From 2cbac81d5d8cbf353c223451be4a75d9678f3da8 Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Wed, 22 Jul 2020 12:51:49 +0530
Subject: [PATCH 1/9] Added Ogre2 implementation for lidar visual

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 .../rendering/ogre2/Ogre2LidarVisual.hh       |  36 +-
 ogre2/src/Ogre2LidarVisual.cc                 | 399 +++++++++++++++++-
 2 files changed, 421 insertions(+), 14 deletions(-)

diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
index 8d164f51a..2562a5a8c 100644
--- a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
+++ b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
@@ -19,6 +19,7 @@
 #define IGNITION_RENDERING_OGRE2_OGRELIDARVISUAL_HH_
 
 #include <memory>
+#include <vector>
 #include "ignition/rendering/base/BaseLidarVisual.hh"
 #include "ignition/rendering/ogre2/Ogre2Visual.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
@@ -29,9 +30,13 @@ namespace ignition
   namespace rendering
   {
     inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
-    /// \brief Ogre 2.x implementation of a marker geometry.
+    //
+    // Forward declaration
+    class Ogre2LidarVisualPrivate;
+
+    /// \brief Ogre implementation of a Lidar Visual.
     class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2LidarVisual
-    : public BaseLidarVisual<Ogre2Visual>
+      : public BaseLidarVisual<Ogre2Visual>
     {
       /// \brief Constructor
       protected: Ogre2LidarVisual();
@@ -48,8 +53,33 @@ namespace ignition
       // Documentation inherited.
       public: virtual void Destroy() override;
 
-      /// \brief Marker should only be created by scene.
+      // Documentation inherited
+      public: virtual void Update() override;
+
+      // Documentation inherited
+      public: virtual void SetPoints(
+              const std::vector<double> &_points) override;
+
+      // Documentation inherited
+      public: virtual void ClearPoints() override;
+
+      // Documentation inherited
+      public: virtual unsigned int PointCount() const override;
+
+      // Documentation inherited
+      public: virtual std::vector<double> Points() const override;
+
+      /// \brief Create the Lidar Visual in ogre
+      private: void Create();
+
+      /// \brief Clear data stored by dynamiclines
+      private: void ClearVisualData();
+
+      /// \brief Lidar Visual should only be created by scene.
       private: friend class Ogre2Scene;
+
+      /// \brief Private data class
+      private: std::unique_ptr<Ogre2LidarVisualPrivate> dataPtr;
     };
     }
   }
diff --git a/ogre2/src/Ogre2LidarVisual.cc b/ogre2/src/Ogre2LidarVisual.cc
index dd51223a3..2fb7f981b 100644
--- a/ogre2/src/Ogre2LidarVisual.cc
+++ b/ogre2/src/Ogre2LidarVisual.cc
@@ -15,46 +15,423 @@
  *
  */
 
-#include <ignition/common/Console.hh>
 
+#include <ignition/common/Console.hh>
 #include "ignition/rendering/ogre2/Ogre2DynamicRenderable.hh"
 #include "ignition/rendering/ogre2/Ogre2LidarVisual.hh"
-#include "ignition/rendering/ogre2/Ogre2Material.hh"
-#include "ignition/rendering/ogre2/Ogre2Mesh.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
-#include "ignition/rendering/ogre2/Ogre2Visual.hh"
+#include "ignition/rendering/ogre2/Ogre2Marker.hh"
+#include "ignition/rendering/ogre2/Ogre2Geometry.hh"
+
+class ignition::rendering::Ogre2LidarVisualPrivate
+{
+  /// \brief Non Hitting DynamicLines Object to display
+  public: std::vector<std::shared_ptr<Ogre2DynamicRenderable>> noHitRayStrips;
+
+  /// \brief Hitting DynamicLines Object to display
+  public: std::vector<std::shared_ptr<Ogre2DynamicRenderable>> rayStrips;
+
+  /// \brief Dead Zone Geometry DynamicLines Object to display
+  public: std::vector<std::shared_ptr<Ogre2DynamicRenderable>> deadZoneRayFans;
+
+  /// \brief Lidar Ray DynamicLines Object to display
+  public: std::vector<std::shared_ptr<Ogre2DynamicRenderable>> rayLines;
+
+  /// \brief Lidar Points DynamicLines Object to display
+  public: std::vector<std::shared_ptr<Ogre2DynamicRenderable>> points;
+
+  /// \brief Lidar visual type
+  public: LidarVisualType lidarVisType =
+            LidarVisualType::LVT_TRIANGLE_STRIPS;
+
+  /// \brief Current value of DisplayNonHitting parameter
+  public: bool currentDisplayNonHitting = true;
+
+  /// \brief The current lidar points data
+  public: std::vector<double> lidarPoints;
+
+  /// \brief True if new points data is received
+  public: bool receivedData = false;
+};
 
 using namespace ignition;
 using namespace rendering;
 
 //////////////////////////////////////////////////
 Ogre2LidarVisual::Ogre2LidarVisual()
+  : dataPtr(new Ogre2LidarVisualPrivate)
 {
-    // BaseLidarVisual::Init();
 }
 
