Merge pull request #584 from gazebosim/merge_5_main_20240313

Merge 5 -> main

.github/workflows/ci.yml

@@ -1,6 +1,12 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-common[0-9]'
+      - 'gz-common[0-9]'
+      - 'main'
 
 jobs:
   jammy-ci:

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

CMakeLists.txt

@@ -79,6 +79,7 @@ gz_find_package(
 # Find GDAL
 gz_find_package(GDAL VERSION 3.0
   PKGCONFIG gdal
+  PKGCONFIG_VER_COMPARISON >=
   PRIVATE_FOR geospatial
   REQUIRED_BY geospatial)
 
@@ -117,7 +118,7 @@ configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
                ${PROJECT_BINARY_DIR}/cppcheck.suppress)
 
 gz_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS av events geospatial graphics io profiler testing)
+  COMPONENTS av events graphics geospatial io profiler testing)
 
 #============================================================================
 # Create package information

Changelog.md

@@ -4,6 +4,58 @@
 
 ## Gazebo Common 5.x
 
+## Gazebo Common 5.5.0 (2024-02-26)
+
+1. Be louder when graphics is missing for geospatial
+    * [Pull request #573](https://github.com/gazebosim/gz-common/pull/573)
+
+1. Multiple memory cleanup fixes
+    * [Pull request #571](https://github.com/gazebosim/gz-common/pull/571)
+
+1. Clarify GDAL version requirement
+    * [Pull request #574](https://github.com/gazebosim/gz-common/pull/574)
+
+1. 🎈  3.17.0
+    * [Pull request #567](https://github.com/gazebosim/gz-common/pull/567)
+
+1. Update CI badges in README
+    * [Pull request #566](https://github.com/gazebosim/gz-common/pull/566)
+
+1. Backwards compatible assimp texture name fix
+    * [Pull request #565](https://github.com/gazebosim/gz-common/pull/565)
+
+1. Fix error output when creating directories
+    * [Pull request #561](https://github.com/gazebosim/gz-common/pull/561)
+
+1. Update github action workflows
+    * [Pull request #558](https://github.com/gazebosim/gz-common/pull/558)
+
+1. Fix segfault in case of no write access to log dir
+    * [Pull request #546](https://github.com/gazebosim/gz-common/pull/546)
+
+1. ign -> gz
+    * [Pull request #547](https://github.com/gazebosim/gz-common/pull/547)
+
+1. Support loading glb with compressed jpeg textures
+    * [Pull request #545](https://github.com/gazebosim/gz-common/pull/545)
+
+1. Fix glTF / glb root node transform
+    * [Pull request #543](https://github.com/gazebosim/gz-common/pull/543)
+
+1. EnumIface: suppress deprecation warning
+    * [Pull request #540](https://github.com/gazebosim/gz-common/pull/540)
+
+1. Prevent loading lightmaps if mesh is a glb file that has an occlusion-metallic-roughness texture
+    * [Pull request #538](https://github.com/gazebosim/gz-common/pull/538)
+
+1. 🎈 3.16.0
+    * [Pull request #519](https://github.com/gazebosim/gz-common/pull/519)
+
+1. Fix cstdint with GCC 13
+    * [Pull request #528](https://github.com/gazebosim/gz-common/pull/528)
+    * [Pull request #517](https://github.com/gazebosim/gz-common/pull/517)
+    * [Pull request #513](https://github.com/gazebosim/gz-common/pull/513)
+
 ## Gazebo Common 5.4.2 (2023-09-26)
 
 1. Documentation fixes
@@ -673,6 +725,52 @@
 
 ## Gazebo Common 3.x
 
+## Gazebo Common 3.17.0 (2024-01-05)
+
+1. Fix error output when creating directories
+    * [Pull request #561](https://github.com/gazebosim/gz-common/pull/561)
+
+1. Update github action workflows
+    * [Pull request #558](https://github.com/gazebosim/gz-common/pull/558)
+
+1. Fix segfault in case of no write access to log dir
+    * [Pull request #546](https://github.com/gazebosim/gz-common/pull/546)
+
+## Gazebo Common 3.16.0 (2023-06-05)
+
+1. Include cstdint to build with GCC 13
+    * [Pull request #517](https://github.com/gazebosim/gz-common/pull/517)
+
+1. Fix missing cstdint header in latest gcc build
+    * [Pull request #513](https://github.com/gazebosim/gz-common/pull/513)
+
+1. Fix for ffmpeg v6
+    * [Pull request #497](https://github.com/gazebosim/gz-common/pull/497)
+
+1. Include cstring for memcpy
+    * [Pull request #501](https://github.com/gazebosim/gz-common/pull/501)
+
+1. Fixed MeshManager Singleton
+    * [Pull request #451](https://github.com/gazebosim/gz-common/pull/451)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #494](https://github.com/gazebosim/gz-common/pull/494)
+
+1. Add marcoag as codeowner
+    * [Pull request #493](https://github.com/gazebosim/gz-common/pull/493)
+
+1. CI workflow: use checkout v3
+    * [Pull request #490](https://github.com/gazebosim/gz-common/pull/490)
+
+1. Improved coverage remotery
+    * [Pull request #467](https://github.com/gazebosim/gz-common/pull/467)
+
+1. Added BVH and STL loader tests
+    * [Pull request #466](https://github.com/gazebosim/gz-common/pull/466)
+
+1. Increased Image coverage
+    * [Pull request #465](https://github.com/gazebosim/gz-common/pull/465)
+
 ## Gazebo Common 3.15.1 (2022-10-11)
 
