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Support <anti_aliasing> element when setting up camera render texture #3201

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merged 2 commits into from
May 19, 2022
Merged

Support <anti_aliasing> element when setting up camera render texture #3201

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7777b4a
Use Anti-aliasing SDF element when setting up camera
WilliamLewww Mar 24, 2022
7d43ca7
Require sdformat9 9.8
WilliamLewww May 5, 2022
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2 changes: 1 addition & 1 deletion cmake/gazebo-config.cmake.in
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Original file line number Diff line number Diff line change
Expand Up @@ -171,7 +171,7 @@ list(APPEND @PKG_NAME@_INCLUDE_DIRS ${PROTOBUF_INCLUDE_DIRS})
list(APPEND @PKG_NAME@_LIBRARIES ${PROTOBUF_LIBRARIES})

# Find SDFormat
find_package(sdformat9 REQUIRED)
find_package(sdformat9 REQUIRED VERSION 9.8)
list(APPEND @PKG_NAME@_INCLUDE_DIRS ${SDFormat_INCLUDE_DIRS})
list(APPEND @PKG_NAME@_LIBRARIES ${SDFormat_LIBRARIES})

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6 changes: 5 additions & 1 deletion gazebo/rendering/Camera.cc
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Expand Up @@ -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;
}

//////////////////////////////////////////////////
Expand All @@ -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.");
Expand Down Expand Up @@ -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;
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3 changes: 3 additions & 0 deletions gazebo/rendering/CameraPrivate.hh
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Expand Up @@ -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;
};
}
}
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