[ogre2] Point SetSize API applies globally to all points

[chapulina]

Environment

• OS Version: Ubuntu 20.04
• Source or binary build? Source, ign-rendering6 branch
• If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.
  • Rendering plugin: ogre2
  • Generally, mention all circumstances that might affect rendering capabilities:
    • [x] running in Docker/Singularity

Description

• Expected behavior: Calling SetSize (added on #392) on a LidarVisual / Marker should only affect points on that visual.
• Actual behavior: That call is modifying the point size for all points in the scene that use point_cloud_point.material.

Steps to reproduce

1. Update the lidar_visual with this diff to have 2 separate visuals, one with size 5, the other with size 50:

diff

```diff diff --git a/examples/lidar_visual/GlutWindow.cc b/examples/lidar_visual/GlutWindow.cc index 51f51cdb..5287edab 100644 --- a/examples/lidar_visual/GlutWindow.cc +++ b/examples/lidar_visual/GlutWindow.cc @@ -64,7 +64,7 @@ ir::ImagePtr g_image; bool g_initContext = false; bool g_clear = false; std::vector g_lidarData; -ir::LidarVisualPtr g_lidar; +std::vector g_lidars; bool g_lidarVisualUpdateDirty = false; bool g_showNonHitting = true; LidarVisualType g_lidarVisType = LidarVisualType::LVT_TRIANGLE_STRIPS; @@ -249,16 +249,19 @@ void updateLidarVisual() // change detected due to key press if (g_lidarVisualUpdateDirty) { - if (g_clear == true) + for (auto lidar : g_lidars) { - g_lidar->ClearPoints(); - } - else - { - g_lidar->SetDisplayNonHitting(g_showNonHitting); - g_lidar->SetPoints(g_lidarData); - g_lidar->SetType(g_lidarVisType); - g_lidar->Update(); + if (g_clear == true) + { + lidar->ClearPoints(); + } + else + { + lidar->SetDisplayNonHitting(g_showNonHitting); + lidar->SetPoints(g_lidarData); + lidar->SetType(g_lidarVisType); + lidar->Update(); + } } g_lidarVisualUpdateDirty = false; g_clear = false; @@ -399,7 +402,7 @@ void initCamera(ir::CameraPtr _camera) ////////////////////////////////////////////////// void initLidarVisual(ir::LidarVisualPtr _lidar) { - g_lidar = _lidar; + g_lidars.push_back(_lidar); } ////////////////////////////////////////////////// @@ -457,6 +460,7 @@ void run(std::vector _cameras, initCamera(_cameras[0]); initLidarVisual(_nodes[0]); + initLidarVisual(_nodes[1]); initContext(); printUsage(); g_lidarData.clear(); diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc index 71e3eebf..e2d4fec9 100644 --- a/examples/lidar_visual/Main.cc +++ b/examples/lidar_visual/Main.cc @@ -239,6 +239,45 @@ LidarVisualPtr createLidar(ScenePtr _scene) return lidar; } +////////////////////////////////////////////////// +LidarVisualPtr createLidar2(ScenePtr _scene) +{ + // create lidar visual + LidarVisualPtr lidar = _scene->CreateLidarVisual(); + lidar->SetMinHorizontalAngle(hMinAngle); + lidar->SetHorizontalRayCount(hRayCount); + lidar->SetMaxHorizontalAngle(hMaxAngle); + lidar->SetVerticalRayCount(vRayCount); + lidar->SetMinVerticalAngle(vMinAngle); + lidar->SetMaxVerticalAngle(vMaxAngle); + lidar->SetMaxRange(maxRange); + lidar->SetMinRange(minRange); + lidar->SetSize(50.0); + + // 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_TRIANGLE_STRIPS); + lidar->SetPoints(pts); + + VisualPtr root = _scene->RootVisual(); + root->AddChild(lidar); + + // set this value to false if only the rays that are hitting another obstacle + // are to be displayed. + lidar->SetDisplayNonHitting(true); + + lidar->SetWorldPosition(testPose.Pos() + math::Vector3d(1.0, 0.0, 0.0)); + lidar->SetWorldRotation(testPose.Rot()); + + // update lidar visual + lidar->Update(); + + return lidar; +} + ////////////////////////////////////////////////// CameraPtr createCamera(const std::string &_engineName) { @@ -290,6 +329,7 @@ int main(int _argc, char** _argv) cameras.push_back(camera); sensors.push_back(createGpuRaySensor(camera->Scene())); nodes.push_back(createLidar(camera->Scene())); + nodes.push_back(createLidar2(camera->Scene())); } } catch (...) ```

2. Run the example and press 2 to change to points. You'll see that both visuals have the same size, 50, which was the last set:

I believe this is happening because we're modifying the material itself instead of just modifying that instance:

https://github.com/ignitionrobotics/ign-rendering/blob/8e7b7fbbbff519a6fb567efdd4ec08468e8d8f6a/ogre2/src/Ogre2LidarVisual.cc#L481-L485

The same here:

https://github.com/ignitionrobotics/ign-rendering/blob/8e7b7fbbbff519a6fb567efdd4ec08468e8d8f6a/ogre2/src/Ogre2Marker.cc#L110-L114

I think the same happens with the color when set globally for all points (as opposed to per-point like in #494 )

[iche033]

hmm one thing to try is to clone the material before setting it to marker's ogre item.