Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add types for lidar visual #114

Merged
merged 17 commits into from
Jul 22, 2020
Merged

Add types for lidar visual #114

merged 17 commits into from
Jul 22, 2020

Conversation

mihirk284
Copy link
Contributor

Added points and lines to the lidar visual. Additional API to display only those points that are hitting is also added.

Please see issue ignitionrobotics/ign-rendering#84.

POINTS2
POINTS1
RAY2
RAY1

@mihirk284 mihirk284 requested a review from iche033 as a code owner July 12, 2020 09:12
@ahcorde
Copy link
Contributor

ahcorde commented Jul 13, 2020

@mihirk284 can you review the history of the commits?

It looks like only the 2 or 3 last commits are not in master

mihirk284 added 4 commits July 13, 2020 18:16
@mihirk284
added types for lidar visual, option to display non-hitting rays
7e0f31d 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
example updated
ca80ab1 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
updated lidar_visual test
4eadd0d 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
Linter Error fix
b0dd066 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284 mihirk284 force-pushed the lidar_visual_add_types branch from e1e1ae0 to b0dd066 Compare July 13, 2020 13:07
iche033
iche033 reviewed Jul 13, 2020
View reviewed changes
Copy link
Contributor

@iche033 iche033 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Changing the visualization type in the example works for me! I left a few inline comments.

There are some coding style errors. You can find them doing running sh tools/code_check.sh from the ign-rendering root dir.

Please also update changelog.

mihirk284 added 5 commits July 14, 2020 18:53
@mihirk284
Edited code to make it shorter
78d12f1 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
Fixed update slowdown error
8a34ff4 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
Fixed unrelated linter errors
6f2d72d 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
Working keypress example
ce5af20 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
destroy function update
cb21fa4 
Signed-off-by: Mihir Kulkarni <[email protected]>
iche033
iche033 reviewed Jul 15, 2020
View reviewed changes
iche033
iche033 reviewed Jul 15, 2020
View reviewed changes
Copy link
Contributor

@iche033 iche033 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I noticed that in point visualization mode, a point is drawn in the center of the lidar visual. Do you see that?

@mihirk284
Copy link
Contributor Author

mihirk284 commented Jul 16, 2020 •
edited
Loading

I think that happened because of our initial assumption that the number of points remains the same for the visuals. In this case, I am updating the code to clear all visuals inside the Update() when the displayNonHitting value is set to true. This will remove the older points from memory instead of placing them at the centre of the visual. This change makes the Update() slightly slower than before.

mihirk284 added 3 commits July 19, 2020 21:42
@mihirk284
Fixed Destroy errors
882539f 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
Minor fixes
fc48246 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
Can set id and name of lidar visual
3296d4c 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284 mihirk284 force-pushed the lidar_visual_add_types branch from 600560e to 3296d4c Compare July 20, 2020 08:20
@chapulina chapulina added the 🔮 dome Ignition Dome label Jul 20, 2020
ahcorde
ahcorde requested changes Jul 21, 2020
View reviewed changes
ahcorde
ahcorde reviewed Jul 21, 2020
View reviewed changes
examples/lidar_visual/GlutWindow.hh
@@ -26,6 +26,8 @@ namespace ic = ignition::common;

/// \brief Run the demo and display Lidar Visual
/// \param[in] _cameras Cameras in the scene
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Document arguments

mihirk284 and others added 3 commits July 21, 2020 22:01
@mihirk284 @ahcorde
Remove space
4ab3317 
Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
removed whitespaces
14f68a1 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284
fixed document arguments
fa37115 
Signed-off-by: Mihir Kulkarni <[email protected]>
@mihirk284 mihirk284 force-pushed the lidar_visual_add_types branch from 6630422 to fa37115 Compare July 21, 2020 16:31
iche033
iche033 reviewed Jul 21, 2020
View reviewed changes
Copy link
Contributor

@iche033 iche033 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

just need to fix windows build error. Otherwise, it's good to go.

ogre/src/OgreLidarVisual.cc
#if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
line->setMaterial("Lidar/LightBlueStrips");
#else
mat = Ogre::MaterialManager::getSingleton().getByName(
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

windows CI caught a build error here. This needs to be:

            Ogre::MaterialPtr mat = 
                Ogre::MaterialManager::getSingleton().getByName(
                "Lidar/BlueRay");

ogre/src/OgreLidarVisual.cc
#if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
line->setMaterial("Lidar/TransBlack");
#else
mat = Ogre::MaterialManager::getSingleton().getByName(
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

same change is needed here. Need to declare mat

ogre/src/OgreLidarVisual.cc
#if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
line->setMaterial("Lidar/BlueStrips");
#else
mat = Ogre::MaterialManager::getSingleton().getByName(
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

same here

ogre/src/OgreLidarVisual.cc Outdated
#if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
line->setMaterial("Lidar/BlueRay");
#else
mat = Ogre::MaterialManager::getSingleton().getByName(
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

another one

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@iche033 I think only this one needs the declaration. The others above are in the same namespace so the variable can be reused. I've pushed the edit for the same.

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

new build looks good!

@mihirk284
fix windows CI build error
9be898e 
Signed-off-by: Mihir Kulkarni <[email protected]>
@iche033 iche033 merged commit e22fd80 into gazebosim:master Jul 22, 2020
@mihirk284 mihirk284 deleted the lidar_visual_add_types branch August 5, 2020 10:28
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@ahcorde ahcorde ahcorde approved these changes

@iche033 iche033 iche033 approved these changes

Assignees
No one assigned
Labels
🔮 dome Ignition Dome
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
4 participants
@mihirk284 @ahcorde @iche033 @chapulina