ros-noetic-rviz.osx.patch

diff --git a/src/rviz/default_plugin/camera_display.cpp b/src/rviz/default_plugin/camera_display.cpp
index e092e196..a06cacd9 100644
--- a/src/rviz/default_plugin/camera_display.cpp
+++ b/src/rviz/default_plugin/camera_display.cpp
@@ -34,6 +34,7 @@
 #include <OgreRectangle2D.h>
 #include <OgreRenderSystem.h>
 #include <OgreRenderWindow.h>
+#include <OgreRoot.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
 #include <OgreTextureManager.h>
@@ -103,6 +104,8 @@ CameraDisplay::CameraDisplay()
       &CameraDisplay::forceRender);
   zoom_property_->setMin(0.00001);
   zoom_property_->setMax(100000);
+
+  has_run_once_ = false;
 }
 
 CameraDisplay::~CameraDisplay()
@@ -128,8 +131,16 @@ void CameraDisplay::onInitialize()
 {
   ImageDisplayBase::onInitialize();
 
-  bg_scene_node_ = scene_node_->createChildSceneNode();
-  fg_scene_node_ = scene_node_->createChildSceneNode();
+  {
+    static uint32_t count = 0;
+    std::stringstream ss;
+    ss << "CameraDisplay" << count++;
+    camera_scene_manager_ = Ogre::Root::getSingleton().createSceneManager(Ogre::ST_GENERIC, ss.str());
+  }
+
+  bg_scene_node_ = camera_scene_manager_->getRootSceneNode()->createChildSceneNode();
+  fg_scene_node_ = camera_scene_manager_->getRootSceneNode()->createChildSceneNode();
+
 
   {
     static int count = 0;
@@ -215,8 +226,16 @@ void CameraDisplay::onInitialize()
 void CameraDisplay::preRenderTargetUpdate(const Ogre::RenderTargetEvent& /*evt*/)
 {
   QString image_position = image_position_property_->getString();
-  bg_scene_node_->setVisible(caminfo_ok_ && (image_position == BACKGROUND || image_position == BOTH));
-  fg_scene_node_->setVisible(caminfo_ok_ && (image_position == OVERLAY || image_position == BOTH));
+
+  if (has_run_once_)
+  {
+    fg_scene_node_->setVisible(caminfo_ok_ && (image_position == OVERLAY || image_position == BOTH));
+    bg_scene_node_->setVisible(caminfo_ok_ && (image_position == BACKGROUND || image_position == BOTH));
+  }
+  else
+  {
+    has_run_once_ = true;
+  }
 
   // set view flags on all displays
   visibility_property_->update();
diff --git a/src/rviz/default_plugin/camera_display.h b/src/rviz/default_plugin/camera_display.h
index 175a3a24..ccd4d6f3 100644
--- a/src/rviz/default_plugin/camera_display.h
+++ b/src/rviz/default_plugin/camera_display.h
@@ -96,6 +96,8 @@ protected:
   ROSImageTexture texture_;
   RenderPanel* render_panel_;
 
+  Ogre::SceneManager* camera_scene_manager_;
+
 private Q_SLOTS:
   void forceRender();
   void updateAlpha();
@@ -135,6 +137,8 @@ private:
   bool force_render_;
 
   uint32_t vis_bit_;
+
+  bool has_run_once_;
 };
 
 } // namespace rviz
diff --git a/src/rviz/default_plugin/image_display.cpp b/src/rviz/default_plugin/image_display.cpp
index e460a8db..4624c996 100644
--- a/src/rviz/default_plugin/image_display.cpp
+++ b/src/rviz/default_plugin/image_display.cpp
@@ -73,6 +73,7 @@ ImageDisplay::ImageDisplay() : ImageDisplayBase(), texture_()
                       this, &ImageDisplay::updateNormalizeOptions);
 
   got_float_image_ = false;
+  has_run_once_ = false;
 }
 
 void ImageDisplay::onInitialize()
@@ -121,9 +122,11 @@ void ImageDisplay::onInitialize()
     screen_rect_->setBoundingBox(aabInf);
     setMaterial(*screen_rect_, material_);
     img_scene_node_->attachObject(screen_rect_);
+    img_scene_node_->setVisible(false);
   }
 
   render_panel_ = new RenderPanel();
+  render_panel_->getRenderWindow()->addListener(this);
   render_panel_->getRenderWindow()->setAutoUpdated(false);
   render_panel_->getRenderWindow()->setActive(false);
 
