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Heightmap (rendering only) (#487)
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Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Ian Chen <[email protected]>
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@chapulina @iche033
chapulina and iche033 authored Feb 9, 2021
1 parent 2f49e6f commit 215fe82
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Showing 4 changed files with 246 additions and 1 deletion.
51 changes: 51 additions & 0 deletions examples/worlds/heightmap.sdf
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@@ -0,0 +1,51 @@
<?xml version="1.0" ?>
<!--
Demonstrates a heightmap terrain.
At the moment, only the visuals work, but not the physics collisions, see
https://github.com/ignitionrobotics/ign-physics/issues/156.
-->
<sdf version="1.6">
<world name="heightmap">

<!-- 3D scene -->
<gui>
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-16.6 7.3 8.6 0.0 0.4 -0.45</camera_pose>
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<include>
<uri>
https://fuel.ignitionrobotics.org/1.0/chapulina/models/Heightmap Bowl
</uri>
</include>
</world>
</sdf>
67 changes: 67 additions & 0 deletions src/Conversions.cc
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Expand Up @@ -22,6 +22,7 @@
#include <ignition/msgs/entity.pb.h>
#include <ignition/msgs/geometry.pb.h>
#include <ignition/msgs/gui.pb.h>
#include <ignition/msgs/heightmapgeom.pb.h>
#include <ignition/msgs/imu_sensor.pb.h>
#include <ignition/msgs/lidar_sensor.pb.h>
#include <ignition/msgs/actor.pb.h>
Expand All @@ -48,6 +49,7 @@
#include <sdf/Cylinder.hh>
#include <sdf/Geometry.hh>
#include <sdf/Gui.hh>
#include <sdf/Heightmap.hh>
#include <sdf/Imu.hh>
#include <sdf/Lidar.hh>
#include <sdf/Light.hh>
Expand Down Expand Up @@ -188,6 +190,39 @@ msgs::Geometry ignition::gazebo::convert(const sdf::Geometry &_in)
meshMsg->set_submesh(meshSdf->Submesh());
meshMsg->set_center_submesh(meshSdf->CenterSubmesh());
}
else if (_in.Type() == sdf::GeometryType::HEIGHTMAP && _in.HeightmapShape())
{
auto heightmapSdf = _in.HeightmapShape();

out.set_type(msgs::Geometry::HEIGHTMAP);
auto heightmapMsg = out.mutable_heightmap();

heightmapMsg->set_filename(asFullPath(heightmapSdf->Uri(),
heightmapSdf->FilePath()));
msgs::Set(heightmapMsg->mutable_size(), heightmapSdf->Size());
msgs::Set(heightmapMsg->mutable_origin(), heightmapSdf->Position());
heightmapMsg->set_use_terrain_paging(heightmapSdf->UseTerrainPaging());
heightmapMsg->set_sampling(heightmapSdf->Sampling());

for (auto i = 0u; i < heightmapSdf->TextureCount(); ++i)
{
auto textureSdf = heightmapSdf->TextureByIndex(i);
auto textureMsg = heightmapMsg->add_texture();
textureMsg->set_size(textureSdf->Size());
textureMsg->set_diffuse(asFullPath(textureSdf->Diffuse(),
heightmapSdf->FilePath()));
textureMsg->set_normal(asFullPath(textureSdf->Normal(),
heightmapSdf->FilePath()));
}

for (auto i = 0u; i < heightmapSdf->BlendCount(); ++i)
{
auto blendSdf = heightmapSdf->BlendByIndex(i);
auto blendMsg = heightmapMsg->add_blend();
blendMsg->set_min_height(blendSdf->MinHeight());
blendMsg->set_fade_dist(blendSdf->FadeDistance());
}
}
else
{
ignerr << "Geometry type [" << static_cast<int>(_in.Type())
Expand Down Expand Up @@ -252,6 +287,38 @@ sdf::Geometry ignition::gazebo::convert(const msgs::Geometry &_in)

out.SetMeshShape(meshShape);
}
else if (_in.type() == msgs::Geometry::HEIGHTMAP && _in.has_heightmap())
{
out.SetType(sdf::GeometryType::HEIGHTMAP);
sdf::Heightmap heightmapShape;

heightmapShape.SetUri(_in.heightmap().filename());
heightmapShape.SetSize(msgs::Convert(_in.heightmap().size()));
heightmapShape.SetPosition(msgs::Convert(_in.heightmap().origin()));
heightmapShape.SetUseTerrainPaging(_in.heightmap().use_terrain_paging());
heightmapShape.SetSampling(_in.heightmap().sampling());