 //////////////////////////////////////////////////
 Ogre2LidarVisual::~Ogre2LidarVisual()
 {
-    // no ops
+  // no ops
+}
+
+//////////////////////////////////////////////////
+void Ogre2LidarVisual::PreRender()
+{
+  // no ops
+}
+
+//////////////////////////////////////////////////
+void Ogre2LidarVisual::Destroy()
+{
+  BaseLidarVisual::Destroy();
+  for (auto ray : this->dataPtr->noHitRayStrips)
+  {
+    ray->Clear();
+    ray.reset();
+  }
+
+  for (auto ray : this->dataPtr->rayStrips)
+  {
+    ray->Clear();
+    ray.reset();
+  }
+
+  for (auto ray : this->dataPtr->rayLines)
+  {
+    ray->Clear();
+    ray.reset();
+  }
+
+  for (auto ray : this->dataPtr->deadZoneRayFans)
+  {
+    ray->Clear();
+    ray.reset();
+  }
+
+  for (auto ray : this->dataPtr->points)
+  {
+    ray->Clear();
+    ray.reset();
+  }
+
+  this->ClearPoints();
 }
 
 //////////////////////////////////////////////////
 void Ogre2LidarVisual::Init()
 {
-    BaseLidarVisual::Init();
+  BaseLidarVisual::Init();
+  this->Create();
 }
 
 //////////////////////////////////////////////////
-void Ogre2LidarVisual::PreRender()
+void Ogre2LidarVisual::Create()
 {
-    // no ops
+  this->ClearPoints();
+  this->dataPtr->receivedData = false;
 }
 
+//////////////////////////////////////////////////
+void Ogre2LidarVisual::ClearPoints()
+{
+  this->dataPtr->lidarPoints.clear();
+  this->dataPtr->receivedData = false;
+}
 
 //////////////////////////////////////////////////
-void Ogre2LidarVisual::Destroy()
+void Ogre2LidarVisual::ClearVisualData()
 {
-    // no ops
+  this->dataPtr->noHitRayStrips.clear();
+  this->dataPtr->deadZoneRayFans.clear();
+  this->dataPtr->rayLines.clear();
+  this->dataPtr->rayStrips.clear();
+  this->dataPtr->points.clear();
 }
 
