gz-rotary-rendering: drop freeimage by scpeters · Pull Request #3394 · osrf/homebrew-simulation

scpeters · 2026-03-20T22:47:37Z

Switch from ogre2.3 to gz-rotary-ogre2.3-vendor
Drop ogre1.9

Part of #3298.

Adds a new formula for use in rotary based on the 2.3.3 tag and three patches for stb support so that the freeimage dependency can be removed. Signed-off-by: Steve Peters <scpeters@intrinsic.ai>

Signed-off-by: Steve Peters <scpeters@intrinsic.ai>

* Switch from ogre2.3 to gz-rotary-ogre2.3-vendor * Drop ogre1.9 Signed-off-by: Steve Peters <scpeters@intrinsic.ai>

scpeters · 2026-03-21T00:05:17Z

I see some differences when loading the fuel_textured_mesh.sdf example world in Jetty vs Rotary:

Jetty

Rotary

wentasah · 2026-04-08T20:42:41Z

I confirm that I see the same color swap in our Nix environment with the same patches as in gz-rotary-ogre2.3-vendor. I think the fix will be trivial, but I'll not find time for it before this weekend.

stb_image always returns pixel data in RGB byte order, but the variable names in the 3-component conversion loop (b, g, r) assume BGR order. The code then writes r, g, b — which actually outputs B, G, R — into a buffer declared as PFG_RGBA8_UNORM (R first), swapping the red and blue channels. Fix by writing b, g, r (preserving stb's native RGB order), which matches the correct behaviour already present on master (v3-0). The visual effect of this bug is that all 3-channel RGB textures rendered through the STB codec have red and blue swapped (e.g. brown skin appears blue, lime-green appears teal). See the screenshots in osrf/homebrew-simulation#3394 (comment 4101535199) for an example. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

taylorhoward92 · 2026-04-09T08:45:45Z

There is an issue with RGB-to-RGBA conversion in ogre-next v2.3 when using STB. I've created OGRECave/ogre-next#567 to fix the issue and have tested locally.

Without the fix:

With the fix:

scpeters · 2026-04-09T18:16:40Z

There is an issue with RGB-to-RGBA conversion in ogre-next v2.3 when using STB. I've created OGRECave/ogre-next#567 to fix the issue and have tested locally.

thanks! I've approved the upstream PR and am adding the patch to gz-rotary-ogre2.3-vendor in #3408

scpeters · 2026-04-10T01:20:37Z

thanks! I've approved the upstream PR and am adding the patch to gz-rotary-ogre2.3-vendor in #3408

I added the patch to gz-rotary-ogre2.3-vendor in #3408 and marked this ready for review

taylorhoward92

LGTM

scpeters · 2026-04-14T23:52:26Z

we agreed at Monday's Gazebo meeting to fully drop freeimage on macOS on the main branch by dropping support for ogre 1.9

so I think we are ready to merge this. I will wait a few hours in case any Gazebo maintainers want to officially mark their approval

azeey

LGTM!

However, I noticed that gz-rotary-ogre2.3-vendor depends on gz-jetty-plugin

homebrew-simulation/Formula/gz-rotary-ogre2.3-vendor.rb

Line 19 in 39e3b5f

depends_on "gz-jetty-plugin" => :test

Is that intentional?

Also, if freeimage is going to be dropped altogether, shouldn't we be patching the ogre2.3 formula itself instead of creating gz-rotary-ogre2.3?

scpeters · 2026-04-15T20:55:45Z

I'll answer these in reverse order

Also, if freeimage is going to be dropped altogether, shouldn't we be patching the ogre2.3 formula itself instead of creating gz-rotary-ogre2.3?

I created the gz-rotary-ogre2.3-vendor formula so that we could experiment with an alternative ogre build without affecting existing stable releases like Jetty. Hopefully we can backport support for STB to Jetty and update the ogre2.3 formula and drop gz-rotary-ogre2.3-vendor (at least until we want to test updates to the ogre formula)

However, I noticed that gz-rotary-ogre2.3-vendor depends on gz-jetty-plugin

homebrew-simulation/Formula/gz-rotary-ogre2.3-vendor.rb

Line 19 in 39e3b5f

depends_on "gz-jetty-plugin" => :test

Is that intentional?

yes it does currently declare a test dependency on gz-jetty-plugin, and it is intentional because I want gz-rotary-ogre2.3-vendor to be bottled, which requires all dependencies (even test dependencies) to be bottled

more context:

