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讨论了使用帧缓冲对象(FBO)进行渲染时遇到的问题,特别是如何正确地处理透明度(alpha)通道,确保渲染到FBO的内容能正确显示为透明而非黑色背景。
导读:
  gbiv
  Newbie
  Registered: 07/03/04
  Posts: 39
  Loc: ISU VRAC
  Hello,
  I'd like to create a RTT using an FBO which I then use as a texture on a billboard. My problem is that I'm not able to generate a texture that has "alpha" values. For instance if it were a tree that I rendered in the FBO, I'd try to set my clear color to (0,0,0,0) and then render my tree model in the FBO to create the texture. The output however has the tree surrounded by black rather than "clear". Is this the correct behavior or should I be able to setup the FBO properly to create a the texture properly?
  thanks for any input.
  biv
  #237025- 04/14/0801:38 AM Re: FBO's and alpha[Re: gbiv]
  k_szczech
  OpenGL Pro
  
  
  Registered: 02/20/06
  Posts: 1026
  Loc: Poland
  Explain "tree surrounded by black". Do you mean that your entire texture is black, or do you see black edge aroud the tree?
  If you're experiencing the 'black edge' problem, then it's because pixels of texture are filtered with black background pixels. The simplest solution would be to enable alpha testing when rendering tree from texture and set alpha test to (GL_GREATER, 0.95f).
  The nicest solution would be to perform blur on the texture after you rendered tree into it. Texels with alpha >0 should copy their color to neighbour texels that have alpha = 0, but alpha should not be copied.
  #237030- 04/14/0804:28 AM Re: FBO's and alpha[Re: k_szczech]
  babis
  Contributor
  Registered: 12/09/07
  Posts: 76
  Loc: Hull, UK
  For the 'black edge' problem :
  It's even nicer solution,if you can afford it, to render first the blurred tree on the texture ( without writing to alpha as k_szczech said ) &then layer upon it the 'normal' rendered tree. This way you have no blurring on the inside (where alpha == 1)
  #237032- 04/14/0806:17 AM Re: FBO's and alpha[Re: gbiv]
  Dark Photon
  Regular Contributor
  Registered: 10/06/04
  Posts: 191
  Loc: Arlington, TX
   Originally Posted By: gbiv
  I'm not able to generate a texture that has "alpha" values....The output however has the tree surrounded by black rather than "clear".
  This will solve your problem:
  Tom Forsyth's Blog(See Pre-multiplied Alpha article)
  Bottom line: stop using SRC_ALPHA / ONE_MINUS_SRC_ALPHA blending. Use ONE / ONE_MINUS_SRC_ALPHA blending, and pre-multiply the alpha into the color components. Edited by Dark Photon (04/14/0806:19 AM)
  #237051- 04/14/0801:19 PM Re: FBO's and alpha[Re: k_szczech]
  gbiv
  Newbie
  Registered: 07/03/04
  Posts: 39
  Loc: ISU VRAC
  Sorry for the late responses here. By that I mean, the tree renders as expected on the textured quad however the entire quad is visible. The portion of the quad that is not the tree (not just the border of the tree) is black (or whatever I set my clear color to) rather than completely transparent, so the "illusion" of the billboarded trees is lost because you can tell it's just a textured quad. Did that make sense or do I need to post some pics for clarity?
  #237054- 04/14/0802:02 PM Re: FBO's and alpha[Re: gbiv]
  babis
  Contributor
  Registered: 12/09/07
  Posts: 76
  Loc: Hull, UK
  ok so you either got no alpha at all, or you have but you don't use it. How do you render to the texture? &how do you draw it afterwards?
  #237057- 04/14/0803:03 PM Re: FBO's and alpha[Re: babis]
  zed
  OpenGL Guru
  Registered: 07/06/00
  Posts: 2444
  Loc: S41.16.25 E173.16.21
   Quote:
  were a tree that I rendered in the FBO, I'd try to set my clear color to (0,0,0,0) and then render my tree model in the FBO to create the texture. The output however has the tree surrounded by black rather than "clear".
  yes thats the correct behaviour
  glClearColor(...) clears the buffer to that color, it doesnt make that color invisible
  to make the black invisible u have to set those pixels alpha values to say 0.0 (+ the trees pixels alpha values to 1.0) + then do alphatesting or blending etc
  i suppose u could in a shader make black invisible by going
  if ( dot( vec3(0.0), texture_value ) >0.99 )
  discard;
  but #A its pretty messy + #B its gonna be slower
  #237087- 04/15/0805:46 AM Re: FBO's and alpha[Re: zed]
  Dark Photon
  Regular Contributor
  Registered: 10/06/04
  Posts: 191
  Loc: Arlington, TX
   Originally Posted By: zed
   Quote:
  I'd try to set my clear color to (0,0,0,0) and then render my tree model in the FBO to create the texture. The output however has the tree surrounded by black rather than "clear".
  yes thats the correct behaviour
  glClearColor(...) clears the buffer to that color, it doesnt make that color invisible
  Well, he said he cleared to 0,0,0,0, which has alpha = 0, which by convention is 100% transparent. Something else much be wrong. Such as rendering with BLEND disabled or some such.
  babis, check the alpha values in your edge texels in your texture and make sure their alpha is 0. Also check that when you're blending this texture onto the frame buffer you have BLEND mode enabled:
   Code:
  
