Rendering Paths

渲染路径 Rendering Paths

http://game.ceeger.com/Manual/RenderingPaths.html

  延迟光照渲染路径的细节 Deferred Lighting Rendering Path Details

  http://game.ceeger.com/Components/RenderTech-DeferredLighting.html 

  正向渲染路径细节 Forward Rendering Path Details

  http://game.ceeger.com/Components/RenderTech-ForwardRendering.html

  顶点照明渲染路径细节 Vertex Lit Rendering Path Details

  http://game.ceeger.com/Components/RenderTech-VertexLit.html

[风宇冲】Unity3D教程宝典之Shader篇:第九讲Render Path

http://blog.sina.com.cn/s/blog_471132920101dfvh.html

 

转载于:https://www.cnblogs.com/javalzy/p/4329890.html

pi@pi-desktop:~/ros_ws$ export DISPLAY=:0 pi@pi-desktop:~/ros_ws$ xhost +local: > /dev/null 2>&1 pi@pi-desktop:~/ros_ws$ export LIBGL_ALWAYS_SOFTWARE=1 pi@pi-desktop:~/ros_ws$ export __GLX_VENDOR_LIBRARY_NAME=mesa pi@pi-desktop:~/ros_ws$ export QT_XCB_FORCE_SOFTWARE_OPENGL=1 pi@pi-desktop:~/ros_ws$ export QT_X11_NO_MITSHM=1 pi@pi-desktop:~/ros_ws$ ros2 launch moveit_setup_assistant setup_assistant.launch.py [INFO] [launch]: All log files can be found below /home/pi/.ros/log/2025-08-08-16-21-47-611990-pi-desktop-5088 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [moveit_setup_assistant-1]: process started with pid [5091] [moveit_setup_assistant-1] QSocketNotifier: Can only be used with threads started with QThread [moveit_setup_assistant-1] [INFO] [1754641314.245061987] [moveit_setup_assistant.urdf]: Loaded robot_arm robot model. [moveit_setup_assistant-1] [INFO] [1754641314.254183508] [moveit_929900350.moveit.core.robot_model]: Loading robot model 'robot_arm'... [moveit_setup_assistant-1] [INFO] [1754641314.254306201] [moveit_929900350.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [moveit_setup_assistant-1] [INFO] [1754641315.601944627] [moveit_setup_assistant.urdf]: Loaded robot_arm robot model. [moveit_setup_assistant-1] [INFO] [1754641315.602070004] [moveit_929900350.moveit.core.robot_model]: Loading robot model 'robot_arm'... [moveit_setup_assistant-1] [INFO] [1754641315.602113938] [moveit_929900350.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564 [moveit_setup_assistant-1] [rviz_rendering:error] rviz::RenderSystem: error creating render window: RenderingAPIException: Invalid parentWindowHandle (wrong server or screen) in GLXWindow::create at ./.obj-aarch64-linux-gnu/ogre_vendor-prefix/src/ogre_vendor/RenderSystems/GLSupport/src/GLX/OgreGLXWindow.cpp (line 246), at ./src/rviz_rendering/render_system.cpp:564
08-09
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