+//////////////////////////////////////////////////
+void Ogre2LidarVisual::SetPoints(const std::vector<double> &_points)
+{
+  this->dataPtr->lidarPoints = _points;
+  this->dataPtr->receivedData = true;
+}
+
+//////////////////////////////////////////////////
+void Ogre2LidarVisual::Update()
+{
+  if (!this->dataPtr->receivedData || this->dataPtr->lidarPoints.size() == 0)
+  {
+    ignwarn << "New lidar data not received. Exiting update function"
+            << std::endl;
+    return;
+  }
+
+  bool clearVisuals = false;
+
+  if (this->lidarVisualType != this->dataPtr->lidarVisType
+        || !this->displayNonHitting)
+  {
+    clearVisuals = true;
+  }
+
+  if (this->displayNonHitting != this->dataPtr->currentDisplayNonHitting)
+  {
+    clearVisuals = true;
+    this->dataPtr->currentDisplayNonHitting = this->displayNonHitting;
+  }
+
+  // if visual type is changed, clear all DynamicLines
+  if (clearVisuals)
+  {
+    this->ClearVisualData();
+  }
+  this->dataPtr->lidarVisType = this->lidarVisualType;
+
+  this->dataPtr->receivedData = false;
+  double horizontalAngle = this->minHorizontalAngle;
+  double verticalAngle = this->minVerticalAngle;
+
+  if (this->horizontalCount > 1)
+  {
+    this->horizontalAngleStep =
+        (this->maxHorizontalAngle - this->minHorizontalAngle) /
+              (this->horizontalCount - 1);
+  }
+
+  if (this->verticalCount > 1)
+  {
+    this->verticalAngleStep =
+        (this->maxVerticalAngle - this->minVerticalAngle) /
+              (this->verticalCount - 1);
+  }
+
+  if (this->dataPtr->lidarPoints.size() !=
+                  this->verticalCount * this->horizontalCount)
+  {
+    ignwarn << "Size of lidar data inconsistent with rays."
+            << " Exiting update function."
+            << std::endl;
+    return;
+  }
+
+  // Process each point from received data
+  // Every line segment, and every triangle is saved separately,
+  // as a pointer to a DynamicLine
+  // This initializes and updates only the selected DynamicLine variables
+  for (unsigned int j = 0; j < this->verticalCount; ++j)
+  {
+    horizontalAngle = this->minHorizontalAngle;
+
+    if (this->dataPtr->lidarVisType == LidarVisualType::LVT_RAY_LINES ||
+        this->dataPtr->lidarVisType == LidarVisualType::LVT_TRIANGLE_STRIPS)
+    {
+      if (j+1 > this->dataPtr->rayLines.size())
+      {
+        std::shared_ptr<Ogre2DynamicRenderable> renderable =
+                        std::shared_ptr<Ogre2DynamicRenderable>(
+                                    new Ogre2DynamicRenderable(this->Scene()));
+
+        renderable->SetOperationType(MT_LINE_LIST);
+        MaterialPtr mat = this->Scene()->Material("Lidar/BlueRay");
+        renderable->SetMaterial(mat, false);
+
+        this->ogreNode->attachObject(renderable->OgreObject());
+        this->dataPtr->rayLines.push_back(renderable);
+
+        if (this->dataPtr->lidarVisType == LidarVisualType::LVT_TRIANGLE_STRIPS)
+        {
+          renderable = std::shared_ptr<Ogre2DynamicRenderable>(
+                                  new Ogre2DynamicRenderable(this->Scene()));
+
+          renderable->SetOperationType(MT_TRIANGLE_STRIP);
+          mat = this->Scene()->Material("Lidar/LightBlueStrips");
+
+          renderable->SetMaterial(mat, false);
+
+          this->ogreNode->attachObject(renderable->OgreObject());
+          this->dataPtr->noHitRayStrips.push_back(renderable);
+
+          renderable = std::shared_ptr<Ogre2DynamicRenderable>(
+                                  new Ogre2DynamicRenderable(this->Scene()));
+
+          renderable->SetOperationType(MT_TRIANGLE_FAN);
+          mat = this->Scene()->Material("Lidar/TransBlack");
+
+          renderable->SetMaterial(mat, false);
+
+          this->ogreNode->attachObject(renderable->OgreObject());
+          this->dataPtr->deadZoneRayFans.push_back(renderable);
+          this->dataPtr->deadZoneRayFans[j]->AddPoint(
+                      ignition::math::Vector3d::Zero);
+
+          renderable = std::shared_ptr<Ogre2DynamicRenderable>(
+                                  new Ogre2DynamicRenderable(this->Scene()));
+
+          renderable->SetOperationType(MT_TRIANGLE_STRIP);
+          mat = this->Scene()->Material("Lidar/BlueStrips");
+
+          renderable->SetMaterial(mat, false);
+
+          this->ogreNode->attachObject(renderable->OgreObject());
+          this->dataPtr->rayStrips.push_back(renderable);
+        }
+      }
+    }
+
+    else if (this->dataPtr->lidarVisType ==
+                  LidarVisualType::LVT_POINTS)
+    {
+      if (j+1 > this->dataPtr->points.size())
+      {
+        std::shared_ptr<Ogre2DynamicRenderable> renderable =
+                        std::shared_ptr<Ogre2DynamicRenderable>(
+                                    new Ogre2DynamicRenderable(this->Scene()));
+
+        renderable->SetOperationType(MT_POINTS);
+        MaterialPtr mat = this->Scene()->Material("Lidar/BlueRay");
+        renderable->SetMaterial(mat, false);
+
+        this->ogreNode->attachObject(renderable->OgreObject());
+        this->dataPtr->points.push_back(renderable);
+      }
+    }
+
+    if (this->dataPtr->lidarVisType == LidarVisualType::LVT_TRIANGLE_STRIPS)
+    {
+      this->dataPtr->deadZoneRayFans[j]->SetPoint(0, this->offset.Pos());
+    }
+
+    unsigned count = this->horizontalCount;
+    // Process each ray in current scan
+    for (unsigned int i = 0; i < count; ++i)
+    {
+      // calculate range of the ray
+      double r = this->dataPtr->lidarPoints[ j * this->horizontalCount + i];
+
+      bool inf = std::isinf(r);
+      ignition::math::Quaterniond ray(
+        ignition::math::Vector3d(0.0, -verticalAngle, horizontalAngle));
+
+      ignition::math::Vector3d axis = this->offset.Rot() * ray *
+        ignition::math::Vector3d(1.0, 0.0, 0.0);
+
+      // Check for infinite range, which indicates the ray did not
+      // intersect an object.
+      double hitRange = inf ? 0 : r;
+
+      // Compute the start point of the ray
+      ignition::math::Vector3d startPt =
+                  (axis * minRange) + this->offset.Pos();
+
+      // Compute the end point of the ray
+      ignition::math::Vector3d pt =
+                  (axis * hitRange) + this->offset.Pos();
+
+      double noHitRange = inf ? maxRange : hitRange;
+
+      // Compute the end point of the no-hit ray
+      ignition::math::Vector3d noHitPt =
+                  (axis * noHitRange) + this->offset.Pos();
+
+      // Update the lines and strips that represent each simulated ray.
+
+      // For TRIANGLE_STRIPS Lidar Visual to be displayed
+      if (this->dataPtr->lidarVisType == LidarVisualType::LVT_TRIANGLE_STRIPS
+        || this->dataPtr->lidarVisType == LidarVisualType::LVT_RAY_LINES)
+      {
+        if (i >= this->dataPtr->rayLines[j]->PointCount()/2)
+        {
+          if (this->displayNonHitting || !inf)
+          {
+            this->dataPtr->rayLines[j]->AddPoint(startPt);
+            this->dataPtr->rayLines[j]->AddPoint(inf ? noHitPt: pt);
+          }
+
+          if (this->dataPtr->lidarVisType ==
+                LidarVisualType::LVT_TRIANGLE_STRIPS)
+          {
+            this->dataPtr->rayStrips[j]->AddPoint(startPt);
+            this->dataPtr->rayStrips[j]->AddPoint(inf ? startPt : pt);
+
+            this->dataPtr->noHitRayStrips[j]->AddPoint(startPt);
+            this->dataPtr->noHitRayStrips[j]->AddPoint(
+                inf ? (this->displayNonHitting? noHitPt: startPt) : pt);
+          }
+        }
+        else
+        {
+          if (this->displayNonHitting || !inf)
+          {
+            this->dataPtr->rayLines[j]->SetPoint(i*2, startPt);
+            this->dataPtr->rayLines[j]->SetPoint(i*2+1, inf ? noHitPt: pt);
+          }
+
+          if (this->dataPtr->lidarVisType ==
+                LidarVisualType::LVT_TRIANGLE_STRIPS)
+          {
+            this->dataPtr->rayStrips[j]->SetPoint(i*2, startPt);
+            this->dataPtr->rayStrips[j]->SetPoint(i*2+1, inf? startPt : pt);
+
+            this->dataPtr->noHitRayStrips[j]->SetPoint(i*2, startPt);
+            this->dataPtr->noHitRayStrips[j]->SetPoint(i*2+1,
+                inf ? (this->displayNonHitting? noHitPt: startPt) : pt);
+          }
+        }
+        if (this->dataPtr->lidarVisType == LidarVisualType::LVT_TRIANGLE_STRIPS)
+        {
+          // Draw the triangle fan that indicates the dead zone.
+          if (i+1 >= this->dataPtr->deadZoneRayFans[j]->PointCount())
+            this->dataPtr->deadZoneRayFans[j]->AddPoint(startPt);
+          else
+            this->dataPtr->deadZoneRayFans[j]->SetPoint(i+1, startPt);
+        }
+      }
+
+      // For POINTS Lidar Visual to be displayed
+      else if (this->dataPtr->lidarVisType ==
+                LidarVisualType::LVT_POINTS)
+      {
+        if (i >= this->dataPtr->points[j]->PointCount())
+        {
+          if (this->displayNonHitting || !inf)
+          {
+            this->dataPtr->points[j]->AddPoint(inf ? noHitPt: pt);
+          }
+        }
+        else
+        {
+          if (this->displayNonHitting || !inf)
+          {
+            this->dataPtr->points[j]->SetPoint(i, inf ? noHitPt: pt);
+          }
+        }
+      }
+      horizontalAngle += this->horizontalAngleStep;
+    }
+
+    // Update the DynamicLines pointers after adding points based on type
+    if (this->dataPtr->lidarVisType == LidarVisualType::LVT_TRIANGLE_STRIPS
+      || this->dataPtr->lidarVisType == LidarVisualType::LVT_RAY_LINES)
+    {
+      this->dataPtr->rayLines[j]->Update();
+      if (this->dataPtr->lidarVisType ==
+                      LidarVisualType::LVT_TRIANGLE_STRIPS)
+      {
+        this->dataPtr->rayStrips[j]->Update();
+        this->dataPtr->noHitRayStrips[j]->Update();
+        this->dataPtr->deadZoneRayFans[j]->Update();
+      }
+    }
+    else if (this->dataPtr->lidarVisType == LidarVisualType::LVT_POINTS)
+    {
+      this->dataPtr->points[j]->Update();
+    }
+    verticalAngle += this->verticalAngleStep;
+  }
+}
+
+//////////////////////////////////////////////////
+unsigned int Ogre2LidarVisual::PointCount() const
+{
+  return this->dataPtr->lidarPoints.size();
+}
+
+//////////////////////////////////////////////////
+std::vector<double> Ogre2LidarVisual::Points() const
+{
+  return this->dataPtr->lidarPoints;
+}