  glEnable ( GL_BLEND ) ;
  glBlendFunc ( GL_ONE, GL_ONE_MINUS_SRC_ALPHA );
  glBlendEquation ( GL_FUNC_ADD ) ;
  #237096- 04/15/0808:32 AM Re: FBO's and alpha[Re: Dark Photon]
  gbiv
  Newbie
  Registered: 07/03/04
  Posts: 39
  Loc: ISU VRAC
  Hello all, thanks for the replies. I've tried most of these but with no success. I think this has to do with my FBO setup. However, I'm not sure how to get around the problem if the clear color isn't setting alpha values in the FBO:
  Here are some screen shots of my problem:
  http://www.vrac.iastate.edu/~biv/fbo_clear_color_problem/clearcolor_black_alpha_0.tiff
  http://www.vrac.iastate.edu/~biv/fbo_clear_color_problem/clearcolor_red_alpha_0.tiff
  The flag is textured with the results of rendering the fire to my FBO. No matter what I set the clear color to, the texture doesn't seem to have any alpha information from the FBO outside of the object that I'm rendering (in this case the fire) so even if my texenv is set to REPLACE, the texture still retains the clear color as is shown on the flag. My texture is of format RGBA and is a color buffer attachment to my FBO so I think this is correct...
  I'm not sure how to access those texels without adding some extra pass to post process the texture info as zed suggested, and I agree, this could get messy. Can anyone else reproduce this problem with a simple FBO rtt? This could help me narrow down if the problem is in my code or not.
  Again thanks for the input here.
  biv
  #237103- 04/15/0801:22 PM Re: FBO's and alpha[Re: gbiv]
  zed
  OpenGL Guru
  Registered: 07/06/00
  Posts: 2444
  Loc: S41.16.25 E173.16.21
   Quote:
  Well, he said he cleared to 0,0,0,0, which has alpha = 0
  i believe those alpha values are the destination alpha values eg GL_DST_ALPHA
  i think what gbiv wants is SRC_ALPHA (ie from the texture)
  ok looked at the screenshot i think he wants
  A/ first to draw textureA(fire) into a FBO textureB
  B/ draw this textureB onto a polygon onscreen
  perhaps try
  A/ set the textureB alphavalues from the textureA alphavalues (many ways of doing this)
  B/ draw this texture onscreen with GL_DST_ALPHA, GL_ONE

本文转自
http://www.opengl.org/discussion_boards/ubbthreads.php?ubb=showflat&Number=237057
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### 如何在使用RVIZ播放ROSBag时选择特定的Topic 当使用 `rosbag` 和 RVIZ 来可视化 ROS 数据包中的点云或其他传感器数据时,可以通过以下方式来指定和选择特定的话题(topic)。以下是详细的说明: #### 1. 启动必要的节点和服务 为了能够正常播放 bag 文件并将其可视化到 RVIZ 中,需要启动一些基础服务。这通常包括: - **启动 roscore**: 这是 ROS 的核心组件,负责管理所有的通信节点。 ```bash roscore ``` - **播放 bag 文件**: 使用 `rosbag play` 命令可以回放存储的数据包,并支持循环播放模式 `-l` 或者调整速度参数 `--rate=2.0` 表示两倍速[^1]。例如: ```bash rosbag play your_bag_file.bag -l --topics /your_topic_name ``` 上述命令会仅播放 `/your_topic_name` 下的消息。 #### 2. 设置 RVIZ 显示配置 一旦 bag 文件正在被播放,则可以在 RVIZ 中设置相应的显示选项以便观察目标消息的内容。具体操作如下: - **启动 RVIZ**: 在新终端窗口中运行下面这条指令开启图形界面工具RVIZ。 ```bash rosrun rviz rviz ``` - **添加 PointCloud2 插件**: 在 RVIZ 主界面上方菜单栏找到 “Add” 按钮,点击它之后,在弹出对话框里搜索并选中名为 `PointCloud2` 的插件项加以添加进去。 - **设定 Topic 参数**: 成功加入上述插件后,默认情况下其订阅的主题字段为空白状态;此时需手动从下拉列表里面挑选对应实际需求的目标主题名称——即前面提到过的那个由lidar设备所发布的point cloud data stream路径地址比如说是类似于这样的形式:`/velodyne_points`或者按照引用材料里的描述可能是类似这样子的形式:/abcdef/clouds等等[^3]。 - **固定坐标系(Frame)**: 此外还需要注意一点非常重要的是必须得把 Fixed Frame 字段也相应地设为我们刚才选定的那个主题后面附加 _frame字符串作为最终完整的全局参考框架标识符比如说如果之前选择了/velodyne_points那么这里就应该填写成base_link_frame或者是camera_depth_optical_frame之类的取决于具体的硬件装置布局情况而定[^4]。 #### 3. 调整其他高级功能 (可选) 除了基本的功能之外还可以进一步探索更多自定义可能性从而获得更好的用户体验效果其中包括但不限于以下几个方面: - 改变颜色编码规则(Color Transformer): 默认采用Intensity Color Scheme但是也可以切换至RGB8或者其他类型的色彩映射方案使得呈现出来的图像更加丰富多彩直观易懂; - 修改点尺寸(Point Size): 如果觉得原始大小太小看不清楚的话则可通过调节此属性让每一个单独像素占据更大面积区域进而提升整体清晰度水平; --- ### 示例代码片段展示如何筛选特定主题进行重播处理过程演示 ```python import rospy from std_msgs.msg import String def callback(data): rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data) def listener(): # In ROS, nodes are uniquely named. rospy.init_node('listener', anonymous=True) specific_topic = "/specific/topic/name" rospy.Subscriber(specific_topic, String, callback) # spin() simply keeps python from exiting until this node is stopped rospy.spin() if __name__ == '__main__': try: listener() except rospy.ROSInterruptException as e: pass ``` 上面这个简单的 Python 脚本展示了怎样创建一个新的监听器程序专门用于接收来自某个特别指定了名字叫作"/specific/topic/name"的信息流并且每当接收到一条新的消息的时候都会打印出来当前时间戳加上具体内容给用户查看方便调试分析问题所在之处[^5]. ---
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