Add SetSize API for LidarVisual

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

include/ignition/rendering/LidarVisual.hh

@@ -171,6 +171,15 @@ 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 lidar points
+      /// \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

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)

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.

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;
+}

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 1.0
   }
 }
 
 fragment_program PointCloudFS glsl
 {
   source point_fs.glsl
-
 }
 
 material PointCloudPoint
@@ -27,4 +27,4 @@ material PointCloudPoint
       fragment_program_ref PointCloudFS {}
     }
   }
-}
+}

ogre2/src/Ogre2DynamicRenderable.cc

@@ -342,6 +342,9 @@ 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
@@ -356,6 +359,11 @@ void Ogre2DynamicRenderable::UpdateBuffer()
       this->dataPtr->ogreItem->setCastShadows(
           this->dataPtr->material->CastShadows());
     }
+    else if (lowLevelMat)
+    {
+      this->dataPtr->ogreItem->getSubItem(0)->setMaterial(lowLevelMat);
+      this->dataPtr->ogreItem->setCastShadows(castShadows);
+    }
   }
 
   this->dataPtr->dirty = false;

ogre2/src/Ogre2LidarVisual.cc

@@ -15,6 +15,15 @@
  *
  */
 
+#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/Ogre2DynamicRenderable.hh"
@@ -26,7 +35,10 @@
 #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 +75,10 @@ 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 +137,7 @@ void Ogre2LidarVisual::Destroy()
   }
 
   this->dataPtr->lidarPoints.clear();
+  this->dataPtr->pointsMat.setNull();
 }
 
 //////////////////////////////////////////////////
@@ -133,6 +150,18 @@ 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 +329,11 @@ 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 +473,16 @@ 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 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.

ogre2/src/media/materials/programs/point_fs.glsl

@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * 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.
+ *
+ */
+
+#version 330
+
+out vec4 fragColor;
+
+void main()
+{
+  // hardcode to blue color for now
+  // todo(anyone) undate Ogre2DynamicRenderable to support vertex coloring
+  // so we can set color using the line below
+  // fragColor = gl_Color;
+  fragColor = vec4(0.0f, 0.0f, 1.0f, 1.0f);
+}

ogre2/src/media/materials/programs/point_vs.glsl

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * 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.
+ *
+ */
+
+#version 330
+
+in vec4 vertex;
+uniform mat4 worldViewProj;
+uniform float size;
+
+out gl_PerVertex
+{
+  vec4 gl_Position;
+};
+
+void main()
+{
+  // Calculate output position
+  gl_Position = worldViewProj * vertex;
+  gl_PointSize = size;
+}

ogre2/src/media/materials/scripts/point_cloud_point.material

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * 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.
+ *
+ */
+
+vertex_program PointCloudVS glsl
+{
+  source point_vs.glsl
+
+  default_params
+  {
+    param_named_auto worldViewProj worldviewproj_matrix
+    param_named size 1.0
+  }
+}
+
+fragment_program PointCloudFS glsl
+{
+  source point_fs.glsl
+}
+
+material PointCloudPoint
+{
+  technique
+  {
+    pass
+    {
+      point_size_attenuation on
+      point_sprites on
+      vertex_program_ref   PointCloudVS {}
+      fragment_program_ref PointCloudFS {}
+    }
+  }
+}

src/LidarVisual_TEST.cc

@@ -107,6 +107,9 @@ void LidarVisualTest::LidarVisual(const std::string &_renderEngine)
   lidar->SetType(LVT_TRIANGLE_STRIPS);
   EXPECT_EQ(lidar->Type(), LVT_TRIANGLE_STRIPS);
 
+  EXPECT_DOUBLE_EQ(1.0, lidar->Size());
+  lidar->SetSize(12.0);
+  EXPECT_DOUBLE_EQ(12.0, lidar->Size());
 
   ignition::math::Pose3d p(0.5, 2.56, 3.67, 1.4, 2, 4.5);
   lidar->SetOffset(p);