Allow to create more than 1 3D scene

rviz_common/include/rviz_common/display.hpp

@@ -303,6 +303,10 @@ class RVIZ_COMMON_PUBLIC Display : public rviz_common::properties::BoolProperty
   /// Get transform to the frame at the given time and update the scene node. True on success.
   bool updateFrame(const std::string & frame, rclcpp::Time time);
 
+  virtual
+  bool
+  allow_visibility() const;
+
 Q_SIGNALS:
   void
   timeSignal(rviz_common::Display * display, rclcpp::Time time);

rviz_common/include/rviz_common/frame_position_tracking_view_controller.hpp

@@ -37,6 +37,7 @@
 
 #include "rviz_common/view_controller.hpp"
 #include "rviz_common/visibility_control.hpp"
+#include "rviz_common/properties/property.hpp"
 
 namespace rviz_common
 {
@@ -56,6 +57,7 @@ class RVIZ_COMMON_PUBLIC FramePositionTrackingViewController : public ViewContro
 
 public:
   FramePositionTrackingViewController();
+  FramePositionTrackingViewController(properties::Property * parent);
 
   ~FramePositionTrackingViewController() override;
 

rviz_common/include/rviz_common/view_controller.hpp

@@ -97,6 +97,7 @@ class RVIZ_COMMON_PUBLIC ViewController : public properties::Property
 
 public:
   ViewController();
+  ViewController(properties::Property * parent);
   ~ViewController() override;
 
   /// Do all setup that can't be done in the constructor.
@@ -271,6 +272,8 @@ private Q_SLOTS:
 
   bool is_active_;
 
+  properties::Property * parent_;
+
   // this cursor will be displayed when the mouse is within the
   // window controlled by this view controller
   // use SetCursor to modify.

rviz_common/include/rviz_common/visualization_manager.hpp

@@ -68,7 +68,7 @@ class Property;
 class PropertyTreeModel;
 class StatusList;
 class TfFrameProperty;
-
+class DisplayGroupVisibilityProperty;
 }  // namespace properties
 
 class Display;
@@ -294,6 +294,9 @@ class RVIZ_COMMON_PUBLIC VisualizationManager : public DisplayContext
 
   rclcpp::Clock::SharedPtr getClock() override;
 
+  int addRenderPanel(RenderPanel* rp);
+  void updateRenderMask(std::size_t id, bool mask);
+
 public Q_SLOTS:
   /// Resets the wall and ROS elapsed time to zero and calls resetDisplays().
   void resetTime();
@@ -360,6 +363,7 @@ protected Q_SLOTS:
   properties::TfFrameProperty * fixed_frame_property_;
   properties::StatusList * global_status_;
   properties::IntProperty * fps_property_;
+  properties::DisplayGroupVisibilityProperty * visibility_property_;
 
   RenderPanel * render_panel_;
 
@@ -390,9 +394,13 @@ protected Q_SLOTS:
   rclcpp::Clock::SharedPtr clock_;
   rclcpp::JumpHandler::SharedPtr clock_jump_handler_;
 
+  std::vector<RenderPanel*> render_panel_list_;
+  std::vector<bool> render_panel_render_mask_;
+
 private Q_SLOTS:
   void updateFixedFrame();
   void updateBackgroundColor();
+  void updateVisibilityMask();
   void updateFps();
 
 private:

rviz_common/src/rviz_common/display.cpp

@@ -390,6 +390,11 @@ void Display::setVisibilityBits(uint32_t bits)
   rviz_rendering::applyVisibilityBits(visibility_bits_, scene_node_);
 }
 
+bool Display::allow_visibility() const
+{
+  return true;
+}
+
 void Display::unsetVisibilityBits(uint32_t bits)
 {
   visibility_bits_ &= ~bits;

rviz_common/src/rviz_common/frame_position_tracking_view_controller.cpp

@@ -46,8 +46,9 @@
 namespace rviz_common
 {
 
-FramePositionTrackingViewController::FramePositionTrackingViewController()
-: target_scene_node_(nullptr),
+FramePositionTrackingViewController::FramePositionTrackingViewController(properties::Property * parent)
+: rviz_common::ViewController(parent),
+  target_scene_node_(nullptr),
   reference_orientation_(Ogre::Quaternion::IDENTITY),
   reference_position_(Ogre::Vector3::ZERO),
   camera_scene_node_(nullptr)
@@ -56,11 +57,17 @@ FramePositionTrackingViewController::FramePositionTrackingViewController()
     "Target Frame",
     rviz_common::properties::TfFrameProperty::FIXED_FRAME_STRING,
     "TF frame whose motion this view will follow.",
-    this,
+    parent_,
     nullptr,
     true);
 }
 
