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Merge 4cacd59 into 55a3e43
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@iche033
iche033 authored Sep 14, 2021
2 parents 55a3e43 + 4cacd59 commit 603246b
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Showing 5 changed files with 78 additions and 40 deletions.
5 changes: 5 additions & 0 deletions include/ignition/rendering/Node.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -332,6 +332,11 @@ namespace ignition
/// \return Value in any type. If _key does not exist for the node, an
/// empty variant is returned (i.e., no data).
public: virtual Variant UserData(const std::string &_key) const = 0;

/// \brief Check if node has custom data
/// \param[in] _key Unique key
/// \return True if node has custom data with the specified key
public: virtual bool HasUserData(const std::string &_key) const = 0;
};
}
}
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12 changes: 12 additions & 0 deletions include/ignition/rendering/base/BaseNode.hh
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Expand Up @@ -180,6 +180,9 @@ namespace ignition
// Documentation inherited
public: virtual Variant UserData(const std::string &_key) const override;

// Documentation inherited
public: virtual bool HasUserData(const std::string &_key) const override;

protected: virtual void PreRenderChildren();

protected: virtual math::Pose3d RawLocalPose() const = 0;
Expand Down Expand Up @@ -666,12 +669,14 @@ namespace ignition
}
}

//////////////////////////////////////////////////
template <class T>
void BaseNode<T>::SetUserData(const std::string &_key, Variant _value)
{
this->userData[_key] = _value;
}

//////////////////////////////////////////////////
template <class T>
Variant BaseNode<T>::UserData(const std::string &_key) const
{
Expand All @@ -681,6 +686,13 @@ namespace ignition
value = it->second;
return value;
}

//////////////////////////////////////////////////
template <class T>
bool BaseNode<T>::HasUserData(const std::string &_key) const
{
return this->userData.find(_key) != this->userData.end();
}
}
}
#endif
84 changes: 47 additions & 37 deletions ogre2/src/Ogre2GpuRays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -240,58 +240,58 @@ void Ogre2LaserRetroMaterialSwitcher::cameraPreRenderScene(
Ogre2VisualPtr ogreVisual =
std::dynamic_pointer_cast<Ogre2Visual>(result);

// get laser_retro
Variant tempLaserRetro = ogreVisual->UserData(laserRetroKey);

float retroValue = -1.0;
try
{
retroValue = std::get<float>(tempLaserRetro);
}
catch(...)
if (ogreVisual->HasUserData(laserRetroKey))
{
// get laser_retro
Variant tempLaserRetro = ogreVisual->UserData(laserRetroKey);

float retroValue = -1.0;
try
{
retroValue = std::get<double>(tempLaserRetro);
retroValue = std::get<float>(tempLaserRetro);
}
catch(...)
{
try
{
retroValue = std::get<int>(tempLaserRetro);
retroValue = std::get<double>(tempLaserRetro);
}
catch(std::bad_variant_access &e)
catch(...)
{
ignerr << "Error casting user data: " << e.what() << "\n";
retroValue = -1.0;
try
{
retroValue = std::get<int>(tempLaserRetro);
}
catch(std::bad_variant_access &e)
{
ignerr << "Error casting user data: " << e.what() << "\n";
retroValue = -1.0;
}
}
}
}

// only accept positive laser retro value
if (retroValue >= 0)
{
// set visibility flag so the camera can see it
item->addVisibilityFlags(0x01000000);
for (unsigned int i = 0; i < item->getNumSubItems(); ++i)
// only accept positive laser retro value
if (retroValue >= 0)
{
Ogre::SubItem *subItem = item->getSubItem(i);
if (!subItem->hasCustomParameter(this->customParamIdx))
for (unsigned int i = 0; i < item->getNumSubItems(); ++i)
{
// limit laser retro value to 2000 (as in gazebo)
if (retroValue > 2000.0)
Ogre::SubItem *subItem = item->getSubItem(i);
if (!subItem->hasCustomParameter(this->customParamIdx))
{
retroValue = 2000.0;
// limit laser retro value to 2000 (as in gazebo)
if (retroValue > 2000.0)
{
retroValue = 2000.0;
}
float color = retroValue / 2000.0;
subItem->setCustomParameter(this->customParamIdx,
Ogre::Vector4(color, color, color, 1.0));
}
float color = retroValue / 2000.0;
Ogre::HlmsDatablock *datablock = subItem->getDatablock();
this->datablockMap[subItem] = datablock;

subItem->setCustomParameter(this->customParamIdx,
Ogre::Vector4(color, color, color, 1.0));
subItem->setMaterial(this->laserRetroSourceMaterial);
}
Ogre::HlmsDatablock *datablock = subItem->getDatablock();
this->datablockMap[subItem] = datablock;

subItem->setMaterial(this->laserRetroSourceMaterial);
}
}
}
Expand Down Expand Up @@ -879,7 +879,17 @@ void Ogre2GpuRays::Setup1stPass()
passScene->setAllLoadActions(Ogre::LoadAction::Clear);
passScene->setAllClearColours(Ogre::ColourValue(0, 0, 0));
// set camera custom visibility mask when rendering laser retro
passScene->mVisibilityMask = 0x01000000 &
// todo(anyone) currently in this color + depth pass, lidar sees all
// objects, including ones without laser_retro set. So the lidar outputs
// data containing depth data + some non-zero retro value for all
// objects. If we want to output a retro value of zero for objects
// without laser_retro, one possible approach could be to separate out
// the color and depth pass:
// 1: color pass that see only objects with laser_retro by using custom
// visibility mask
// 2: depth pass that see all objects
// Then assemble these data in the final quad pass.
passScene->mVisibilityMask = IGN_VISIBILITY_ALL &
~Ogre2ParticleEmitter::kParticleVisibilityFlags;
}

