Add types for lidar visual #114

mihirk284 · 2020-07-12T09:12:38Z

Added points and lines to the lidar visual. Additional API to display only those points that are hitting is also added.

Please see issue ignitionrobotics/ign-rendering#84.

ahcorde · 2020-07-13T08:13:13Z

@mihirk284 can you review the history of the commits?

It looks like only the 2 or 3 last commits are not in master

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

iche033

Changing the visualization type in the example works for me! I left a few inline comments.

There are some coding style errors. You can find them doing running sh tools/code_check.sh from the ign-rendering root dir.

Please also update changelog.

include/ignition/rendering/base/BaseLidarVisual.hh

ogre/src/OgreLidarVisual.cc

examples/lidar_visual/Main.cc

include/ignition/rendering/LidarVisual.hh

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

ogre/src/OgreLidarVisual.cc

iche033

I noticed that in point visualization mode, a point is drawn in the center of the lidar visual. Do you see that?

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

mihirk284 · 2020-07-16T09:38:18Z

I think that happened because of our initial assumption that the number of points remains the same for the visuals. In this case, I am updating the code to clear all visuals inside the Update() when the displayNonHitting value is set to true. This will remove the older points from memory instead of placing them at the centre of the visual. This change makes the Update() slightly slower than before.

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

examples/lidar_visual/GlutWindow.cc

examples/lidar_visual/Main.cc

ahcorde · 2020-07-21T16:22:08Z

examples/lidar_visual/GlutWindow.hh

@@ -26,6 +26,8 @@ namespace ic = ignition::common;

 /// \brief Run the demo and display Lidar Visual
 /// \param[in] _cameras Cameras in the scene


Document arguments

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

iche033

just need to fix windows build error. Otherwise, it's good to go.

iche033 · 2020-07-21T19:38:42Z

ogre/src/OgreLidarVisual.cc

+          #if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
+            line->setMaterial("Lidar/LightBlueStrips");
+          #else
+            mat = Ogre::MaterialManager::getSingleton().getByName(


windows CI caught a build error here. This needs to be:

Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().getByName( "Lidar/BlueRay");

iche033 · 2020-07-21T19:39:03Z

ogre/src/OgreLidarVisual.cc

+          #if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
+            line->setMaterial("Lidar/TransBlack");
+          #else
+            mat = Ogre::MaterialManager::getSingleton().getByName(


same change is needed here. Need to declare mat

iche033 · 2020-07-21T19:39:11Z

ogre/src/OgreLidarVisual.cc

+          #if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
+            line->setMaterial("Lidar/BlueStrips");
+          #else
+            mat = Ogre::MaterialManager::getSingleton().getByName(


iche033 · 2020-07-21T19:39:26Z

ogre/src/OgreLidarVisual.cc

+        #if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
+              line->setMaterial("Lidar/BlueRay");
+        #else
+            mat = Ogre::MaterialManager::getSingleton().getByName(


another one

@iche033 I think only this one needs the declaration. The others above are in the same namespace so the variable can be reused. I've pushed the edit for the same.

new build looks good!

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

mihirk284 requested a review from iche033 as a code owner July 12, 2020 09:12

mihirk284 added 4 commits July 13, 2020 18:16

added types for lidar visual, option to display non-hitting rays

7e0f31d

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

example updated

ca80ab1

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

updated lidar_visual test

4eadd0d

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

Linter Error fix

b0dd066

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

mihirk284 force-pushed the lidar_visual_add_types branch from e1e1ae0 to b0dd066 Compare July 13, 2020 13:07

iche033 reviewed Jul 13, 2020

View reviewed changes

mihirk284 added 5 commits July 14, 2020 18:53

Edited code to make it shorter

78d12f1

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

Fixed update slowdown error

8a34ff4

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

Fixed unrelated linter errors

6f2d72d

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

Working keypress example

ce5af20

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

destroy function update

cb21fa4

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

iche033 reviewed Jul 15, 2020

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ogre/src/OgreLidarVisual.cc Show resolved Hide resolved

ogre/src/OgreLidarVisual.cc Show resolved Hide resolved

iche033 reviewed Jul 15, 2020

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clear visual data for update function

1cea600

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

mihirk284 added 3 commits July 19, 2020 21:42

Fixed Destroy errors

882539f

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

Minor fixes

fc48246

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

Can set id and name of lidar visual

3296d4c

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

mihirk284 force-pushed the lidar_visual_add_types branch from 600560e to 3296d4c Compare July 20, 2020 08:20

chapulina added this to Inbox in Core development via automation Jul 20, 2020

chapulina added the 🔮 dome Ignition Dome label Jul 20, 2020

chapulina moved this from Inbox to In review in Core development Jul 20, 2020

ahcorde requested changes Jul 21, 2020

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examples/lidar_visual/GlutWindow.cc Outdated Show resolved Hide resolved

examples/lidar_visual/GlutWindow.cc Outdated Show resolved Hide resolved

examples/lidar_visual/GlutWindow.cc Outdated Show resolved Hide resolved

examples/lidar_visual/Main.cc Outdated Show resolved Hide resolved

ahcorde reviewed Jul 21, 2020

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mihirk284 and others added 3 commits July 21, 2020 22:01

Remove space

4ab3317

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

removed whitespaces

14f68a1

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

fixed document arguments

fa37115

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

mihirk284 force-pushed the lidar_visual_add_types branch from 6630422 to fa37115 Compare July 21, 2020 16:31

ahcorde approved these changes Jul 21, 2020

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iche033 reviewed Jul 21, 2020

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fix windows CI build error

9be898e

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>

iche033 approved these changes Jul 22, 2020

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iche033 merged commit e22fd80 into gazebosim:master Jul 22, 2020

Core development automation moved this from In review to Done Jul 22, 2020

mihirk284 deleted the lidar_visual_add_types branch August 5, 2020 10:28

j-rivero removed this from Done in Core development May 6, 2022

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Add types for lidar visual #114

Add types for lidar visual #114

mihirk284 commented Jul 12, 2020

ahcorde commented Jul 13, 2020

iche033 left a comment

iche033 left a comment

mihirk284 commented Jul 16, 2020 •

edited

ahcorde Jul 21, 2020

iche033 left a comment

iche033 Jul 21, 2020

iche033 Jul 21, 2020

iche033 Jul 21, 2020

iche033 Jul 21, 2020

mihirk284 Jul 22, 2020

iche033 Jul 22, 2020

		@@ -26,6 +26,8 @@ namespace ic = ignition::common;

		/// \brief Run the demo and display Lidar Visual
		/// \param[in] _cameras Cameras in the scene

Add types for lidar visual #114

Add types for lidar visual #114

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mihirk284 commented Jul 12, 2020

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mihirk284 commented Jul 16, 2020 • edited

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mihirk284 commented Jul 16, 2020 •

edited