Add support for wide angle camera in sensors system

[iche033]

🎉 New feature

depends on:

• Bumps in garden : ign-gazebo7 #1183
• Add wide angle camera sensor gz-sensors#171
• [ogre1.x] Add support for wide angle camera gz-rendering#490
• Support wide angle camera sdformat#744

Summary

supports parsing and loading wide angle camera sensors

Test it

you can test with the wide_angle_camera.sdf example world:

ign gazebo -v 4 wide_angle_camera.sdf

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[ahcorde]

is this targeting the right branch ?

[iche033]

is this targeting the right branch ?

yeah, this targets garden and requires the version bumps for gui, sensors and rendering done in #1183

[WilliamLewww]

All components (ign-rendering, ign-sensors, ign-gazebo) are working as expected. The test world is also working as expected.

[scpeters]

I tried adding a dependencies.yaml file in 77a0f60 in branch wide_angle_camera_vcs to build ign-rendering and ign-sensors from source to see if that fixes the GitHub actions workflow CI

[scpeters]

I tried adding a dependencies.yaml file in 77a0f60 in branch wide_angle_camera_vcs to build ign-rendering and ign-sensors from source to see if that fixes the GitHub actions workflow CI

it built ign-sensors7 successfully and ign-gazebo7 configured correctly. It later failed with an unrelated linking error due to branches being out of date with main

[chapulina]

We need to add the wide angle camera package to https://github.com/ignition-release/ign-sensors7-release for the nightlies to work.

[scpeters]

We need to add the wide angle camera package to https://github.com/ignition-release/ign-sensors7-release for the nightlies to work.

indeed, that's why this build is unstable:

https://build.osrfoundation.org/view/ign-garden/job/ign-sensors7-debbuilder/58/

I'll fix it

[scpeters]

We need to add the wide angle camera package to https://github.com/ignition-release/ign-sensors7-release for the nightlies to work.

indeed, that's why this build is unstable:

https://build.osrfoundation.org/view/ign-garden/job/ign-sensors7-debbuilder/58/

I'll fix it

gazebo-release/gz-sensors7-release#4

[scpeters]

does this need an integration test before merging? I can find someone to add that to this branch if so

[iche033]

one simple integration test I can think of is to load the wide angle camera world file and make sure data are published to the topic. ign-sensors and ign-rendering already have integration tests to check the content of the published images so we probably don't need to duplicate that here.

yeah it would be nice to get some help on adding the test.

[scpeters]

the new test failed in 5612cb6

• https://build.osrfoundation.org/job/ignition_gazebo-ci-pr_any-ubuntu_auto-amd64/7838/testReport/junit/(root)/INTEGRATION_wide_angle_camera/test_ran/

[scpeters]

looks like the test is fixed in d6a39d0, though there are some unrelated cmake warnings

[WilliamLewww]

Still running into a segfault from using an incorrect pixel format. Currently trying to fix the error so it runs smoothly like the depth camera integration test.

[scpeters]

the test seems to fail after writing the test_result xml file, so jenkins doesn't notice that it failed, but it does show a seg-fault in the console log. I've collected a backtrace:

[       OK ] WideAngleCameraTest.WideAngleCameraBox (5536 ms)
[Thread 0x7ffff26c2700 (LWP 995858) exited]
[----------] 1 test from WideAngleCameraTest (5536 ms total)

[----------] Global test environment tear-down
[Thread 0x7ffff2ec3700 (LWP 995857) exited]
[==========] 1 test from 1 test suite ran. (5536 ms total)
[  PASSED  ] 1 test.
[Thread 0x7ffff36c4700 (LWP 995856) exited]
[Thread 0x7ffff3ec5700 (LWP 995855) exited]
[Thread 0x7ffff46c6700 (LWP 995854) exited]
[Thread 0x7ffff4ec7700 (LWP 995853) exited]
[Thread 0x7ffff56c8700 (LWP 995852) exited]