Expand Down Expand Up @@ -929,7 +939,7 @@ void Ogre2GpuRays::Setup1stPass()
particleTargetDef->addPass(Ogre::PASS_SCENE));
passScene->setAllLoadActions(Ogre::LoadAction::Clear);
passScene->setAllClearColours(Ogre::ColourValue::Black);
// set camera custom visibility mask when rendering laser retro
// set camera custom visibility mask when rendering particles
passScene->mVisibilityMask =
Ogre2ParticleEmitter::kParticleVisibilityFlags;
}
Expand Down Expand Up @@ -1197,7 +1207,7 @@ void Ogre2GpuRays::CreateGpuRaysTextures()
/////////////////////////////////////////////////
void Ogre2GpuRays::UpdateRenderTarget1stPass()
{
Ogre::vector<Ogre::TextureGpu*>::type swappedTargets;
Ogre::vector<Ogre::TextureGpu *>::type swappedTargets;
swappedTargets.reserve(2u);

// update the compositors
Expand Down Expand Up @@ -1226,7 +1236,7 @@ void Ogre2GpuRays::UpdateRenderTarget2ndPass()
this->dataPtr->ogreCompositorWorkspace2nd->_update();
this->dataPtr->ogreCompositorWorkspace2nd->_endUpdate(false);

Ogre::vector<Ogre::TextureGpu*>::type swappedTargets;
Ogre::vector<Ogre::TextureGpu *>::type swappedTargets;
swappedTargets.reserve(2u);
this->dataPtr->ogreCompositorWorkspace2nd->_swapFinalTarget(swappedTargets);
}
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13 changes: 13 additions & 0 deletions src/Visual_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -325,42 +325,54 @@ void VisualTest::UserData(const std::string &_renderEngine)
// int
std::string intKey = "int";
int intValue = 1998;
EXPECT_FALSE(visual->HasUserData(intKey));
visual->SetUserData(intKey, intValue);
EXPECT_TRUE(visual->HasUserData(intKey));
Variant value = visual->UserData(intKey);
EXPECT_EQ(intValue, std::get<int>(value));

// float
std::string floatKey = "float";
float floatValue = 1.345f;
EXPECT_FALSE(visual->HasUserData(floatKey));
visual->SetUserData(floatKey, floatValue);
EXPECT_TRUE(visual->HasUserData(floatKey));
value = visual->UserData(floatKey);
EXPECT_FLOAT_EQ(floatValue, std::get<float>(value));

// double
std::string doubleKey = "double";
double doubleValue = -0.123;
EXPECT_FALSE(visual->HasUserData(doubleKey));
visual->SetUserData(doubleKey, doubleValue);
EXPECT_TRUE(visual->HasUserData(doubleKey));
value = visual->UserData(doubleKey);
EXPECT_DOUBLE_EQ(doubleValue, std::get<double>(value));

// string
std::string stringKey = "string";
std::string stringValue = "test_string";
EXPECT_FALSE(visual->HasUserData(stringKey));
visual->SetUserData(stringKey, stringValue);
EXPECT_TRUE(visual->HasUserData(stringKey));
value = visual->UserData(stringKey);
EXPECT_EQ(stringValue, std::get<std::string>(value));

// bool
std::string boolKey = "bool";
bool boolValue = true;
EXPECT_FALSE(visual->HasUserData(boolKey));
visual->SetUserData(boolKey, boolValue);
EXPECT_TRUE(visual->HasUserData(boolKey));
value = visual->UserData(boolKey);
EXPECT_EQ(boolValue, std::get<bool>(value));

// unsigned int
std::string unsignedIntKey = "unsignedInt";
unsigned int unsignedIntValue = 5u;
EXPECT_FALSE(visual->HasUserData(unsignedIntKey));
visual->SetUserData(unsignedIntKey, unsignedIntValue);
EXPECT_TRUE(visual->HasUserData(unsignedIntKey));
value = visual->UserData(unsignedIntKey);
EXPECT_EQ(unsignedIntValue, std::get<unsigned int>(value));

Expand All @@ -372,6 +384,7 @@ void VisualTest::UserData(const std::string &_renderEngine)
EXPECT_FALSE(std::holds_alternative<std::string>(value));
EXPECT_FALSE(std::holds_alternative<bool>(value));
EXPECT_FALSE(std::holds_alternative<unsigned int>(value));
EXPECT_EQ(0u, value.index());

// test invalid access
EXPECT_THROW(
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4 changes: 1 addition & 3 deletions test/integration/gpu_rays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -236,7 +236,7 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
root->AddChild(gpuRays2);

// Laser retro test values
double laserRetro1 = 2000;
double laserRetro1 = 1500;
double laserRetro2 = 1000;
std::string userDataKey = "laser_retro";

Expand All @@ -251,8 +251,6 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
visualBox1->SetUserData(userDataKey, laserRetro1);
root->AddChild(visualBox1);



// box on the right of the first gpu rays caster
ignition::math::Pose3d box02Pose(ignition::math::Vector3d(0, -5, 0.5),
ignition::math::Quaterniond::Identity);
Expand Down

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