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Enabling Global Illumination (GI VCT) for sensors in SDF (#2550)
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Signed-off-by: Athena Z <[email protected]>
Co-authored-by: Ian Chen <[email protected]>
Co-authored-by: Addisu Z. Taddese <[email protected]>
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@athenaz2 @iche033 @azeey
3 people authored Sep 10, 2024
1 parent e237d59 commit a167312
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328 changes: 328 additions & 0 deletions examples/worlds/global_illumination.sdf
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<?xml version="1.0" ?>
<!--
A demo showcasing global illumination (using VCT method) enabled for the camera sensor view.
-->
<sdf version="1.10">
<world name="gi_demo">
<!--sensor plugins-->
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
<global_illumination type="vct">
<enabled>true</enabled>
<resolution>16 16 16</resolution>
<octant_count>1 1 1</octant_count>
<bounce_count>6</bounce_count>
<high_quality>true</high_quality>
<anisotropic>true</anisotropic>
<thin_wall_counter>1.0</thin_wall_counter>
<conserve_memory>false</conserve_memory>
<debug_vis_mode>none</debug_vis_mode>
</global_illumination>
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<!--scene description for system view-->
<scene>
<ambient>0.1 0.1 0.1</ambient>
<background>0 0 0</background>
</scene>

<!--GUI plugins-->
<gui>
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>Cornell box GI demo</title>
<property type="bool" key="showTitleBar">true</property>
<property type="string" key="state">docked</property>
</gz-gui>
<engine>ogre2</engine>
<camera_pose>-12 0 4 0 0 0</camera_pose>
</plugin>

<plugin filename="ImageDisplay" name="Image Display">
<topic>camera</topic>
</plugin>

<!-- <plugin filename="GlobalIlluminationVct" name="Global Illumination Vct">
</plugin> -->

<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">docked</property>
<property key="showTitleBar" type="bool">true</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
</gui>

<!--lighting-->
<light type="point" name="ceiling_light">
<pose>0 0 7.5 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.0 0.0 0.0 0</specular>
<attenuation>
<range>50</range>
<linear>0</linear>
<constant>0</constant>
<quadratic>0.02</quadratic>
</attenuation>
<cast_shadows>true</cast_shadows>
<visualize>false</visualize>
<intensity>1.0</intensity>
</light>

<!--wall models-->
<model name="wall_left">
<pose>0 5 4 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>10 1 10</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>10 1 10</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="wall_right">
<pose>0 -5 4 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>10 1 10</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>10 1 10</size>
</box>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="floor">
<pose>0 0 -0.5 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>10 10 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>10 10 1</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="ceiling">
<pose>0 0 8.5 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>10 10 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>10 10 1</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="wall_back">
<pose>4.5 0 4 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 10 10</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 10 10</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<!--scene objects-->
<model name="pump">
<pose>-1.5 0 0 0 0 0</pose>
<link name="pump_link">
<collision name="pump_collision">
<geometry>
<mesh>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/pump/1/files/meshes/pump.dae</uri>
<scale>3 3 3</scale>
</mesh>
</geometry>
</collision>

<visual name="pump_visual">
<geometry>
<mesh>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/pump/1/files/meshes/pump.dae</uri>
<scale>3 3 3</scale>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.gazebosim.org/1.0/openrobotics/models/pump/1/files/materials/textures/pump_albedo.png</albedo_map>
<roughness_map>https://fuel.gazebosim.org/1.0/openrobotics/models/pump/1/files/materials/textures/pump_roughness.png</roughness_map>
<metalness_map>https://fuel.gazebosim.org/1.0/openrobotics/models/pump/1/files/materials/textures/pump_metallic.png</metalness_map>
<normal_map>https://fuel.gazebosim.org/1.0/openrobotics/models/pump/1/files/materials/textures/pump_normal.png</normal_map>
</metal>
</pbr>
</material>
</visual>
</link>
</model>

<!--camera sensor-->
<model name="camera">
<pose>-15 0 4 0 0.0 0</pose>
<static>true</static>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>2560</width>
<height>1920</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
</sensor>
</link>
</model>
</world>
</sdf>
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