for (int i = 0; i < _in.heightmap().texture_size(); ++i)
{
auto textureMsg = _in.heightmap().texture(i);
sdf::HeightmapTexture textureSdf;
textureSdf.SetSize(textureMsg.size());
textureSdf.SetDiffuse(textureMsg.diffuse());
textureSdf.SetNormal(textureMsg.normal());
heightmapShape.AddTexture(textureSdf);
}

for (int i = 0; i < _in.heightmap().blend_size(); ++i)
{
auto blendMsg = _in.heightmap().blend(i);
sdf::HeightmapBlend blendSdf;
blendSdf.SetMinHeight(blendMsg.min_height());
blendSdf.SetFadeDistance(blendMsg.fade_dist());
heightmapShape.AddBlend(blendSdf);
}

out.SetHeightmapShape(heightmapShape);
}
else
{
ignerr << "Geometry type [" << static_cast<int>(_in.type())
Expand Down
67 changes: 67 additions & 0 deletions src/Conversions_TEST.cc
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Expand Up @@ -24,6 +24,7 @@
#include <sdf/Box.hh>
#include <sdf/Cylinder.hh>
#include <sdf/Gui.hh>
#include <sdf/Heightmap.hh>
#include <sdf/Light.hh>
#include <sdf/Magnetometer.hh>
#include <sdf/Mesh.hh>
Expand Down Expand Up @@ -412,6 +413,72 @@ TEST(Conversions, GeometryPlane)
EXPECT_EQ(math::Vector3d::UnitY, newGeometry.PlaneShape()->Normal());
}

/////////////////////////////////////////////////
TEST(Conversions, GeometryHeightmap)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::HEIGHTMAP);

sdf::Heightmap heightmap;
heightmap.SetUri("file://heights.png");
heightmap.SetSize(ignition::math::Vector3d(1, 2, 3));
heightmap.SetPosition(ignition::math::Vector3d(4, 5, 6));
heightmap.SetUseTerrainPaging(true);
heightmap.SetSampling(16u);

sdf::HeightmapTexture texture;
texture.SetDiffuse("file://diffuse.png");
texture.SetNormal("file://normal.png");
texture.SetSize(1.23);
heightmap.AddTexture(texture);

sdf::HeightmapBlend blend;
blend.SetMinHeight(123.456);
blend.SetFadeDistance(456.789);
heightmap.AddBlend(blend);

geometry.SetHeightmapShape(heightmap);

auto geometryMsg = convert<msgs::Geometry>(geometry);

EXPECT_EQ(msgs::Geometry::HEIGHTMAP, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_heightmap());
EXPECT_EQ(math::Vector3d(1, 2, 3),
msgs::Convert(geometryMsg.heightmap().size()));
EXPECT_EQ("file://heights.png", geometryMsg.heightmap().filename());
EXPECT_TRUE(geometryMsg.heightmap().use_terrain_paging());
EXPECT_EQ(16u, geometryMsg.heightmap().sampling());

ASSERT_EQ(1, geometryMsg.heightmap().texture().size());
EXPECT_DOUBLE_EQ(1.23, geometryMsg.heightmap().texture(0).size());
EXPECT_EQ("file://diffuse.png", geometryMsg.heightmap().texture(0).diffuse());
EXPECT_EQ("file://normal.png", geometryMsg.heightmap().texture(0).normal());

ASSERT_EQ(1, geometryMsg.heightmap().blend().size());
EXPECT_DOUBLE_EQ(123.456, geometryMsg.heightmap().blend(0).min_height());
EXPECT_DOUBLE_EQ(456.789, geometryMsg.heightmap().blend(0).fade_dist());

auto newGeometry = convert<sdf::Geometry>(geometryMsg);

EXPECT_EQ(sdf::GeometryType::HEIGHTMAP, newGeometry.Type());

auto newHeightmap = newGeometry.HeightmapShape();
ASSERT_NE(nullptr, newHeightmap);
EXPECT_EQ(math::Vector3d(1, 2, 3), newHeightmap->Size());
EXPECT_EQ("file://heights.png", newHeightmap->Uri());
EXPECT_TRUE(newHeightmap->UseTerrainPaging());
EXPECT_EQ(16u, newHeightmap->Sampling());

ASSERT_EQ(1u, newHeightmap->TextureCount());
EXPECT_DOUBLE_EQ(1.23, newHeightmap->TextureByIndex(0)->Size());
EXPECT_EQ("file://diffuse.png", newHeightmap->TextureByIndex(0)->Diffuse());
EXPECT_EQ("file://normal.png", newHeightmap->TextureByIndex(0)->Normal());

