OmniGibson/realenv/core/channels

Universe Environment Multichannel Renderer

Support for real time multichannel input (depth, surface normal, etc), implemented using OpenGL.

All external libraries have been included. You only need CMake (gcc version <=5) on your computer in order to build

Install

sudo apt-get install libzmq3-dev
sudo apt-get install libglew-dev
sudo apt-get install libglm-dev

Steps

Install dependencies

sudo apt install mesa-common-dev
sudo apt install libglu1-mesa-dev freeglut3-dev

Download models: you do not have to download dataset separately for this module. Feel free to skip this step, or refer to https://github.com/fxia22/realenv/tree/physics/realenv/envs. If you want to download models for demonstration purpose, do the following

cd {realenv_root}/realenv/envs/channels/depth_render
wget https://www.dropbox.com/s/qc6sqqua2r2ht4w/16b32add7aa946f283740b9c1c1646c0.obj
wget https://www.dropbox.com/s/w7qdbzmo6pp0466/Q97jUzc1wSS_HIGH.obj
wget https://www.dropbox.com/s/gs7vhmanjgao9vy/suzanne.obj

Compile C code (this might take a minute or two)

cd {realenv_root}/realenv/envs/channels
mkdir build && cd build
cmake ..
make

Note: GCC Version, if you get the CMake complaint saying CUDA on Ubuntu: unsupported GNU version! gcc versions later than 5 are not supported!, you can try out the following solution

sudo apt install gcc-4.9 g++-4.9
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 60 --slave /usr/bin/g++ g++ /usr/bin/g++-6
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.9 50 --slave /usr/bin/g++ g++ /usr/bin/g++-4.9	
update-alternatives --list gcc
update-alternatives --set gcc /usr/bin/gcc-4.9

Finally, you're done. Although Multichannel Renderer is not supposed to be run on its own, you can do the following to get a sense of it.

cd {realenv_root}/realenv/envs/channels/depth_render
./demo