From d6196590121251382637165c741346696d4b6866 Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Wed, 22 Jul 2020 12:52:11 +0530
Subject: [PATCH 2/9] Changed Colour

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 .../rendering/base/BaseLidarVisual.hh         | 19 ++++++++++++++-----
 1 file changed, 14 insertions(+), 5 deletions(-)

diff --git a/include/ignition/rendering/base/BaseLidarVisual.hh b/include/ignition/rendering/base/BaseLidarVisual.hh
index 4ae482b27..e4bd82bc4 100644
--- a/include/ignition/rendering/base/BaseLidarVisual.hh
+++ b/include/ignition/rendering/base/BaseLidarVisual.hh
@@ -444,22 +444,27 @@ namespace ignition
         mtl = this->Scene()->CreateMaterial("Lidar/BlueStrips");
         mtl->SetAmbient(0.0, 0.0, 1.0);
         mtl->SetDiffuse(0.0, 0.0, 1.0);
+        mtl->SetEmissive(0.0, 0.0, 1.0);
         mtl->SetTransparency(0.4);
         mtl->SetCastShadows(false);
         mtl->SetReceiveShadows(false);
         mtl->SetLightingEnabled(false);
+        mtl->SetMetalness(0.0);
+        mtl->SetReflectivity(0.0);
       }
 
       if (!this->Scene()->MaterialRegistered("Lidar/LightBlueStrips"))
       {
         mtl = this->Scene()->CreateMaterial("Lidar/LightBlueStrips");
-        mtl->SetAmbient(0.5, 0.5, 1.0);
-        mtl->SetDiffuse(0.5, 0.5, 1.0);
-        mtl->SetEmissive(0.5, 0.5, 1.0);
+        mtl->SetAmbient(0.0, 0.0, 1.0);
+        mtl->SetDiffuse(0.0, 0.0, 1.0);
+        mtl->SetEmissive(0.0, 0.0, 1.0);
         mtl->SetTransparency(0.8);
         mtl->SetCastShadows(false);
         mtl->SetReceiveShadows(false);
         mtl->SetLightingEnabled(false);
+        mtl->SetMetalness(0.0);
+        mtl->SetReflectivity(0.0);
       }
 