 1. Fix build on case-insensitive filesystems

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-common/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-common)
-Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_common-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_common-ci-main-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_common-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_common-ci-main-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_common-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_common-ci-win/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-common/tree/gz-common5/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-common/tree/gz-common5)
+Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_common-ci-gz-common5-jammy-amd64)](https://build.osrfoundation.org/job/gz_common-ci-gz-common5-jammy-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_common-ci-gz-common5-homebrew-amd64)](https://build.osrfoundation.org/job/gz_common-ci-gz-common5-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_common-5-win/badge/icon)](https://build.osrfoundation.org/job/gz_common-5-win/)
 
 Gazebo Common, a component of [Gazebo](https://gazebosim.org), provides a set of libraries that
 cover many different use cases. An audio-visual library supports

geospatial/src/CMakeLists.txt

@@ -1,24 +1,27 @@
-gz_get_libsources_and_unittests(sources gtest_sources)
+if (TARGET ${PROJECT_LIBRARY_TARGET_NAME}-graphics)
+  gz_get_libsources_and_unittests(sources gtest_sources)
+  gz_add_component(geospatial
+    SOURCES ${sources}
+    DEPENDS_ON_COMPONENTS graphics
+    GET_TARGET_NAME geospatial_target)
 
-gz_add_component(geospatial
-  SOURCES ${sources}
-  DEPENDS_ON_COMPONENTS graphics
-  GET_TARGET_NAME geospatial_target)
+  target_link_libraries(${geospatial_target}
+    PUBLIC
+      ${PROJECT_LIBRARY_TARGET_NAME}-graphics
+      gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
+      gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
+    PRIVATE
+      ${GDAL_LIBRARY})
 
-target_link_libraries(${geospatial_target}
-  PUBLIC
-    ${PROJECT_LIBRARY_TARGET_NAME}-graphics
-    gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
-    gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
-  PRIVATE
-    ${GDAL_LIBRARY})
+  target_include_directories(${geospatial_target}
+    PRIVATE
+      ${GDAL_INCLUDE_DIR})
 
-target_include_directories(${geospatial_target}
-  PRIVATE
-    ${GDAL_INCLUDE_DIR})
-
-gz_build_tests(TYPE UNIT SOURCES ${gtest_sources}
-  LIB_DEPS
-    ${geospatial_target}
-    gz-common${GZ_COMMON_VER}-testing
-)
+  gz_build_tests(TYPE UNIT SOURCES ${gtest_sources}
+    LIB_DEPS
+      ${geospatial_target}
+      gz-common${GZ_COMMON_VER}-testing
+  )
+else()
+  message(WARNING "Skipping component [geospatial]: Missing component [graphics].\n    ^~~~~ Set SKIP_geospatial=true in cmake to suppress this warning.")
+endif()

graphics/include/gz/common/Image.hh

@@ -85,7 +85,11 @@ namespace gz
                 BAYER_GBRG8,
                 BAYER_GRBG8,
                 COMPRESSED_PNG,
-                PIXEL_FORMAT_COUNT
+                PIXEL_FORMAT_COUNT,
+                // \todo(iche033) COMPRESSED_JPEG is added at the end to
+                // preserve ABI compatibility. Move this enum up when merging
+                // forward to main
+                COMPRESSED_JPEG
               };
 
 

graphics/src/AssimpLoader.cc

@@ -155,6 +155,15 @@ class AssimpLoader::Implementation
   /// calculated from the "old" parent model transform.
   /// \param[in] _skeleton the skeleton to work on
   public: void ApplyInvBindTransform(SkeletonPtr _skeleton) const;
+
+  /// Get the updated root node transform. The function updates the original
+  /// transform by setting the rotation to identity if requested.
+  /// \param[in] _scene Scene with axes info stored in meta data
+  /// \param[in] _useIdentityRotation Whether to set rotation to identity.
+  /// Note: This is currently set to false for glTF / glb meshes.
+  /// \return Updated transform
+  public: aiMatrix4x4 UpdatedRootNodeTransform(const aiScene *_scene,
+      bool _useIdentityRotation = true);
 };
 
