Render pass

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

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-rendering9-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);
    }
  }