       if (!this->Scene()->MaterialRegistered("Lidar/TransBlack"))
@@ -468,10 +473,12 @@ namespace ignition
         mtl->SetAmbient(0.0, 0.0, 0.0);
         mtl->SetDiffuse(0.0, 0.0, 0.0);
         mtl->SetEmissive(0.0, 0.0, 0.0);
-        mtl->SetTransparency(0.7);
+        mtl->SetTransparency(0.4);
         mtl->SetCastShadows(false);
         mtl->SetReceiveShadows(false);
         mtl->SetLightingEnabled(false);
+        mtl->SetMetalness(0.5);
+        mtl->SetReflectivity(0.2);
       }
 
       if (!this->Scene()->MaterialRegistered("Lidar/BlueRay"))
@@ -480,11 +487,13 @@ namespace ignition
         mtl->SetAmbient(0.0, 0.0, 1.0);
         mtl->SetDiffuse(0.0, 0.0, 1.0);
         mtl->SetEmissive(0.0, 0.0, 1.0);
-        mtl->SetSpecular(0.1, 0.1, 1);
+        mtl->SetSpecular(0.0, 0.0, 1.0);
         mtl->SetTransparency(0.0);
         mtl->SetCastShadows(false);
         mtl->SetReceiveShadows(false);
         mtl->SetLightingEnabled(false);
+        mtl->SetMetalness(0.1);
+        mtl->SetReflectivity(0.2);
       }
       return;
     }

From 4dc44446c1c7be29d9b58820d713c887b16f0555 Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Wed, 22 Jul 2020 12:52:35 +0530
Subject: [PATCH 3/9] Minor changes, addded tests for Ogre2

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 examples/lidar_visual/Main.cc    |  2 +-
 test/integration/lidar_visual.cc | 22 ----------------------
 2 files changed, 1 insertion(+), 23 deletions(-)

diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc
index 56b067e9b..16d5a823d 100644
--- a/examples/lidar_visual/Main.cc
+++ b/examples/lidar_visual/Main.cc
@@ -219,7 +219,7 @@ LidarVisualPtr createLidar(ScenePtr _scene)
   // LVT_RAY_LINES -> Lines along the lidar sensor to the obstacle
   // LVT_TRIANGLE_STRIPS -> Coloured triangle strips denoting hitting and
   // non-hitting parts of the scan
-  lidar->SetType(LidarVisualType::LVT_RAY_LINES);
+  lidar->SetType(LidarVisualType::LVT_TRIANGLE_STRIPS);
   lidar->SetPoints(pts);
 
   VisualPtr root = _scene->RootVisual();
diff --git a/test/integration/lidar_visual.cc b/test/integration/lidar_visual.cc
index 8c3d6a964..713c31dab 100644
--- a/test/integration/lidar_visual.cc
+++ b/test/integration/lidar_visual.cc
@@ -72,13 +72,6 @@ void LidarVisualTest::Configure(const std::string &_renderEngine)
     return;
   }
 
-  if (_renderEngine == "ogre2")
-  {
-    igndbg << "LidarVisual not supported yet in rendering engine: "
-            << _renderEngine << std::endl;
-    return;
-  }
-
   // create and populate scene
   RenderEngine *engine = rendering::engine(_renderEngine);
   if (!engine)
@@ -177,14 +170,6 @@ void LidarVisualTest::RaysUnitBox(const std::string &_renderEngine)
     return;
   }
 
-  if (_renderEngine == "ogre2")
-  {
-    igndbg << "LidarVisual not supported yet in rendering engine: "
-            << _renderEngine << std::endl;
-    return;
-  }
-
-
   // Test lidar visual with 3 boxes in the world, using reading from GPU rays
   // First GPU rays at identity orientation, second at 90 degree roll
   // First place 2 of 3 boxes within range and verify range values from lidar.
@@ -427,13 +412,6 @@ void LidarVisualTest::LaserVertical(const std::string &_renderEngine)
     return;
   }
 
-  if (_renderEngine == "ogre2")
-  {
-    igndbg << "LidarVisual not supported yet in rendering engine: "
-            << _renderEngine << std::endl;
-    return;
-  }
-
   // Test a rays that has a vertical range component.
   // Place a box within range and verify range values,
   // then move the box out of range and verify range values

From ce843e0d98be59b7dfd1c37afb242fe45fe3d5e3 Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Wed, 22 Jul 2020 12:58:40 +0530
Subject: [PATCH 4/9] Edited Changelog

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 Changelog.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Changelog.md b/Changelog.md
index fbfeb1a06..042ad0b6f 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -6,6 +6,9 @@
 
 ### Ignition Rendering 4.0.0
 
+1. Added Lidar Visual for Ogre2
+    * [Pull request #116](https://github.com/ignitionrobotics/ign-rendering/pull/116)
+
 1. Added Lidar Visual Types for Ogre1
     * [Pull request #114](https://github.com/ignitionrobotics/ign-rendering/pull/114)
 

