Add SetSize API for LidarVisual (gazebosim#392)

* add set size for lidar visual Signed-off-by: Ian Chen <[email protected]> * update unit test Signed-off-by: Ian Chen <[email protected]> * fix warnings Signed-off-by: Ian Chen <[email protected]> * ogre2 working Signed-off-by: Ian Chen <[email protected]> * testing homewbrew Signed-off-by: Ian Chen <[email protected]> * more testing homebrew Signed-off-by: Ian Chen <[email protected]> * test arb extension Signed-off-by: Ian Chen <[email protected]> * testing no extension Signed-off-by: Ian Chen <[email protected]> * fixing windows Signed-off-by: Ian Chen <[email protected]> * fixing windows Signed-off-by: Ian Chen <[email protected]> * update doc Signed-off-by: Ian Chen <[email protected]> * fixes Signed-off-by: Ian Chen <[email protected]> * update doc Signed-off-by: Ian Chen <[email protected]> * Add SetSize API for Marker point size (gazebosim#403) Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: William Lew <[email protected]>
WilliamLewww · Dec 7, 2021 · 46d8011 · 46d8011
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Showing 18 changed files with 352 additions and 8 deletions.
diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc
@@ -213,6 +213,7 @@ LidarVisualPtr createLidar(ScenePtr _scene)
   lidar->SetMaxVerticalAngle(vMaxAngle);
   lidar->SetMaxRange(maxRange);
   lidar->SetMinRange(minRange);
+  lidar->SetSize(5.0);
 
   // the types can be set as follows:-
   // LVT_POINTS -> Lidar Points at the range value

diff --git a/examples/lidar_visual/README.md b/examples/lidar_visual/README.md
@@ -20,7 +20,7 @@ By default, the demo uses the Ogre 1 engine:
 
     ./lidar_visual
 
-It's also possible to use Ogre 2, i.e. (Currently disabled)
+It's also possible to use Ogre 2:
 
     ./lidar_visual ogre2
 
diff --git a/include/ignition/rendering/LidarVisual.hh b/include/ignition/rendering/LidarVisual.hh
@@ -171,6 +171,16 @@ namespace ignition
       /// \return The type for lidar visual
       public: virtual LidarVisualType Type() const = 0;
 
+      /// \brief Set size of the lidar visualization,
+      /// e.g. size of rasterized lidar points in pixels
+      /// \param[in] _size Size of the lidar visualization.
+      public: virtual void SetSize(double _size) = 0;
+
+      /// \brief Get size of the lidar visualization
+      /// \return Size of the lidar visualization.
+      /// \sa SetSize
+      public: virtual double Size() const = 0;
+
       /// \brief Set if non-hitting rays will be displayed
       /// (this does not work for TRIANGLE_STRIPS visual)
       /// \param[in] _display Boolean value to display non hitting visuals

diff --git a/include/ignition/rendering/Marker.hh b/include/ignition/rendering/Marker.hh
@@ -108,6 +108,16 @@ namespace ignition
       /// \return The render type of the marker
       public: virtual ignition::rendering::MarkerType Type() const = 0;
 
+      /// \brief Set size of the marker. Only affects MT_POINTS.
+      /// e.g. size of rasterized points in pixels
+      /// \param[in] _size Size of the marker
+      public: virtual void SetSize(double _size) = 0;
+
+      /// \brief Get the size of the marker.
+      /// \return The size of the marker
+      /// \sa SetSize
+      public: virtual double Size() const = 0;
+
       /// \brief Clear the points of the marker, if applicable
       public: virtual void ClearPoints() = 0;
 

diff --git a/include/ignition/rendering/base/BaseLidarVisual.hh b/include/ignition/rendering/base/BaseLidarVisual.hh
@@ -138,6 +138,12 @@ namespace ignition
       // Documentation inherited
       public: virtual LidarVisualType Type() const override;
 
+      // Documentation inherited
+      public: virtual void SetSize(double _size) override;
+
+      // Documentation inherited
+      public: virtual double Size() const override;
+
       /// \brief Create predefined materials for lidar visual
       public: virtual void CreateMaterials();
 
@@ -186,6 +192,9 @@ namespace ignition
       /// \brief Type of lidar visualisation
       protected: LidarVisualType lidarVisualType =
                       LidarVisualType::LVT_TRIANGLE_STRIPS;
+
+      /// \brief Size of lidar visualisation
+      protected: double size = 1.0;
     };
 
     /////////////////////////////////////////////////
@@ -432,6 +441,20 @@ namespace ignition
       return this->lidarVisualType;
     }
 
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseLidarVisual<T>::SetSize(double _size)
+    {
+      this->size = _size;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    double BaseLidarVisual<T>::Size() const
+    {
+      return this->size;
+    }
+
     /////////////////////////////////////////////////
     template <class T>
     void BaseLidarVisual<T>::SetDisplayNonHitting(bool _display)

diff --git a/include/ignition/rendering/base/BaseMarker.hh b/include/ignition/rendering/base/BaseMarker.hh
@@ -60,6 +60,12 @@ namespace ignition
       // Documentation inherited
       public: virtual MarkerType Type() const override;
 