@@ -146,12 +149,32 @@ ImageDisplay::~ImageDisplay()
 {
   if (initialized())
   {
+    render_panel_->getRenderWindow()->removeListener(this);
+
     delete render_panel_;
     delete screen_rect_;
     removeAndDestroyChildNode(img_scene_node_->getParentSceneNode(), img_scene_node_);
   }
 }
 
+void ImageDisplay::preRenderTargetUpdate(const Ogre::RenderTargetEvent& /*evt*/)
+{
+  if (has_run_once_)
+  {
+    img_scene_node_->setVisible(true);
+  }
+  else
+  {
+    has_run_once_ = true;
+    img_scene_node_->setVisible(false);
+  }
+}
+
+void ImageDisplay::postRenderTargetUpdate(const Ogre::RenderTargetEvent& /*evt*/)
+{
+  img_scene_node_->setVisible(false);
+}
+
 void ImageDisplay::onEnable()
 {
   ImageDisplayBase::subscribe();
diff --git a/src/rviz/default_plugin/image_display.h b/src/rviz/default_plugin/image_display.h
index 21a4e1b0..ae11d3e4 100644
--- a/src/rviz/default_plugin/image_display.h
+++ b/src/rviz/default_plugin/image_display.h
@@ -60,7 +60,7 @@ namespace rviz
  * \class ImageDisplay
  *
  */
-class ImageDisplay : public ImageDisplayBase
+class ImageDisplay : public ImageDisplayBase, public Ogre::RenderTargetListener
 {
   Q_OBJECT
 public:
@@ -72,6 +72,10 @@ public:
   void update(float wall_dt, float ros_dt) override;
   void reset() override;
 
+  // Overrides from Ogre::RenderTargetListener
+  void preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt) override;
+  void postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt) override;
+
 public Q_SLOTS:
   virtual void updateNormalizeOptions();
 
@@ -100,6 +104,7 @@ private:
   FloatProperty* max_property_;
   IntProperty* median_buffer_size_property_;
   bool got_float_image_;
+  bool has_run_once_;
 
   MouseClick* mouse_click_;
 };
diff --git a/src/rviz/ogre_helpers/render_system.cpp b/src/rviz/ogre_helpers/render_system.cpp
index 4005f982..8515e7b8 100644
--- a/src/rviz/ogre_helpers/render_system.cpp
+++ b/src/rviz/ogre_helpers/render_system.cpp
@@ -444,7 +444,7 @@ Ogre::RenderWindow* RenderSystem::makeRenderWindow(WindowIDType window_id,
         // Created a non-stereo window.  Discard it and try again (below)
         // without the stereo parameter.
         ogre_root_->detachRenderTarget(window);
-        window->destroy();
+        ogre_root_->destroyRenderTarget(window);
         window = nullptr;
         stream << "x";
         is_stereo = false;
@@ -501,6 +501,7 @@ Ogre::RenderWindow* RenderSystem::tryMakeRenderWindow(const std::string& name,
       if (x_baddrawable_error)
       {
         ogre_root_->detachRenderTarget(window);
+        ogre_root_->destroyRenderTarget(window);
         window = nullptr;
         x_baddrawable_error = false;
       }
diff --git a/src/rviz/render_panel.cpp b/src/rviz/render_panel.cpp
index c52c0180..88b07e39 100644
--- a/src/rviz/render_panel.cpp
+++ b/src/rviz/render_panel.cpp
@@ -35,6 +35,7 @@
 
 #include <OgreSceneManager.h>
 #include <OgreCamera.h>
+#include <OgreRenderWindow.h>
 
 #include <rviz/display.h>
 #include <rviz/view_controller.h>
@@ -100,6 +101,12 @@ void RenderPanel::leaveEvent(QEvent* /*event*/)
   }
 }
 
+void RenderPanel::resizeEvent(QResizeEvent* event)
+{
+  QWidget::resizeEvent(event);
+  render_window_->windowMovedOrResized();
+}
+
 void RenderPanel::onRenderWindowMouseEvents(QMouseEvent* event)
 {
   int last_x = mouse_x_;
diff --git a/src/rviz/render_panel.h b/src/rviz/render_panel.h
index 2ce29c6f..e1ef904e 100644
--- a/src/rviz/render_panel.h
+++ b/src/rviz/render_panel.h
@@ -118,6 +118,8 @@ protected:
   /// Called when any mouse event happens inside the render window
   void onRenderWindowMouseEvents(QMouseEvent* event);
 
+  void resizeEvent(QResizeEvent* event) override;
+
   // QWidget mouse events all get sent to onRenderWindowMouseEvents().
   // QMouseEvent.type() distinguishes them later.
   void mouseMoveEvent(QMouseEvent* event) override