Render pass

This example demonstrates the use of the render pass system for adding Gaussian noise post-processing effect to a camera.

Install prerequisites

In order to compile the example in this tutorial, make sure to install the dependencies listed in the Installation tutorial.

Compile and run the example

Clone the source code, create a build directory and use cmake and make to compile the code:

git clone https://github.com/gazebosim/gz-rendering
cd gz-rendering/examples/render_pass
mkdir build
cd build
cmake ..
make

Execute the example:

./render_pass

You'll see:

[Msg] Loading plugin [gz-rendering10-ogre]
===============================
  TAB - Switch render engines
  ESC - Exit
===============================

Code

Get the render pass system and create a Gaussian noise render pass. Then we just need to set the noise mean and the standard deviation parameters and apply this render pass to the camera.

  CameraPtr camera = std::dynamic_pointer_cast<Camera>(sensor);
  RenderPassSystemPtr rpSystem = engine->RenderPassSystem();
  if (rpSystem)
  {
    // add gaussian noise pass
    RenderPassPtr pass = rpSystem->Create<GaussianNoisePass>();
    if (pass)
    {
      GaussianNoisePassPtr noisePass =
          std::dynamic_pointer_cast<GaussianNoisePass>(pass);
      noisePass->SetMean(0.1);
      noisePass->SetStdDev(0.08);
      camera->AddRenderPass(noisePass);
    }
 
    // add distortion pass
    pass = rpSystem->Create<DistortionPass>();
    if (pass)
    {
      DistortionPassPtr distortionPass =
          std::dynamic_pointer_cast<DistortionPass>(pass);
      distortionPass->SetK1(0.5);
      camera->AddRenderPass(distortionPass);
    }
  }