Merge pull request #443 from ignitionrobotics/iche033/heightmap_segme…

…ntation_patch Hide heightmaps in segmentation camera
gazebosim · Sep 30, 2021 · 084516a · 084516a
1 parent eb7d6ea
commit 084516a
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diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2Scene.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2Scene.hh
@@ -350,6 +350,11 @@ namespace ignition
       /// \param[in] _camera Camera about to be used for rendering
       public: void UpdateAllHeightmaps(Ogre::Camera *_camera);
 
+      /// \internal
+      /// \brief Return all heightmaps in the scene
+      public: const std::vector<std::weak_ptr<Ogre2Heightmap>> &Heightmaps()
+          const;
+
       /// \brief Create a compositor shadow node with the same number of shadow
       /// textures as the number of shadow casting lights
       protected: void UpdateShadowNode();

diff --git a/ogre2/src/Ogre2Heightmap.cc b/ogre2/src/Ogre2Heightmap.cc
@@ -60,6 +60,7 @@ class ignition::rendering::Ogre2HeightmapPrivate
   /// \brief Size of the heightmap data.
   public: unsigned int dataSize{0u};
 
+  /// \brief Pointer to ogre terra object
   public: std::unique_ptr<Ogre::Terra> terra{nullptr};
 };
 

diff --git a/ogre2/src/Ogre2Scene.cc b/ogre2/src/Ogre2Scene.cc
@@ -923,6 +923,12 @@ MaterialMapPtr Ogre2Scene::Materials() const
   return this->materials;
 }
 
+//////////////////////////////////////////////////
+const std::vector<std::weak_ptr<Ogre2Heightmap>> &Ogre2Scene::Heightmaps() const
+{
+  return this->heightmaps;
+}
+
 //////////////////////////////////////////////////
 DirectionalLightPtr Ogre2Scene::CreateDirectionalLightImpl(unsigned int _id,
     const std::string &_name)

diff --git a/ogre2/src/Ogre2SegmentationMaterialSwitcher.cc b/ogre2/src/Ogre2SegmentationMaterialSwitcher.cc
@@ -23,6 +23,7 @@
 
 #include <ignition/common/Console.hh>
 
+#include "ignition/rendering/ogre2/Ogre2Heightmap.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
 #include "ignition/rendering/ogre2/Ogre2Visual.hh"
 #include "ignition/rendering/RenderTypes.hh"
@@ -317,6 +318,18 @@ void Ogre2SegmentationMaterialSwitcher::cameraPreRenderScene(
   this->instancesCount.clear();
   this->takenColors.clear();
   this->coloredLabel.clear();
+
+  // disable heightmaps in segmentation camera sensor
+  // until we support changing its material based on input label
+  // TODO(anyone) add support for heightmaps with the segmentation camera
+  // https://github.com/ignitionrobotics/ign-rendering/issues/444
+  auto heightmaps = this->scene->Heightmaps();
+  for (auto h : heightmaps)
+  {
+    auto heightmap = h.lock();
+    if (heightmap)
+      heightmap->Parent()->SetVisible(false);
+  }
 }
 
 ////////////////////////////////////////////////
@@ -326,6 +339,15 @@ void Ogre2SegmentationMaterialSwitcher::cameraPostRenderScene(
   // restore item to use pbs hlms material
   for (const auto &[subItem, dataBlock] : this->datablockMap)
     subItem->setDatablock(dataBlock);
+
+  // re-enable heightmaps
+  auto heightmaps = this->scene->Heightmaps();
+  for (auto h : heightmaps)
+  {
+    auto heightmap = h.lock();
+    if (heightmap)
+      heightmap->Parent()->SetVisible(true);
+  }
 }
 
 ////////////////////////////////////////////////