(const double _scale)
+{
+  this->dataPtr->scale = _scale;
+
+  for (auto flare : this->dataPtr->lensFlares)
+  {
+    flare->SetScale(_scale);
+  }
+}
+
+/////////////////////////////////////////////////
+void LensFlareSensorPlugin::SetColor(const ignition::math::Vector3d &_color)
+{
+  this->dataPtr->color = _color;
+
+  for (auto flare : this->dataPtr->lensFlares)
+  {
+    flare->SetColor(_color);
+  }
+}
+
 /////////////////////////////////////////////////
 void LensFlareSensorPlugin::AddLensFlare(rendering::CameraPtr _camera)
 {
@@ -111,5 +142,6 @@ void LensFlareSensorPlugin::AddLensFlare(rendering::CameraPtr _camera)
   lensFlare.reset(new rendering::LensFlare);
   lensFlare->SetCamera(_camera);
   lensFlare->SetScale(this->dataPtr->scale);
+  lensFlare->SetColor(this->dataPtr->color);
   this->dataPtr->lensFlares.push_back(lensFlare);
 }

plugins/LensFlareSensorPlugin.hh

@@ -28,7 +28,10 @@ namespace gazebo
   /// \brief Plugin that adds lens flare effect to a camera or multicamera
   /// sensor
   /// The plugin has the following optional parameter:
-  /// <scale>     Scale of lens flare. Must be greater than 0
+  /// <scale>       Scale of lens flare. Must be greater than 0
+  /// <color>       Color of lens flare.
+  /// \todo A potentially useful feature would be an option for constantly
+  /// updating the flare color to match the light source color.
   class GZ_PLUGIN_VISIBLE LensFlareSensorPlugin : public SensorPlugin
   {
     /// \brief Constructor.
@@ -41,6 +44,14 @@ namespace gazebo
     public: virtual void Load(sensors::SensorPtr _sensor,
         sdf::ElementPtr _sdf);
 
+    /// \brief Set the scale of lens flare.
+    /// \param[in] _scale Scale of lens flare
+    public: void SetScale(const double _scale);
+
+    /// \brief Set the color of lens flare.
+    /// \param[in] _color Color of lens flare
+    public: void SetColor(const ignition::math::Vector3d &_color);
+
     /// \brief Add lens flare effect to a camera
     /// \param[in] _camera Camera to add the lens flare effect to.
     private: void AddLensFlare(rendering::CameraPtr _camera);

test/integration/ogre_log.cc

@@ -65,9 +65,20 @@ TEST_F(OgreLog, LogError)
     if (line.find(" GL_EXTENSIONS =") < 12)
       continue;
 
-    EXPECT_EQ(line.find("Error"), std::string::npos);
-    EXPECT_EQ(line.find("error"), std::string::npos);
-    EXPECT_EQ(line.find("ERROR"), std::string::npos);
+    // A GLX extension may have the word "error" in its name. For example:
+    // GLX_ARB_create_context_no_error.
+    // We will skip the line that lists all the extensions. This line starts
+    // with a date, so we just check that "Supported GLX extensions:" is
+    // toward the beginning.
+    // False positive cppcheck
+    // https://sourceforge.net/p/cppcheck/discussion/general/thread/0c113d65/
+    // cppcheck-suppress stlIfStrFind
+    if (line.find(" Supported GLX extensions: ") < 12)
+      continue;
+
+    EXPECT_EQ(line.find("Error"), std::string::npos) << line;
+    EXPECT_EQ(line.find("error"), std::string::npos) << line;
+    EXPECT_EQ(line.find("ERROR"), std::string::npos) << line;
   }
 }