Thread 1 "INTEGRATION_wid" received signal SIGSEGV, Segmentation fault.
0x00007fffce39dc49 in ?? () from /lib/x86_64-linux-gnu/libGLdispatch.so.0
(gdb) bt
#0  0x00007fffce39dc49 in ?? () from /lib/x86_64-linux-gnu/libGLdispatch.so.0
#1  0x00007fffcc2d0984 in Ogre::GLSL::GLSLProgram::unloadHighLevelImpl() () from /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL.so
#2  0x00007fffce86fd1a in Ogre::HighLevelGpuProgram::unloadHighLevel() () from /lib/x86_64-linux-gnu/libOgreMain.so.1.9.0
#3  0x00007fffce990028 in Ogre::Resource::unload() () from /lib/x86_64-linux-gnu/libOgreMain.so.1.9.0
#4  0x00007fffcc2d08a5 in Ogre::GLSL::GLSLProgram::~GLSLProgram() () from /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL.so
#5  0x00007fffcc2d08bd in Ogre::GLSL::GLSLProgram::~GLSLProgram() () from /usr/lib/x86_64-linux-gnu/OGRE-1.9.0/RenderSystem_GL.so
#6  0x00007fffce619752 in ?? () from /lib/x86_64-linux-gnu/libOgreRTShaderSystem.so.1.9.0
#7  0x00007fffce6156f7 in Ogre::RTShader::ProgramManager::releasePrograms(Ogre::Pass*, Ogre::RTShader::TargetRenderState*) () from /lib/x86_64-linux-gnu/libOgreRTShaderSystem.so.1.9.0
#8  0x00007fffce60288d in Ogre::RTShader::ShaderGenerator::SGTechnique::~SGTechnique() () from /lib/x86_64-linux-gnu/libOgreRTShaderSystem.so.1.9.0
#9  0x00007fffce603751 in Ogre::RTShader::ShaderGenerator::_destroy() () from /lib/x86_64-linux-gnu/libOgreRTShaderSystem.so.1.9.0
#10 0x00007fffce603abe in Ogre::RTShader::ShaderGenerator::destroy() () from /lib/x86_64-linux-gnu/libOgreRTShaderSystem.so.1.9.0
#11 0x00007fffcee0f739 in ignition::rendering::v7::OgreRTShaderSystem::Fini() () from /usr/lib/x86_64-linux-gnu/ign-rendering-7/engine-plugins/libignition-rendering-ogre.so
#12 0x00007fffcee0f902 in ignition::rendering::v7::OgreRTShaderSystem::~OgreRTShaderSystem() () from /usr/lib/x86_64-linux-gnu/ign-rendering-7/engine-plugins/libignition-rendering-ogre.so
#13 0x00007ffff7064a27 in __run_exit_handlers (status=0, listp=0x7ffff7206718 <__exit_funcs>, run_list_atexit=run_list_atexit@entry=true, run_dtors=run_dtors@entry=true) at exit.c:108
#14 0x00007ffff7064be0 in __GI_exit (status=<optimized out>) at exit.c:139
#15 0x00007ffff70420ba in __libc_start_main (main=0x5555555657b0 <main(int, char**)>, argc=1, argv=0x7fffffffe288, init=<optimized out>, fini=<optimized out>, rtld_fini=<optimized out>, stack_end=0x7fffffffe278) at ../csu/libc-start.c:342
#16 0x000055555556586e in _start ()
(gdb)

could there be a memory problem with one of the shaders?

[iche033]

The crash happens after exit. It could be that the OgreRTShaderSystem is trying to destroy its resources after ogre has already been deleted.

[WilliamLewww]

The crash happens after exit. It could be that the OgreRTShaderSystem is trying to destroy its resources after ogre has already been deleted.

I created an integration test for the distortion camera and I am getting the same segfault, but when I delete the following line in ign-rendering, the program exits without a segfault:
https://github.com/ignitionrobotics/ign-rendering/blob/1258280eae5834f5687ad5be78e073e73efb47a2/ogre/src/OgreRTShaderSystem.cc#L156

I think you are correct; the resources (for shaders) are deleted and then Ogre::RtShader::ShaderGenerator tries to delete them again. Removing the destroy() might cause memory leaks if there are still allocated resources but I currently don't see any other solutions if it isn't an ordering of destructors issue.

[WilliamLewww]

The segfault seems to occur with every test that uses OGRE1.

[chapulina]

2 approvals and happy CI, merging!