From 338c1a9173114ea13807fc8b9163652654c6537f Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Thu, 23 Jul 2020 11:43:44 +0530
Subject: [PATCH 5/9] minor changes

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 examples/lidar_visual/Main.cc                              | 2 +-
 ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc
index 16d5a823d..0935976bf 100644
--- a/examples/lidar_visual/Main.cc
+++ b/examples/lidar_visual/Main.cc
@@ -43,7 +43,7 @@ const std::string RESOURCE_PATH =
 const double hMinAngle = -2.26889;
 const double hMaxAngle = 2.26889;
 const double vMinAngle = 0;
-const double vMaxAngle = 0.1;
+const double vMaxAngle = 0;
 const double minRange = 0.08;
 const double maxRange = 10.0;
 const int hRayCount = 640;
diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
index 2562a5a8c..a93639030 100644
--- a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
+++ b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
@@ -34,7 +34,7 @@ namespace ignition
     // Forward declaration
     class Ogre2LidarVisualPrivate;
 
-    /// \brief Ogre implementation of a Lidar Visual.
+    /// \brief Ogre 2.x implementation of a Lidar Visual.
     class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2LidarVisual
       : public BaseLidarVisual<Ogre2Visual>
     {

From 8d4e7a7ae88035328dfd1146a5710a49e96c3998 Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Wed, 29 Jul 2020 16:53:41 +0530
Subject: [PATCH 6/9] added ClearVisual function

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 examples/lidar_visual/GlutWindow.cc           | 25 ++++++++++++++-----
 include/ignition/rendering/LidarVisual.hh     |  3 +++
 .../rendering/base/BaseLidarVisual.hh         | 10 ++++++++
 .../rendering/ogre/OgreLidarVisual.hh         |  3 +++
 ogre/src/OgreLidarVisual.cc                   | 12 +++++++++
 .../rendering/ogre2/Ogre2LidarVisual.hh       |  3 +++
 ogre2/src/Ogre2LidarVisual.cc                 | 12 +++++++++
 7 files changed, 62 insertions(+), 6 deletions(-)

diff --git a/examples/lidar_visual/GlutWindow.cc b/examples/lidar_visual/GlutWindow.cc
index 78dd83144..5f4b7b5fc 100644
--- a/examples/lidar_visual/GlutWindow.cc
+++ b/examples/lidar_visual/GlutWindow.cc
@@ -62,7 +62,7 @@ unsigned int g_cameraIndex = 0;
 ir::ImagePtr g_image;
 
 bool g_initContext = false;
-
+bool g_clear = false;
 std::vector<double> g_lidarData;
 ir::LidarVisualPtr g_lidar;
 bool g_lidarVisualUpdateDirty = false;
@@ -249,12 +249,19 @@ void updateLidarVisual()
   // change detected due to key press
   if (g_lidarVisualUpdateDirty)
   {
-    g_lidar->SetDisplayNonHitting(g_showNonHitting);
-    g_lidar->SetPoints(g_lidarData);
-    g_lidar->SetType(g_lidarVisType);
-    g_lidar->Update();
+    if(g_clear == true)
+    {
+      g_lidar->ClearVisual();
+    }
+    else
+    {
+      g_lidar->SetDisplayNonHitting(g_showNonHitting);
+      g_lidar->SetPoints(g_lidarData);
+      g_lidar->SetType(g_lidarVisType);
+      g_lidar->Update();
+    }
     g_lidarVisualUpdateDirty = false;
-
+    g_clear = false;
     g_time = std::chrono::steady_clock::now() - g_startTime;
     prevUpdateTime = std::chrono::duration_cast<std::chrono::microseconds>(
         g_time).count();
@@ -333,6 +340,11 @@ void keyboardCB(unsigned char _key, int, int)
     g_showNonHitting = !g_showNonHitting;
     g_lidarVisualUpdateDirty = true;
   }
+  else if (_key == 'c' || _key == 'C')
+  {
+    g_clear = true;
+    g_lidarVisualUpdateDirty = true;
+  }
   else if (_key == '0')
   {
     g_lidarVisType = LidarVisualType::LVT_NONE;
@@ -412,6 +424,7 @@ void printUsage()
   std::cout << "  ESC - Exit                              " << std::endl;
   std::cout << "                                          " << std::endl;
   std::cout << "  H: Toggle display for non-hitting rays  " << std::endl;
+  std::cout << "  C: Clear Visual                         " << std::endl;
   std::cout << "                                          " << std::endl;
   std::cout << "  0: Do not display visual                " << std::endl;
   std::cout << "  1: Display ray lines visual             " << std::endl;
diff --git a/include/ignition/rendering/LidarVisual.hh b/include/ignition/rendering/LidarVisual.hh
index 812410940..951fd8215 100644
--- a/include/ignition/rendering/LidarVisual.hh
+++ b/include/ignition/rendering/LidarVisual.hh
@@ -63,6 +63,9 @@ namespace ignition
       /// \brief Clear the points of the lidar visual
       public: virtual void ClearPoints() = 0;
 