+FramePositionTrackingViewController::FramePositionTrackingViewController()
+  : FramePositionTrackingViewController(nullptr)
+{
+
+}
+
 void FramePositionTrackingViewController::onInitialize()
 {
   target_frame_property_->setFrameManager(context_->getFrameManager());

rviz_common/src/rviz_common/properties/display_group_visibility_property.cpp

@@ -115,9 +115,13 @@ void DisplayGroupVisibilityProperty::onDisplayAdded(Display * display)
       vis_bit_, display_group, parent_display_, "",
       true, "Uncheck to hide everything in this Display Group", this);
   } else {
-    vis_prop = new DisplayVisibilityProperty(
-      vis_bit_, display, "", true,
-      "Show or hide this Display", this);
+    if (display->allow_visibility()) {
+      vis_prop = new DisplayVisibilityProperty(
+        vis_bit_, display, "", true,
+        "Show or hide this Display", this);
+    } else {
+      return;
+    }
   }
   disp_vis_props_[display] = vis_prop;
   sortDisplayList();

rviz_common/src/rviz_common/view_controller.cpp

@@ -57,16 +57,21 @@ namespace rviz_common
 using properties::BoolProperty;
 using properties::FloatProperty;
 
-ViewController::ViewController()
+ViewController::ViewController(properties::Property * parent)
 : context_(nullptr),
   camera_(nullptr),
   is_active_(false),
+  parent_(parent),
   type_property_(nullptr)
 {
+  if (parent_ == nullptr)
+  {
+    parent = this;
+  }
   near_clip_property_ = new FloatProperty(
     "Near Clip Distance", 0.01f,
     "Anything closer to the camera than this threshold will not get rendered.",
-    this, SLOT(updateNearClipDistance()));
+    parent, SLOT(updateNearClipDistance()), this);
   near_clip_property_->setMin(0.001f);
   near_clip_property_->setMax(10000);
 
@@ -75,7 +80,7 @@ ViewController::ViewController()
     "Render the main view in stereo if supported."
     "  On Linux this requires a recent version of Ogre and"
     " an NVIDIA Quadro card with 3DVision glasses.",
-    this, SLOT(updateStereoProperties()));
+    parent, SLOT(updateStereoProperties()), this);
   stereo_eye_swap_ = new BoolProperty(
     "Swap Stereo Eyes", false,
     "Swap eyes if the monitor shows the left eye on the right.",
@@ -91,7 +96,12 @@ ViewController::ViewController()
   invert_z_ = new BoolProperty(
     "Invert Z Axis", false,
     "Invert camera's Z axis for Z-down environments/models.",
-    this, SLOT(updateStereoProperties()));
+    parent, SLOT(updateStereoProperties()), this);
+}
+
+ViewController::ViewController()
+  : ViewController(nullptr)
+{
 }
 
 void ViewController::initialize(DisplayContext * context)

rviz_common/src/rviz_common/visualization_manager.cpp

@@ -69,6 +69,7 @@
 #include "frame_manager.hpp"
 #include "rviz_common/load_resource.hpp"
 #include "rviz_common/properties/color_property.hpp"
+#include "rviz_common/properties/display_group_visibility_property.hpp"
 #include "rviz_common/properties/int_property.hpp"
 #include "rviz_common/properties/parse_color.hpp"
 #include "rviz_common/properties/property.hpp"
@@ -199,6 +200,17 @@ VisualizationManager::VisualizationManager(
     "RViz will try to render this many frames per second.",
     global_options_, SLOT(updateFps()), this);
 
+  rviz_rendering::RenderWindowOgreAdapter::setVisibilityMask(
+    getRenderPanel()->getRenderWindow(),
+    default_visibility_bit_);
+
+  visibility_property_ = new rviz_common::properties::DisplayGroupVisibilityProperty(
+    default_visibility_bit_, getRootDisplayGroup(), nullptr, "Visibility", true,
+    "Changes the visibility of other Displays in the camera view.", global_options_,
+    SLOT(updateVisibilityMask()), this);
+  visibility_property_->setIcon(
+    rviz_common::loadPixmap("package://rviz_default_plugins/icons/visibility.svg", true));
+
   root_display_group_->initialize(this);   // only initialize() a Display
                                            // after its sub-properties are created.
   root_display_group_->setEnabled(true);
@@ -354,6 +366,8 @@ void VisualizationManager::onUpdate()
 
   Q_EMIT preUpdate();
 
+  updateVisibilityMask();
+
   frame_manager_->update();
 
   root_display_group_->update(wall_dt, ros_dt);
@@ -396,6 +410,16 @@ void VisualizationManager::onUpdate()
     render_requested_ = 0;
     std::lock_guard<std::mutex> lock(private_->render_mutex_);
     ogre_root_->renderOneFrame();
+
+    for (unsigned int i = 0; i < render_panel_list_.size(); i++) {
+      if(render_panel_render_mask_[i]) {
+        auto viewport =
+          rviz_rendering::RenderWindowOgreAdapter::getOgreViewport(render_panel_list_[i]->getRenderWindow());
+        if (viewport) {
+          viewport->update();
+        }
+      }
+    }
   }
 }
 
@@ -413,6 +437,20 @@ void VisualizationManager::onTimeJump(const rcl_time_jump_t & jump)
   }
 }
 