+      // Documentation inherited
+      public: virtual void SetSize(double _size) override;
+
+      // Documentation inherited
+      public: virtual double Size() const override;
+
       // Documentation inherited
       public: virtual void SetLayer(int32_t _layer) override;
 
@@ -97,6 +103,9 @@ namespace ignition
       /// \brief Marker type
       protected: MarkerType markerType =
           ignition::rendering::MarkerType::MT_NONE;
+
+      /// \brief Marker size
+      protected: double size = 1.0;
     };
 
     /////////////////////////////////////////////////
@@ -159,6 +168,21 @@ namespace ignition
       return this->markerType;
     }
 
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseMarker<T>::SetSize(double _size)
+    {
+      this->size = _size;
+      this->markerDirty = true;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    double BaseMarker<T>::Size() const
+    {
+      return this->size;
+    }
+
     /////////////////////////////////////////////////
     template <class T>
     void BaseMarker<T>::PreRender()

diff --git a/ogre/src/OgreLidarVisual.cc b/ogre/src/OgreLidarVisual.cc
@@ -12,7 +12,7 @@
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
- * 
+ *
  */
 
 #include <ignition/common/Console.hh>
@@ -486,6 +486,16 @@ void OgreLidarVisual::Update()
     verticalAngle += this->verticalAngleStep;
   }
 
+  if (this->dataPtr->lidarVisType == LidarVisualType::LVT_POINTS &&
+      !this->dataPtr->points.empty())
+  {
+    // get the PointCloudPoint material
+    Ogre::MaterialPtr mat = this->dataPtr->points[0]->getMaterial();
+    auto pass = mat->getTechnique(0)->getPass(0);
+    auto params = pass->getVertexProgramParameters();
+    params->setNamedConstant("size", static_cast<Ogre::Real>(this->size));
+  }
+
   // The newly created dynamic lines are having default visibility as true.
   // The visibility needs to be set as per the current value after the new
   // renderables are created.

diff --git a/ogre/src/OgreMarker.cc b/ogre/src/OgreMarker.cc
@@ -54,6 +54,30 @@ OgreMarker::~OgreMarker()
 //////////////////////////////////////////////////
 void OgreMarker::PreRender()
 {
+  if (this->markerType == MarkerType::MT_POINTS &&
+      this->dataPtr->dynamicRenderable &&
+      this->dataPtr->dynamicRenderable->PointCount() > 0u)
+  {
+    std::string pointsMatName = "PointCloudPoint";
+    if (this->dataPtr->dynamicRenderable->getMaterial().isNull() ||
+        this->dataPtr->dynamicRenderable->getMaterial()->getName()
+        != pointsMatName)
+    {
+#if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
+      this->dataPtr->dynamicRenderable->setMaterial(pointsMatName);
+#else
+      Ogre::MaterialPtr pointsMat =
+          Ogre::MaterialManager::getSingleton().getByName(
+          pointsMatName);
+      this->dataPtr->dynamicRenderable->setMaterial(pointsMat);
+#endif
+    }
+    auto pass = this->dataPtr->dynamicRenderable->getMaterial()->getTechnique(
+        0)->getPass(0);
+    auto vertParams = pass->getVertexProgramParameters();
+    vertParams->setNamedConstant("size", static_cast<Ogre::Real>(this->size));
+  }
+
   this->dataPtr->dynamicRenderable->Update();
 }
 

diff --git a/ogre/src/media/materials/programs/point_vs.glsl b/ogre/src/media/materials/programs/point_vs.glsl
@@ -5,10 +5,11 @@
 // Works for perspective and orthographic projection.
 
 uniform mat4 worldviewproj_matrix;
+uniform float size;
 
 void main()
 {
   gl_Position = worldviewproj_matrix * gl_Vertex;
   gl_FrontColor = gl_Color;
-  gl_PointSize = 10 / gl_Position.w;
-}
+  gl_PointSize = size;
+}
diff --git a/ogre/src/media/materials/scripts/point_cloud_point.material b/ogre/src/media/materials/scripts/point_cloud_point.material
@@ -6,13 +6,13 @@ vertex_program PointCloudVS glsl
   default_params
   {
     param_named_auto worldviewproj_matrix worldviewproj_matrix
+    param_named size float 1.0
   }
 }
 