+      /// \brief Clear the lidar visual
+      public: virtual void ClearVisual() = 0;
+
       /// \brief Update the Visual
       public: virtual void Update() = 0;
 
diff --git a/include/ignition/rendering/base/BaseLidarVisual.hh b/include/ignition/rendering/base/BaseLidarVisual.hh
index e4bd82bc4..89a4f5919 100644
--- a/include/ignition/rendering/base/BaseLidarVisual.hh
+++ b/include/ignition/rendering/base/BaseLidarVisual.hh
@@ -50,6 +50,9 @@ namespace ignition
       // Documentation inherited
       public: virtual void ClearPoints() override;
 
+      // Documentation inherited
+      public: virtual void ClearVisual() override;
+
       // Documentation inherited
       public: virtual void SetPoints(
               const std::vector<double> &_points) override;
@@ -218,6 +221,13 @@ namespace ignition
         // no op
     }
 
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseLidarVisual<T>::ClearVisual()
+    {
+        // no op
+    }
+
     /////////////////////////////////////////////////
     template <class T>
     unsigned int BaseLidarVisual<T>::PointCount() const
diff --git a/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh b/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh
index de93f234f..c15b0a077 100644
--- a/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh
+++ b/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh
@@ -63,6 +63,9 @@ namespace ignition
       // Documentation inherited
       public: virtual void ClearPoints() override;
 
+      // Documentation inherited
+      public: virtual void ClearVisual() override;
+
       // Documentation inherited
       public: virtual unsigned int PointCount() const override;
 
diff --git a/ogre/src/OgreLidarVisual.cc b/ogre/src/OgreLidarVisual.cc
index 5e8d6145c..f60e1fef0 100644
--- a/ogre/src/OgreLidarVisual.cc
+++ b/ogre/src/OgreLidarVisual.cc
@@ -154,6 +154,12 @@ void OgreLidarVisual::SetPoints(const std::vector<double> &_points)
 //////////////////////////////////////////////////
 void OgreLidarVisual::Update()
 {
+  if (this->lidarVisualType == LidarVisualType::LVT_NONE)
+  {
+    this->ClearVisualData();
+    return;
+  }
+
   if (!this->dataPtr->receivedData || this->dataPtr->lidarPoints.size() == 0)
   {
     ignwarn << "New lidar data not received. Exiting update function"
@@ -457,3 +463,9 @@ std::vector<double> OgreLidarVisual::Points() const
 {
   return this->dataPtr->lidarPoints;
 }
+
+//////////////////////////////////////////////////
+void OgreLidarVisual::ClearVisual()
+{
+  this->ClearVisualData();
+}
diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
index a93639030..5a6d2a5f6 100644
--- a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
+++ b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
@@ -63,6 +63,9 @@ namespace ignition
       // Documentation inherited
       public: virtual void ClearPoints() override;
 
+      // Documentation inherited
+      public: virtual void ClearVisual() override;
+
       // Documentation inherited
       public: virtual unsigned int PointCount() const override;
 
diff --git a/ogre2/src/Ogre2LidarVisual.cc b/ogre2/src/Ogre2LidarVisual.cc
index 2fb7f981b..8538a90a2 100644
--- a/ogre2/src/Ogre2LidarVisual.cc
+++ b/ogre2/src/Ogre2LidarVisual.cc
@@ -153,6 +153,12 @@ void Ogre2LidarVisual::SetPoints(const std::vector<double> &_points)
 //////////////////////////////////////////////////
 void Ogre2LidarVisual::Update()
 {
+  if (this->lidarVisualType == LidarVisualType::LVT_NONE)
+  {
+    this->ClearVisualData();
+    return;
+  }
+
   if (!this->dataPtr->receivedData || this->dataPtr->lidarPoints.size() == 0)
   {
     ignwarn << "New lidar data not received. Exiting update function"
@@ -435,3 +441,9 @@ std::vector<double> Ogre2LidarVisual::Points() const
 {
   return this->dataPtr->lidarPoints;
 }
+
+//////////////////////////////////////////////////
+void Ogre2LidarVisual::ClearVisual()
+{
+  this->ClearVisualData();
+}

From 03ac1688c3a34762ac9ea7db22deae9d2da906c2 Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Wed, 29 Jul 2020 18:30:52 +0530
Subject: [PATCH 7/9] fix linter error
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 examples/lidar_visual/GlutWindow.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/lidar_visual/GlutWindow.cc b/examples/lidar_visual/GlutWindow.cc
index 5f4b7b5fc..c7301e7d4 100644
--- a/examples/lidar_visual/GlutWindow.cc
+++ b/examples/lidar_visual/GlutWindow.cc
@@ -249,7 +249,7 @@ void updateLidarVisual()
   // change detected due to key press
   if (g_lidarVisualUpdateDirty)
   {
-    if(g_clear == true)
+    if (g_clear == true)
     {
       g_lidar->ClearVisual();
     }

From 2cafdb082c717fd9effe116d2c610914c43eb2f2 Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Tue, 4 Aug 2020 19:56:54 +0530
Subject: [PATCH 8/9] ClearPoints function clears visual, removed ClearVisual
 function

