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Ignition Rendering

Rendering classes and functions for robot applications.

Ignition Rendering is a component in the ignition framework, a set of libraries designed to rapidly develop robot applications.

http://ignitionrobotics.org

Installation

Dependencies

OGRE

Ubuntu:

# this installs ogre 1.9. Alternatively, 1.8 should also work
sudo apt-get install libogre-1.9-dev

OptiX

Download and install by following instructions on NVIDIA website

CUDA:

http://docs.nvidia.com/cuda

Optix:

https://developer.nvidia.com/optix

Update LD_LIBRARY_PATH and add an OPTIX_INSTALL_DIR environment variables so that ign-rendering can find Optix, e.g. if you installed in HOME/optix:

export LD_LIBRARY_PATH=${HOME}/optix/NVIDIA-OptiX-SDK-4.0.2-linux64/lib64:${LD_LIBRARY_PATH}
export OPTIX_INSTALL_DIR=${HOME}/optix/NVIDIA-OptiX-SDK-4.0.2-linux64

Examples

# glew is used for managing gl context when switching between rendering
# engines
sudo apt-get install libglew-dev

Build

Standard installation can be performed in UNIX systems using the following steps:

mkdir build
cd build
cmake ..
sudo make install

Troubleshooting

if you encounter errors about different exception specifiers in optix math, edit [optix_install_dir]/include/optixu/optixu_math_namespace.h and comment out the section that defines fminf, fmaxf, and copysignf (for optix sdk 4.0.2, comment out lines 167-206).

Uninstallation

To uninstall the software installed with the previous steps:

cd build
sudo make uninstall

Future Work

The following outlines features and changes that should be implemented in the immediate future:

  • Implement Optix spotlights in Material.cu
  • Fix Gazebo primitive geometry mesh normals
  • Ensure UV all texture coordinates match
  • Replace Gazebo references with Ignition code
  • Add missing primitive and composite visuals
  • Add dynamic lines and billboard geometries
  • Move GL context switching into Ogre camera
  • Update examples to use freeglut
  • Update examples to share glut window code
  • Build scene nodes from SDF elements
  • Move rendering::SceneManager to Gazebo codebase
  • Employ common::MaterialManager
  • Update SDF to include all material properties
  • Update common::Material to include all material properties
  • Add skybox functionality (include skyx?)
  • Add render type mask (e.g. gui-only)

Create Documentation & Release

  1. Build documentation

    cd build
    make doc
    
    1. View documentation

      firefox doxygen/html/index.html 3. Upload documentation to ignitionrobotics.org.

      cd build sh upload.sh 4. If you're creating a new release, then tell ignitionrobotics.org about the new version. For example:

      curl -k -X POST -d '{"libName":"common", "version":"1.0.0", "releaseDate":"2017-10-09T12:10:13+02:00","password":"secret"}' https://api.ignitionrobotics.org/1.0/versions