 fragment_program PointCloudFS glsl
 {
   source point_fs.glsl
-
 }
 
 material PointCloudPoint
@@ -27,4 +27,4 @@ material PointCloudPoint
       fragment_program_ref PointCloudFS {}
     }
   }
-}
+}
diff --git a/ogre2/src/Ogre2DynamicRenderable.cc b/ogre2/src/Ogre2DynamicRenderable.cc
@@ -326,6 +326,9 @@ void Ogre2DynamicRenderable::UpdateBuffer()
   // update item aabb
   if (this->dataPtr->ogreItem)
   {
+    bool castShadows = this->dataPtr->ogreItem->getCastShadows();
+    auto lowLevelMat = this->dataPtr->ogreItem->getSubItem(0)->getMaterial();
+
     // need to rebuild ogre [sub]item because the vao was destroyed
     // this updates the item's bounding box and fixes occasional crashes
     // from invalid access to old vao
@@ -340,6 +343,13 @@ void Ogre2DynamicRenderable::UpdateBuffer()
       this->dataPtr->ogreItem->setCastShadows(
           this->dataPtr->material->CastShadows());
     }
+    else if (lowLevelMat)
+    {
+      // the _initialise call above resets the ogre item properties so set
+      // them again
+      this->dataPtr->ogreItem->getSubItem(0)->setMaterial(lowLevelMat);
+      this->dataPtr->ogreItem->setCastShadows(castShadows);
+    }
   }
 
   this->dataPtr->dirty = false;

diff --git a/ogre2/src/Ogre2LidarVisual.cc b/ogre2/src/Ogre2LidarVisual.cc
@@ -15,8 +15,19 @@
  *
  */
 
+#ifdef __APPLE__
+  #define GL_SILENCE_DEPRECATION
+  #include <OpenGL/gl.h>
+  #include <OpenGL/glext.h>
+#else
+#ifndef _WIN32
+  #include <GL/gl.h>
+#endif
+#endif
 
 #include <ignition/common/Console.hh>
+
+#include "ignition/rendering/ogre2/Ogre2Conversions.hh"
 #include "ignition/rendering/ogre2/Ogre2DynamicRenderable.hh"
 #include "ignition/rendering/ogre2/Ogre2LidarVisual.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
@@ -26,7 +37,10 @@
 #ifdef _MSC_VER
   #pragma warning(push, 0)
 #endif
+#include <OgreItem.h>
+#include <OgreMaterialManager.h>
 #include <OgreSceneNode.h>
+#include <OgreTechnique.h>
 #ifdef _MSC_VER
   #pragma warning(pop)
 #endif
@@ -63,6 +77,10 @@ class ignition::rendering::Ogre2LidarVisualPrivate
 
   /// \brief The visibility of the visual
   public: bool visible = true;
+
+  /// \brief Pointer to point cloud material.
+  /// Used when LidarVisualType = LVT_POINTS.
+  public: Ogre::MaterialPtr pointsMat;
 };
 
 using namespace ignition;
@@ -121,6 +139,7 @@ void Ogre2LidarVisual::Destroy()
   }
 
   this->dataPtr->lidarPoints.clear();
+  this->dataPtr->pointsMat.setNull();
 }
 
 //////////////////////////////////////////////////
@@ -133,6 +152,18 @@ void Ogre2LidarVisual::Init()
 //////////////////////////////////////////////////
 void Ogre2LidarVisual::Create()
 {
+  // enable GL_PROGRAM_POINT_SIZE so we can set gl_PointSize in vertex shader
+#ifdef __APPLE__
+  glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
+#else
+#ifndef _WIN32
+  glEnable(GL_PROGRAM_POINT_SIZE);
+#endif
+#endif
+  this->dataPtr->pointsMat =
+      Ogre::MaterialManager::getSingleton().getByName(
+      "PointCloudPoint");
+
   this->ClearPoints();
   this->dataPtr->receivedData = false;
 }
@@ -300,8 +331,11 @@ void Ogre2LidarVisual::Update()
                                     new Ogre2DynamicRenderable(this->Scene()));
 
         renderable->SetOperationType(MT_POINTS);
-        MaterialPtr mat = this->Scene()->Material("Lidar/BlueRay");
-        renderable->SetMaterial(mat, false);
+
+        // use low level programmable material so we can customize point size
+        Ogre::Item *item = dynamic_cast<Ogre::Item *>(renderable->OgreObject());
+        item->setCastShadows(false);
+        item->getSubItem(0)->setMaterial(this->dataPtr->pointsMat);
 
         this->ogreNode->attachObject(renderable->OgreObject());
         this->dataPtr->points.push_back(renderable);
@@ -441,6 +475,22 @@ void Ogre2LidarVisual::Update()
     verticalAngle += this->verticalAngleStep;
   }
 
+  if (this->dataPtr->lidarVisType == LidarVisualType::LVT_POINTS &&
+      !this->dataPtr->points.empty())
+  {
+    // point renderables use low level materials
+    // get the material and set size uniform variable
+    auto pass = this->dataPtr->pointsMat->getTechnique(0)->getPass(0);
+    auto vertParams = pass->getVertexProgramParameters();
+    vertParams->setNamedConstant("size", static_cast<Ogre::Real>(this->size));
+
+    // support setting color only from diffuse for now
+    MaterialPtr mat = this->Scene()->Material("Lidar/BlueRay");
+    auto fragParams = pass->getFragmentProgramParameters();
+    fragParams->setNamedConstant("color",
+        Ogre2Conversions::Convert(mat->Diffuse()));
+  }
+
   // The newly created dynamic lines are having default visibility as true.
   // The visibility needs to be set as per the current value after the new
   // renderables are created.