Fix wide-angle lens flare occlusion lag #3325
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This adds a model with wide-angle cameras updated at 1 Hz that demonstrate the bug reported in gazebosim#3310 when moved back and forth. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
gazebo/rendering/LensFlare.cc
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| @@ -305,6 +305,7 @@ namespace gazebo | |||
| ignition::math::Pose3d( | |||
| Conversions::ConvertIgn(cam->getDerivedPosition()), | |||
| Conversions::ConvertIgn(quat))); | |||
| this->dataPtr->wideAngleDummyCamera->OgreCamera()->getParentSceneNode()->_update(true, true); | |||
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nit: wrap line to 80 chars
Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
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this fixes it for me! I've been tinkering with how to add an integration test for it, but if I don't figure it out in my next time box, then I'll just skip it and approve this |
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
The camera names aren't unique in this world, so use the scoped name when getting sensors. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
…o scpeters/lens-flare-occlusion-lag
scpeters
changed the title
I've gotten a test working in branch |
Add test for lens flare occlusion lag
Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
the new test case passed on Ubuntu but failed in the homebrew build on mac-four.bigsur. I noticed all the GUI tests failed on that run as well, so there may be an issue with the CI machine. I just pushed an improvement to the image waiting logic in 29dbe5a that hopefully is more robust. The new CI build is also running on mac-four.bigsur, so we'll see if it helps |
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now with 29dbe5a it passed on homebrew but failed repeatedly on Ubuntu. I'll keep testing locally to see if I can reproduce the flakiness |
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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test passes in both CI runs; merging |
Fixes #3310
This forces an update of the wide angle dummy camera, which updates the Ogre camera's view matrix.
One way to check that this fixes the bug, is to use this world file. Open it in Gazebo, and then move the only camera (
wide_angle_cameras_occluded_higher) from it's starting height (z=21) toz=11, where it will have a wall between it and the light source. You can then move it back toz=21.You should see lens flare when the light source is in the image and now lens flare when the light source is occluded.