minor changes

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
gazebosim · Jul 12, 2020 · e1e1ae0 · e1e1ae0
1 parent 625fc0b
commit e1e1ae0
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Showing 3 changed files with 37 additions and 8 deletions.
diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc
@@ -190,9 +190,20 @@ void buildScene(ScenePtr _scene)
   lidar->SetMaxVerticalAngle(vMaxAngle);
   lidar->SetMaxRange(maxRange);
   lidar->SetMinRange(minRange);
-  lidar->SetType(LidarVisualType::LVT_RAY_LINES);
+
+  // the types can be set as follows:-
+  // LVT_POINTS -> Lidar Points at the range value
+  // LVT_RAY_LINES -> Lines along the lidar sensor to the obstacle
+  // LVT_TRIANGLE_STRIPS -> Coloured triangle strips denoting hitting and
+  // non-hitting parts of the scan
+  lidar->SetType(LidarVisualType::LVT_POINTS);
   lidar->SetPoints(pts);
+
+  // set this value to false if only the rays that are hitting another obstacle
+  // are to be displayed.
+  // This does NOT work for LVT_TRIANGLE_STRIPS
   lidar->SetDisplayNonHitting(false);
+
   lidar->SetWorldPosition(testPose.Pos());
   lidar->SetWorldRotation(testPose.Rot());
   root->AddChild(lidar);

diff --git a/ogre/src/OgreLidarVisual.cc b/ogre/src/OgreLidarVisual.cc
@@ -156,6 +156,7 @@ void OgreLidarVisual::Update()
     return;
   }
 
+  // if visual type is changed, clear all DynamicLines
   if (this->lidarVisualType != this->dataPtr->lidarVisType)
   {
     this->ClearVisualData();
@@ -191,8 +192,7 @@ void OgreLidarVisual::Update()
   // Process each point from received data
   // Every line segment, and every triangle is saved separately,
   // as a pointer to a DynamicLine
-  // This initializes and updates only the required DynamicLine variable as selected
-  // using the API
+  // This initializes and updates only the selected DynamicLine variables
   for (unsigned int j = 0; j < this->verticalCount; ++j)
   {
     horizontalAngle = this->minHorizontalAngle;
@@ -217,6 +217,7 @@ void OgreLidarVisual::Update()
         this->dataPtr->rayLines.push_back(line);
       }
     }
+
     else if (this->dataPtr->lidarVisType ==
               LidarVisualType::LVT_TRIANGLE_STRIPS)
     {
@@ -286,6 +287,7 @@ void OgreLidarVisual::Update()
       }
       this->dataPtr->deadZoneRayFans[j]->SetPoint(0, this->offset.Pos());
     }
+
     else if (this->dataPtr->lidarVisType ==
                   LidarVisualType::LVT_POINTS)
     {
@@ -348,15 +350,15 @@ void OgreLidarVisual::Update()
       {
         if (i >= this->dataPtr->rayLines[j]->PointCount()/2)
         {
-          if(this->displayNonHitting || !inf)
+          if (this->displayNonHitting || !inf)
           {
             this->dataPtr->rayLines[j]->AddPoint(startPt);
             this->dataPtr->rayLines[j]->AddPoint(inf ? noHitPt : pt);
           }
         }
         else
         {
-          if(this->displayNonHitting || !inf)
+          if (this->displayNonHitting || !inf)
           {
             this->dataPtr->rayLines[j]->SetPoint(i*2, startPt);
             this->dataPtr->rayLines[j]->SetPoint(i*2+1, inf ? noHitPt : pt);
@@ -391,7 +393,8 @@ void OgreLidarVisual::Update()
             this->dataPtr->rayStrips[j]->SetPoint(i*2+1, inf ? startPt : pt);
 
             this->dataPtr->noHitRayStrips[j]->SetPoint(i*2, startPt);
-            this->dataPtr->noHitRayStrips[j]->SetPoint(i*2+1, inf ? noHitPt : pt);
+            this->dataPtr->noHitRayStrips[j]->SetPoint(i*2+1,
+                                                 inf ? noHitPt : pt);
           }
         }
         // Draw the triangle fan that indicates the dead zone.
@@ -407,14 +410,14 @@ void OgreLidarVisual::Update()
       {
         if (i >= this->dataPtr->points[j]->PointCount())
         {
-          if(this->displayNonHitting || !inf)
+          if (this->displayNonHitting || !inf)
           {
             this->dataPtr->points[j]->AddPoint(inf ? noHitPt : pt);
           }
         }
         else
         {
-          if(this->displayNonHitting || !inf)
+          if (this->displayNonHitting || !inf)
           {
             this->dataPtr->points[j]->SetPoint(i, inf ? noHitPt : pt);
           }

diff --git a/src/LidarVisual_TEST.cc b/src/LidarVisual_TEST.cc
@@ -93,6 +93,21 @@ void LidarVisualTest::LidarVisual(const std::string &_renderEngine)
   lidar->SetMinRange(0.54);
   EXPECT_DOUBLE_EQ(lidar->MinRange(), 0.54);
 
+  lidar->SetDisplayNonHitting(false);
+  EXPECT_EQ(lidar->DisplayNonHitting(), false);
+  lidar->SetDisplayNonHitting(true);
+  EXPECT_EQ(lidar->DisplayNonHitting(), true);
+
+  lidar->SetType(LVT_NONE);
+  EXPECT_EQ(lidar->Type(), LVT_NONE);
+  lidar->SetType(LVT_POINTS);
+  EXPECT_EQ(lidar->Type(), LVT_POINTS);
+  lidar->SetType(LVT_POINTS);
+  EXPECT_EQ(lidar->Type(), LVT_POINTS);
+  lidar->SetType(LVT_TRIANGLE_STRIPS);
+  EXPECT_EQ(lidar->Type(), LVT_TRIANGLE_STRIPS);
+
+
   ignition::math::Pose3d p(0.5, 2.56, 3.67, 1.4, 2, 4.5);
   lidar->SetOffset(p);
   EXPECT_EQ(lidar->Offset(), p);