+int VisualizationManager::addRenderPanel( RenderPanel* rp )
+{
+  render_panel_list_.push_back(rp);
+  render_panel_render_mask_.push_back(true);
+  return render_panel_list_.size()-1;
+}
+
+void VisualizationManager::updateRenderMask(std::size_t id, bool mask)
+{
+  if(id < render_panel_render_mask_.size()) {
+    render_panel_render_mask_[id] = mask;
+  }
+}
+
 void VisualizationManager::updateTime()
 {
   rclcpp::Clock clock;  // TODO(wjwwood): replace with clock attached to node for ROS Time
@@ -581,6 +619,12 @@ double VisualizationManager::getROSTimeElapsed()
   return static_cast<double>(ros_time_elapsed_) / 1e9;
 }
 
+void VisualizationManager::updateVisibilityMask()
+{
+  visibility_property_->update();
+  queueRender();
+}
+
 void VisualizationManager::updateBackgroundColor()
 {
   using rviz_rendering::RenderWindowOgreAdapter;

rviz_default_plugins/include/rviz_default_plugins/displays/camera/camera_display.hpp

@@ -138,7 +138,9 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC CameraDisplay
 
   void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg) override;
 
-private Q_SLOTS:
+  bool allow_visibility() const override;
+
+  private Q_SLOTS:
   void updateAlpha();
 
 private:

rviz_default_plugins/include/rviz_default_plugins/displays/image/image_display.hpp

@@ -96,6 +96,8 @@ public Q_SLOTS:
   /* This is called by incomingMessage(). */
   void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg) override;
 
+  bool allow_visibility() const override;
+
 private:
   void setupScreenRectangle();
   void setupRenderPanel();

rviz_default_plugins/include/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp

@@ -42,6 +42,7 @@
 #include "rviz_common/frame_position_tracking_view_controller.hpp"
 #include "rviz_common/properties/bool_property.hpp"
 #include "rviz_common/properties/float_property.hpp"
+#include "rviz_common/properties/property.hpp"
 #include "rviz_common/properties/vector_property.hpp"
 #include "rviz_rendering/objects/shape.hpp"
 #include "rviz_default_plugins/visibility_control.hpp"
@@ -68,6 +69,8 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC OrbitViewController : public
 
 public:
   OrbitViewController();
+  OrbitViewController(rviz_common::properties::Property * parent);
+
   ~OrbitViewController() override;
 
   /// Do subclass-specific initialization.

rviz_default_plugins/include/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.hpp

@@ -36,6 +36,7 @@
 #include <OgreQuaternion.h>
 
 #include "rviz_common/frame_position_tracking_view_controller.hpp"
+#include "rviz_common/properties/property.hpp"
 #include "rviz_default_plugins/visibility_control.hpp"
 
 namespace rviz_rendering
@@ -69,6 +70,8 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC FixedOrientationOrthoViewController : public
 
 public:
   FixedOrientationOrthoViewController();
+  FixedOrientationOrthoViewController(rviz_common::properties::Property * parent);
+
   ~FixedOrientationOrthoViewController() override = default;
 
   void onInitialize() override;

rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp

@@ -221,6 +221,11 @@ void CameraDisplay::setupSceneNodes()
   updateAlpha();
 }
 
+bool CameraDisplay::allow_visibility() const
+{
+  return false;
+}
+
 void CameraDisplay::setupRenderPanel()
 {
   render_panel_ = std::make_unique<rviz_common::RenderPanel>();

rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp

@@ -157,6 +157,11 @@ void ImageDisplay::clear()
   texture_->clear();
 }
 
+bool ImageDisplay::allow_visibility() const
+{
+  return false;
+}
+
 void ImageDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
 {
   (void) wall_dt;

rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp

@@ -345,6 +345,7 @@ void PointCloudCommon::insertNewClouds(float point_decay_time, const rclcpp::Tim
         cloud_info->position_,
         cloud_info->orientation_);
 
+      cloud_info->cloud_->setVisibilityFlags(display_->getVisibilityBits());
       cloud_info->scene_node_->attachObject(cloud_info->cloud_.get());
 
       cloud_info->setSelectable(selectable_property_->getBool(), getSelectionBoxSize(), context_);

rviz_default_plugins/src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp

@@ -66,8 +66,10 @@ using rviz_common::properties::FloatProperty;
 using rviz_common::properties::VectorProperty;
 using rviz_rendering::Shape;
 
-OrbitViewController::OrbitViewController()
-: focal_shape_(nullptr), dragging_(false)
+OrbitViewController::OrbitViewController(rviz_common::properties::Property * parent)
+: rviz_common::FramePositionTrackingViewController(parent),
+  focal_shape_(nullptr),
+  dragging_(false)
 {
   distance_property_ = new FloatProperty(
     "Distance", DISTANCE_START,
@@ -98,6 +100,11 @@ OrbitViewController::OrbitViewController()
     "The center point which the camera orbits.", this);
 }
 
+OrbitViewController::OrbitViewController()
+: OrbitViewController(nullptr)
+{
+}
+
 void OrbitViewController::onInitialize()
 {
   rviz_common::FramePositionTrackingViewController::onInitialize();