 //////////////////////////////////////////////////
@@ -348,8 +357,26 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
   }
   float opacity = 1.0;
   ret = assimpMat->Get(AI_MATKEY_OPACITY, opacity);
-  mat->SetTransparency(1.0 - opacity);
-  mat->SetBlendFactors(opacity, 1.0 - opacity);
+  if (ret == AI_SUCCESS)
+  {
+    mat->SetTransparency(1.0 - opacity);
+    mat->SetBlendFactors(opacity, 1.0 - opacity);
+  }
+
+#ifndef GZ_ASSIMP_PRE_5_1_0
+  // basic support for transmission - currently just overrides opacity
+  // \todo(iche033) The transmission factor can be used with volume
+  // material extension to simulate effects like refraction
+  // so consider also extending support for other properties like
+  // AI_MATKEY_VOLUME_THICKNESS_FACTOR
+  float transmission = 0.0;
+  ret = assimpMat->Get(AI_MATKEY_TRANSMISSION_FACTOR, transmission);
+  if (ret == AI_SUCCESS)
+  {
+    mat->SetTransparency(transmission);
+  }
+#endif
+
   // TODO(luca) more than one texture, Gazebo assumes UV index 0
   Pbr pbr;
   aiString texturePath(_path.c_str());
@@ -542,26 +569,49 @@ std::pair<ImagePtr, ImagePtr>
 ImagePtr AssimpLoader::Implementation::LoadEmbeddedTexture(
     const aiTexture* _texture) const
 {
-  auto img = std::make_shared<Image>();
   if (_texture->mHeight == 0)
   {
+    Image::PixelFormatType format = Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT;
     if (_texture->CheckFormat("png"))
     {
-      img->SetFromCompressedData((unsigned char*)_texture->pcData,
-          _texture->mWidth, Image::PixelFormatType::COMPRESSED_PNG);
+      format = Image::PixelFormatType::COMPRESSED_PNG;
+    }
+    else if (_texture->CheckFormat("jpg"))
+    {
+      format = Image::PixelFormatType::COMPRESSED_JPEG;
+    }
+    if (format != Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT)
+    {
+      auto img = std::make_shared<Image>();
+      img->SetFromCompressedData(
+          reinterpret_cast<unsigned char *>(_texture->pcData),
+          _texture->mWidth, format);
+      return img;
+    }
+    else
+    {
+      gzerr << "Unable to load embedded texture. "
+            << "Unsupported compressed image format"
+            << std::endl;
     }
   }
-  return img;
+  return ImagePtr();
 }
 
 //////////////////////////////////////////////////
 std::string AssimpLoader::Implementation::GenerateTextureName(
     const aiScene* _scene, aiMaterial* _mat, const std::string& _type) const
 {
-  return ToString(_scene->mRootNode->mName) + "_" + ToString(_mat->GetName()) +
+#ifdef GZ_ASSIMP_PRE_5_2_0
+  auto rootName = _scene->mRootNode->mName;
+#else
+  auto rootName = _scene->mName;
+#endif
+  return ToString(rootName) + "_" + ToString(_mat->GetName()) +
     "_" + _type;
 }
 
+//////////////////////////////////////////////////
 SubMesh AssimpLoader::Implementation::CreateSubMesh(
     const aiMesh* _assimpMesh, const math::Matrix4d& _transform) const
 {
@@ -645,16 +695,15 @@ Mesh *AssimpLoader::Load(const std::string &_filename)
   }
   auto& rootNode = scene->mRootNode;
   auto rootName = ToString(rootNode->mName);
-  auto transform = scene->mRootNode->mTransformation;
-  aiVector3D rootScaling, rootAxis, rootPos;
-  float angle;
-  transform.Decompose(rootScaling, rootAxis, angle, rootPos);
-  // drop rotation, but keep scaling and position
-  // TODO(luca) it seems imported assets are rotated by 90 degrees
-  // as documented here https://github.com/assimp/assimp/issues/849
-  // remove workaround when fixed
-  transform = aiMatrix4x4(rootScaling, aiQuaternion(), rootPos);
 
+  // compute assimp root node transform
+  std::string extension = _filename.substr(_filename.rfind(".") + 1,
+      _filename.size());
+  std::transform(extension.begin(), extension.end(),
+      extension.begin(), ::tolower);
+  bool useIdentityRotation = (extension != "glb" && extension != "glTF");
+  auto transform = this->dataPtr->UpdatedRootNodeTransform(scene,
+    useIdentityRotation);
   auto rootTransform = this->dataPtr->ConvertTransform(transform);
 
   // Add the materials first
@@ -756,5 +805,29 @@ void AssimpLoader::Implementation::ApplyInvBindTransform(
   }
 }
 
+/////////////////////////////////////////////////
+aiMatrix4x4 AssimpLoader::Implementation::UpdatedRootNodeTransform(
+    const aiScene *_scene, bool _useIdentityRotation)
+{
+  // Some assets apear to be rotated by 90 degrees as documented here
+  // https://github.com/assimp/assimp/issues/849.
+  auto transform = _scene->mRootNode->mTransformation;
+  if (_useIdentityRotation)
+  {
+    // drop rotation, but keep scaling and position
+    aiVector3D rootScaling, rootAxis, rootPos;
+    float angle;
+    transform.Decompose(rootScaling, rootAxis, angle, rootPos);
+    transform = aiMatrix4x4(rootScaling, aiQuaternion(), rootPos);
+  }
+  // for glTF / glb meshes, it was found that the transform is needed to
+  // produce a result that is consistent with other engines / glTF viewers.
+  else
+  {
+    transform = _scene->mRootNode->mTransformation;
+  }
+  return transform;
+}
+
 }
 }