I especially want gz-rotary-ogre2.3-vendor to be vendored because ogre will opportunistically find freeimage if you have it installed on your system, which I experienced with local testing. Bottles are built in a controlled environment, which ensures that it is truly built without freeimage
We started using gz-plugin in the ogre2.3 in formula test to confirm that rpath was properly configured (see 9fb0d08). When adding gz-rotary-ogre2.3-vendor in gz-rotary-ogre2.3-vendor: 2.3.3 with stb patches #3391, I initially built the bottles while depending on gz-plugin2 and then switched to gz-rotary-plugin in f21fe4d after the bottles were built. When adding another patch to ogre2.3 in gz-rotary-ogre2.3-vendor: patch RGB channel swap #3408 to fix the color swapping, my initial attempt to rebuild the bottles failed since gz-rotary-plugin is not bottled, so I switched back to gz-jetty-plugin and just left it in place. As a test dependency it doesn't get installed unless you explicitly brew install --include-test gz-rotary-ogre2.3-vendor. If we really don't like it, we can switch it back to gz-rotary-plugin, but I think it doesn't hurt anything so I left it in place

azeey · 2026-04-15T21:23:59Z

Makes sense. Thanks for the explanation!

stb_image always returns pixel data in RGB byte order, but the variable names in the 3-component conversion loop (b, g, r) assume BGR order. The code then writes r, g, b — which actually outputs B, G, R — into a buffer declared as PFG_RGBA8_UNORM (R first), swapping the red and blue channels. Fix by writing b, g, r (preserving stb's native RGB order), which matches the correct behaviour already present on master (v3-0). The visual effect of this bug is that all 3-channel RGB textures rendered through the STB codec have red and blue swapped (e.g. brown skin appears blue, lime-green appears teal). See the screenshots in osrf/homebrew-simulation#3394 (comment 4101535199) for an example. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

scpeters and others added 5 commits March 20, 2026 10:22

gz-rotary-ogre2.3-vendor: 2.3.3 with stb patches

1c65255

Adds a new formula for use in rotary based on the 2.3.3 tag and three patches for stb support so that the freeimage dependency can be removed. Signed-off-by: Steve Peters <scpeters@intrinsic.ai>

update bottle

aa4750d

gz-rotary-ogre2.3-vendor conflicts_with ogre2.3

7063586

Signed-off-by: Steve Peters <scpeters@intrinsic.ai>

use gz-rotary-plugin in test

f21fe4d

Signed-off-by: Steve Peters <scpeters@intrinsic.ai>

gz-rotary-rendering: drop freeimage

0ea1b70

* Switch from ogre2.3 to gz-rotary-ogre2.3-vendor * Drop ogre1.9 Signed-off-by: Steve Peters <scpeters@intrinsic.ai>

scpeters force-pushed the scpeters/rotary_no_freeimage branch from c55b132 to 0ea1b70 Compare March 20, 2026 23:30

Base automatically changed from scpeters/rotary_ogre2.3 to master March 26, 2026 22:08

Merge branch 'master' into scpeters/rotary_no_freeimage

4541aaf

scpeters mentioned this pull request Mar 27, 2026

Build with STBI image codec gazebo-release/gz_ogre_next_vendor#12

Open

scpeters mentioned this pull request Apr 8, 2026

Replace FreeImage dependency with stb gazebosim/gz-common#725

Merged

9 tasks

Merge branch 'master' into scpeters/rotary_no_freeimage

aaf581f

taylorhoward92 mentioned this pull request Apr 9, 2026

Fix RGB channel swap in STBICodec RGB-to-RGBA conversion (v2-3) OGRECave/ogre-next#567

Merged

Merge branch 'master' into scpeters/rotary_no_freeimage

4f691ec

scpeters marked this pull request as ready for review April 10, 2026 01:18

This was referenced Apr 10, 2026

Remove freeimage dependency gazebosim/gz-rendering#1235

Open

testing without freeimage, dont merge gazebosim/gz-rendering#1262

Closed

taylorhoward92 approved these changes Apr 12, 2026

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Merge branch 'master' into scpeters/rotary_no_freeimage

a1e1115

scpeters mentioned this pull request Apr 14, 2026

Remove freeimage dependency gazebosim/gz-common#771

Closed

scpeters requested review from azeey, iche033 and j-rivero April 14, 2026 23:51

azeey approved these changes Apr 15, 2026

View reviewed changes

scpeters merged commit 0d74d00 into master Apr 15, 2026
1 check passed

scpeters deleted the scpeters/rotary_no_freeimage branch April 15, 2026 21:39

This was referenced Apr 15, 2026

freeimage has been deprecated #3298

Open

Support ImageBrownDistortionModel in ogre2 gazebosim/gz-rendering#697

Open

Use GTEST_SKIP in unsupported tests gazebosim/gz-sensors#604

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gz-rotary-rendering: drop freeimage - #3394

gz-rotary-rendering: drop freeimage#3394
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scpeters commented Mar 21, 2026

Jetty

Rotary

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