ASSERT_EQ(1u, newHeightmap->BlendCount());
EXPECT_DOUBLE_EQ(123.456, newHeightmap->BlendByIndex(0)->MinHeight());
EXPECT_DOUBLE_EQ(456.789, newHeightmap->BlendByIndex(0)->FadeDistance());
}

/////////////////////////////////////////////////
TEST(Conversions, Inertial)
{
Expand Down
62 changes: 61 additions & 1 deletion src/rendering/SceneManager.cc
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Expand Up @@ -20,19 +20,24 @@

#include <sdf/Box.hh>
#include <sdf/Cylinder.hh>
#include <sdf/Heightmap.hh>
#include <sdf/Mesh.hh>
#include <sdf/Pbr.hh>
#include <sdf/Plane.hh>
#include <sdf/Sphere.hh>

#include <ignition/common/Animation.hh>
#include <ignition/common/Console.hh>
#include <ignition/common/HeightmapData.hh>
#include <ignition/common/ImageHeightmap.hh>
#include <ignition/common/KeyFrame.hh>
#include <ignition/common/Skeleton.hh>
#include <ignition/common/SkeletonAnimation.hh>
#include <ignition/common/MeshManager.hh>

#include <ignition/rendering/Geometry.hh>
#include <ignition/rendering/Heightmap.hh>
#include <ignition/rendering/HeightmapDescriptor.hh>
#include <ignition/rendering/Light.hh>
#include <ignition/rendering/Material.hh>
#include <ignition/rendering/Scene.hh>
Expand Down Expand Up @@ -283,7 +288,11 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id,

// set material
rendering::MaterialPtr material{nullptr};
if (_visual.Material())
if (_visual.Geom()->Type() == sdf::GeometryType::HEIGHTMAP)
{
// Heightmap's material is loaded together with it.
}
else if (_visual.Material())
{
material = this->LoadMaterial(*_visual.Material());
}
Expand Down Expand Up @@ -418,6 +427,57 @@ rendering::GeometryPtr SceneManager::LoadGeometry(const sdf::Geometry &_geom,
geom = this->dataPtr->scene->CreateMesh(descriptor);
scale = _geom.MeshShape()->Scale();
}
else if (_geom.Type() == sdf::GeometryType::HEIGHTMAP)
{
auto fullPath = asFullPath(_geom.HeightmapShape()->Uri(),
_geom.HeightmapShape()->FilePath());
if (fullPath.empty())
{
ignerr << "Heightmap geometry missing URI" << std::endl;
return geom;
}

auto data = std::make_shared<common::ImageHeightmap>();
if (data->Load(fullPath) < 0)
{
ignerr << "Failed to load heightmap image data from [" << fullPath << "]"
<< std::endl;
return geom;
}

rendering::HeightmapDescriptor descriptor;
descriptor.SetData(data);
descriptor.SetSize(_geom.HeightmapShape()->Size());
descriptor.SetSampling(_geom.HeightmapShape()->Sampling());

for (uint64_t i = 0; i < _geom.HeightmapShape()->TextureCount(); ++i)
{
auto textureSdf = _geom.HeightmapShape()->TextureByIndex(i);
rendering::HeightmapTexture textureDesc;
textureDesc.SetSize(textureSdf->Size());
textureDesc.SetDiffuse(asFullPath(textureSdf->Diffuse(),
_geom.HeightmapShape()->FilePath()));
textureDesc.SetNormal(asFullPath(textureSdf->Normal(),
_geom.HeightmapShape()->FilePath()));
descriptor.AddTexture(textureDesc);
}

for (uint64_t i = 0; i < _geom.HeightmapShape()->BlendCount(); ++i)
{
auto blendSdf = _geom.HeightmapShape()->BlendByIndex(i);
rendering::HeightmapBlend blendDesc;
blendDesc.SetMinHeight(blendSdf->MinHeight());
blendDesc.SetFadeDistance(blendSdf->FadeDistance());
descriptor.AddBlend(blendDesc);
}

geom = this->dataPtr->scene->CreateHeightmap(descriptor);
if (nullptr == geom)
{
ignerr << "Failed to create heightmap [" << fullPath << "]" << std::endl;
}
scale = _geom.HeightmapShape()->Size();
}
else
{
ignerr << "Unsupported geometry type" << std::endl;
Expand Down

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