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Ogre2 Implementation for Lidar Visual #116

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Aug 5, 2020
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Ogre2 Implementation for Lidar Visual #116

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2cbac81
Added Ogre2 implementation for lidar visual
mihirk284 Jul 22, 2020
d619659
Changed Colour
mihirk284 Jul 22, 2020
4dc4444
Minor changes, addded tests for Ogre2
mihirk284 Jul 22, 2020
ce843e0
Edited Changelog
mihirk284 Jul 22, 2020
338c1a9
minor changes
mihirk284 Jul 23, 2020
8d4e7a7
added ClearVisual function
mihirk284 Jul 29, 2020
03ac168
fix linter error
mihirk284 Jul 29, 2020
2cafdb0
ClearPoints function clears visual, removed ClearVisual function
mihirk284 Aug 4, 2020
cb470cc
updated example
mihirk284 Aug 4, 2020
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3 changes: 3 additions & 0 deletions Changelog.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

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2 changes: 1 addition & 1 deletion examples/lidar_visual/Main.cc
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Expand Up @@ -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);
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Is there any reason to change this?

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I did this as LVT_TRIANGLE_STRIPS was the standard visual before ( before we added types, and the only visual in Gazebo Classic), in order to retain the same in the example.

lidar->SetPoints(pts);

VisualPtr root = _scene->RootVisual();
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19 changes: 14 additions & 5 deletions include/ignition/rendering/base/BaseLidarVisual.hh
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Expand Up @@ -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"))
Expand All @@ -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"))
Expand All @@ -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;
}
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36 changes: 33 additions & 3 deletions ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh
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Expand Up @@ -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"
Expand All @@ -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();
Expand All @@ -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;
};
}
}
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