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 include/ignition/rendering/LidarVisual.hh              |  3 ---
 include/ignition/rendering/base/BaseLidarVisual.hh     | 10 ----------
 .../include/ignition/rendering/ogre/OgreLidarVisual.hh |  3 ---
 ogre/src/OgreLidarVisual.cc                            |  7 +------
 .../ignition/rendering/ogre2/Ogre2LidarVisual.hh       |  3 ---
 ogre2/src/Ogre2LidarVisual.cc                          |  7 +------
 6 files changed, 2 insertions(+), 31 deletions(-)

diff --git a/include/ignition/rendering/LidarVisual.hh b/include/ignition/rendering/LidarVisual.hh
index 951fd8215..812410940 100644
--- a/include/ignition/rendering/LidarVisual.hh
+++ b/include/ignition/rendering/LidarVisual.hh
@@ -63,9 +63,6 @@ namespace ignition
       /// \brief Clear the points of the lidar visual
       public: virtual void ClearPoints() = 0;
 
-      /// \brief Clear the lidar visual
-      public: virtual void ClearVisual() = 0;
-
       /// \brief Update the Visual
       public: virtual void Update() = 0;
 
diff --git a/include/ignition/rendering/base/BaseLidarVisual.hh b/include/ignition/rendering/base/BaseLidarVisual.hh
index 89a4f5919..e4bd82bc4 100644
--- a/include/ignition/rendering/base/BaseLidarVisual.hh
+++ b/include/ignition/rendering/base/BaseLidarVisual.hh
@@ -50,9 +50,6 @@ namespace ignition
       // Documentation inherited
       public: virtual void ClearPoints() override;
 
-      // Documentation inherited
-      public: virtual void ClearVisual() override;
-
       // Documentation inherited
       public: virtual void SetPoints(
               const std::vector<double> &_points) override;
@@ -221,13 +218,6 @@ namespace ignition
         // no op
     }
 
-    /////////////////////////////////////////////////
-    template <class T>
-    void BaseLidarVisual<T>::ClearVisual()
-    {
-        // no op
-    }
-
     /////////////////////////////////////////////////
     template <class T>
     unsigned int BaseLidarVisual<T>::PointCount() const
diff --git a/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh b/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh
index c15b0a077..de93f234f 100644
--- a/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh
+++ b/ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh
@@ -63,9 +63,6 @@ namespace ignition
       // Documentation inherited
       public: virtual void ClearPoints() override;
 
-      // Documentation inherited
-      public: virtual void ClearVisual() override;
-
       // Documentation inherited
       public: virtual unsigned int PointCount() const override;
 
diff --git a/ogre/src/OgreLidarVisual.cc b/ogre/src/OgreLidarVisual.cc
index f60e1fef0..66cc126bf 100644
--- a/ogre/src/OgreLidarVisual.cc
+++ b/ogre/src/OgreLidarVisual.cc
@@ -131,6 +131,7 @@ void OgreLidarVisual::Create()
 void OgreLidarVisual::ClearPoints()
 {
   this->dataPtr->lidarPoints.clear();
+  this->ClearVisualData();
   this->dataPtr->receivedData = false;
 }
 
@@ -463,9 +464,3 @@ std::vector<double> OgreLidarVisual::Points() const
 {
   return this->dataPtr->lidarPoints;
 }
-
-//////////////////////////////////////////////////
-void OgreLidarVisual::ClearVisual()
-{
-  this->ClearVisualData();
-}
diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
index 5a6d2a5f6..a93639030 100644
--- a/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
+++ b/ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
@@ -63,9 +63,6 @@ namespace ignition
       // Documentation inherited
       public: virtual void ClearPoints() override;
 
-      // Documentation inherited
-      public: virtual void ClearVisual() override;
-
       // Documentation inherited
       public: virtual unsigned int PointCount() const override;
 
diff --git a/ogre2/src/Ogre2LidarVisual.cc b/ogre2/src/Ogre2LidarVisual.cc
index 8538a90a2..3ecd37d59 100644
--- a/ogre2/src/Ogre2LidarVisual.cc
+++ b/ogre2/src/Ogre2LidarVisual.cc
@@ -130,6 +130,7 @@ void Ogre2LidarVisual::Create()
 void Ogre2LidarVisual::ClearPoints()
 {
   this->dataPtr->lidarPoints.clear();
+  this->ClearVisualData();
   this->dataPtr->receivedData = false;
 }
 
@@ -441,9 +442,3 @@ std::vector<double> Ogre2LidarVisual::Points() const
 {
   return this->dataPtr->lidarPoints;
 }
-
-//////////////////////////////////////////////////
-void Ogre2LidarVisual::ClearVisual()
-{
-  this->ClearVisualData();
-}

From cb470cce8e2d31b4e2b0b0ef9716e1af671b347a Mon Sep 17 00:00:00 2001
From: Mihir Kulkarni <mihirk284@gmail.com>
Date: Tue, 4 Aug 2020 20:08:23 +0530
Subject: [PATCH 9/9] updated example

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
---
 examples/lidar_visual/GlutWindow.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/lidar_visual/GlutWindow.cc b/examples/lidar_visual/GlutWindow.cc
index c7301e7d4..51f51cdb7 100644
--- a/examples/lidar_visual/GlutWindow.cc
+++ b/examples/lidar_visual/GlutWindow.cc
@@ -251,7 +251,7 @@ void updateLidarVisual()
   {
     if (g_clear == true)
     {
-      g_lidar->ClearVisual();
+      g_lidar->ClearPoints();
     }
     else
     {