Merge branch 'main' into Segmentation

gazebosim · Jul 30, 2021 · 1059bdc · 1059bdc
2 parents ffa767e + d21c6f3
commit 1059bdc
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diff --git a/src/RenderingSensor.cc b/src/RenderingSensor.cc
@@ -111,5 +111,13 @@ void RenderingSensor::Render()
       rc->PostRender();
     }
   }
+
+  if (!this->dataPtr->manualSceneUpdate &&
+      !this->dataPtr->scene->LegacyAutoGpuFlush())
+  {
+    // When LegacyAutoGpuFlush = true, that function gets
+    // called per sensor, so we don't have to do anything here
+    this->dataPtr->scene->PostRender();
+  }
 }
 
diff --git a/test/integration/gpu_lidar_sensor_plugin.cc b/test/integration/gpu_lidar_sensor_plugin.cc
@@ -751,6 +751,7 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
   ignition::rendering::VisualPtr root = scene->RootVisual();
 
   scene->SetAmbientLight(0.3, 0.3, 0.3);
+  scene->SetCameraPassCountPerGpuFlush(6u);
 
   // Create a sensor manager
   ignition::sensors::Manager mgr;
@@ -791,6 +792,9 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
   // Render and update
   mgr.RunOnce(std::chrono::steady_clock::duration::zero());
 
+  // manually finish update scene
+  scene->PostRender();
+
   int mid = horzSamples / 2;
   int last = (horzSamples - 1);
   double unitBoxSize = 1.0;