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Added DEM support #1262

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merged 6 commits into from
Mar 15, 2022
Merged

Added DEM support #1262

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083e04b
dem support
jennuine Dec 21, 2021
17a31b8
Merge branch 'main' into jennuine/dem
jennuine Jan 4, 2022
8788a56
Merge branch 'main' into jennuine/dem
jennuine Feb 11, 2022
fce9244
fixed includes
jennuine Feb 12, 2022
c6cdacd
Merge branch 'main' into jennuine/dem
scpeters Mar 15, 2022
ded74d0
Merge branch 'main' into jennuine/dem
chapulina Mar 15, 2022
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145 changes: 145 additions & 0 deletions examples/worlds/dem_monterey_bay.sdf
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<?xml version="1.0" ?>
<!--

Demonstrates a Digital Elevation Model (DEM) heightmap of Monterey Bay bathymetry
downloaded from GEBCO (General Bathymetric Chart of the Oceans) 2021 https://www.gebco.net/

-->
<sdf version="1.9">
<world name="dem_monterey_bay">
<physics name="1ms" type="ignored">
<dart>
<!-- Heightmaps behave better with the bullet collision detector -->
<collision_detector>bullet</collision_detector>
</dart>
</physics>

<gui fullscreen="0">
<plugin filename="MinimalScene" 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 0 0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-91.402603 7.516849 114.206924 0 0.889399 -0.016090</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<ignition-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<ignition-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>
</ignition-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<ignition-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>
</ignition-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<ignition-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>
</ignition-gui>
</plugin>
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>
</plugin>

<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</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/jennuine/models/Monterey Bay
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Any tips on how I would generate my own terrain DEM model? I don't see any docs added for the PR.

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@jennuine jennuine Feb 1, 2023 •
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Unfortunately, the only tutorial available is from gazebo-classic found here: https://classic.gazebosim.org/tutorials?tut=dem&cat=build_world

It is outdated but will hopefully get you in the right direction. If you'd like to contribute, feel free to open a PR for a newer tutorial on DEMs here: https:/gazebosim/docs 😄

</uri>
</include>
</world>
</sdf>
181 changes: 181 additions & 0 deletions examples/worlds/dem_volcano.sdf
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<?xml version="1.0" ?>
<!--

Demonstrates a Digital Elevation Model (DEM) heightmap of Mount St. Helens volcano

-->
<sdf version="1.9">
<world name="dem_heightmap">
<physics name="1ms" type="ignored">
<dart>
<collision_detector>bullet</collision_detector>
</dart>
</physics>

<gui fullscreen="0">
<plugin filename="MinimalScene" 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 0 0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-37.575569 82.272293 95.114960 0 0.566000 -0.981496</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<ignition-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<ignition-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>
</ignition-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<ignition-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>
</ignition-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<ignition-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>
</ignition-gui>
</plugin>
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</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>

<model name="sphere">
<pose>0 15 70 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>2</radius>
</sphere>
</geometry>
</collision>

<visual name="sphere_visual">
<geometry>
<sphere>
<radius>2</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
</model>

<include>
<uri>
https://fuel.ignitionrobotics.org/1.0/jennuine/models/Volcano
</uri>
</include>
</world>
</sdf>
37 changes: 30 additions & 7 deletions src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
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Expand Up @@ -32,10 +32,12 @@
#include <vector>

#include <ignition/common/Console.hh>
#include <ignition/common/HeightmapData.hh>
#include <ignition/common/ImageHeightmap.hh>
#include <ignition/common/geospatial/Dem.hh>
#include <ignition/common/geospatial/HeightmapData.hh>
#include <ignition/common/geospatial/ImageHeightmap.hh>
#include <ignition/common/MeshManager.hh>
#include <ignition/common/Profiler.hh>
#include <ignition/common/StringUtils.hh>

#include <ignition/gui/Application.hh>
#include <ignition/gui/GuiEvents.hh>
Expand Down Expand Up @@ -1253,12 +1255,33 @@ rendering::GeometryPtr VisualizationCapabilitiesPrivate::CreateGeometry(
return geom;
}

auto data = std::make_shared<common::ImageHeightmap>();
if (data->Load(fullPath) < 0)
std::shared_ptr<common::HeightmapData> data;
std::string lowerFullPath = common::lowercase(fullPath);
// check if heightmap is an image
if (common::EndsWith(lowerFullPath, ".png")
|| common::EndsWith(lowerFullPath, ".jpg")
|| common::EndsWith(lowerFullPath, ".jpeg"))
{
ignerr << "Failed to load heightmap image data from [" << fullPath << "]"
<< std::endl;
return geom;
auto img = std::make_shared<common::ImageHeightmap>();
if (img->Load(fullPath) < 0)
{
ignerr << "Failed to load heightmap image data from ["
<< fullPath << "]" << std::endl;
return geom;
}
data = img;
}
// DEM
else
{
auto dem = std::make_shared<common::Dem>();
if (dem->Load(fullPath) < 0)
{
ignerr << "Failed to load heightmap dem data from ["
<< fullPath << "]" << std::endl;
return geom;
}
data = dem;
}

rendering::HeightmapDescriptor descriptor;
Expand Down
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