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Share underwater appearance across Gazebo scenes and camera sensors - #21
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woensug-choi
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October 21, 2026 07:59
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Adds shared Ogre2 PBR surface optics: water-path haze, RGB absorption, depth-dependent sunlight, seabed caustics, optional specks, and independent texture/grid/contour controls. Session-scoped services apply changes on the rendering thread and acknowledge after rendering. The legacy camera filter passes native-colored pixels through when enabled.
Validation: RGB/RGBD fixtures pass on Apple Silicon Metal and Linux Mesa (amd64 engine under emulation). Five variants change color while numeric depth stays byte-identical. Combined workspace libraries build; English/Korean site builds and 3,555 links/anchors pass.
PBR surfaces use a flat mean sea level. Custom water/sky shaders retain their own rendering. Windows D3D12, full installed workspace and sustained multi-camera qualification remain review/release checks. Leave as draft for visual review; no merge or release.