clean up rendering resources (#324)

Signed-off-by: Ian Chen <[email protected]>

src/RenderingSensor.cc

@@ -47,7 +47,7 @@ RenderingSensor::RenderingSensor() :
 //////////////////////////////////////////////////
 RenderingSensor::~RenderingSensor()
 {
-  if (!this->dataPtr->scene)
+  if (!this->dataPtr->scene || !this->dataPtr->scene->IsInitialized())
     return;
   for (auto &s : this->dataPtr->sensors)
   {

test/integration/depth_camera_plugin.cc

@@ -222,6 +222,7 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   box->SetLocalRotation(0, 0, 0);
   box->SetLocalScale(unitBoxSize, unitBoxSize, unitBoxSize);
   box->SetMaterial(blue);
+  scene->DestroyMaterial(blue);
   root->AddChild(box);
 
   // do the test
@@ -333,11 +334,9 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   EXPECT_EQ(9, infoMsg.rectification_matrix().size());
 
   // Check that for a box really close it returns -inf
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionNear(
       unitBoxSize * 0.5 + near_ * 0.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionNear);
-  root->AddChild(box);
 
   mgr.RunOnce(gz::common::Time::Zero, true);
   for (int sleep = 0;
@@ -369,11 +368,9 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   g_mutex.unlock();
 
   // Check that for a box really far it returns inf
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionFar(
       unitBoxSize * 0.5 + far_ * 1.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFar);
-  root->AddChild(box);
 
   mgr.RunOnce(gz::common::Time::Zero, true);
   for (int sleep = 0;
@@ -405,11 +402,9 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
 
 
   // Check that the depth values for a box do not warp.
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionFillFrame(
       unitBoxSize * 0.5 + 0.2, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFillFrame);
-  root->AddChild(box);
 
   mgr.RunOnce(gz::common::Time::Zero, true);
   for (int sleep = 0;
@@ -494,7 +489,12 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   g_mutex.unlock();
   g_pcMutex.unlock();
 
+  // clean up rendering ptrs
+  blue.reset();
+  box.reset();
+
   // Clean up
+  mgr.Remove(depthSensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }

test/integration/gpu_lidar_sensor_plugin.cc

@@ -277,6 +277,7 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
 
   // Clean up
   c.reset();
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -414,8 +415,11 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
   EXPECT_TRUE(pointMsgs.back().is_dense());
   EXPECT_EQ(32u * horzSamples * vertSamples, pointMsgs.back().data().size());
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+
   // Clean up
-  //
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -567,7 +571,14 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
   for (unsigned int i = 0; i < sensor1->RayCount(); ++i)
     EXPECT_DOUBLE_EQ(sensor2->Range(i), gz::math::INF_D);
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+  visualBox2.reset();
+  visualBox3.reset();
+
   // Clean up
+  mgr.Remove(sensor1->Id());
+  mgr.Remove(sensor2->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -687,7 +698,11 @@ void GpuLidarSensorTest::VerticalLidar(const std::string &_renderEngine)
     }
   }
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+
   // Clean up
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -809,8 +824,12 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
   EXPECT_DOUBLE_EQ(sensor2->Range(last), gz::math::INF_D);
 #endif
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+
   // Clean up
-  //
+  mgr.Remove(sensor1->Id());
+  mgr.Remove(sensor2->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -849,7 +868,6 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
   // Create a GpuLidarSensor
   gz::sensors::Manager mgr;
 
-
   // Default topic
   {
     const std::string topic;

test/integration/rgbd_camera_plugin.cc

@@ -242,6 +242,7 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   box->SetLocalRotation(0, 0, 0);
   box->SetLocalScale(unitBoxSize, unitBoxSize, unitBoxSize);
   box->SetMaterial(blue);
+  scene->DestroyMaterial(blue);
   root->AddChild(box);
 
   // do the test
@@ -526,11 +527,9 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   g_imgMutex.unlock();
 
   // Check that for a box really close it returns -inf
-  root->RemoveChild(box);
   math::Vector3d boxPositionNear(
       unitBoxSize * 0.5 + near_ * 0.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionNear);
-  root->AddChild(box);
 
   mgr.RunOnce(common::Time::Zero, true);
   for (int sleep = 0; sleep < 300 &&
@@ -632,11 +631,9 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   g_pcMutex.unlock();
 
   // Check that for a box really far it returns inf
-  root->RemoveChild(box);
   math::Vector3d boxPositionFar(
       unitBoxSize * 0.5 + far_ * 1.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFar);
-  root->AddChild(box);
 
   mgr.RunOnce(common::Time::Zero, true);
   for (int sleep = 0; sleep < 300 &&
@@ -737,7 +734,12 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   g_imgMutex.unlock();
   g_pcMutex.unlock();
 
+  // Clean up rendering ptrs
+  box.reset();
+  blue.reset();
+
   // Clean up
+  mgr.Remove(rgbdSensor->Id());
   engine->DestroyScene(scene);
   rendering::unloadEngine(engine->Name());
 }

test/integration/thermal_camera_plugin.cc

@@ -262,11 +262,9 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   EXPECT_EQ(9, infoMsg.rectification_matrix().size());
 
   // Check that for a box really close it returns box temperature
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionNear(
       unitBoxSize * 0.5 + near_ * 0.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionNear);
-  root->AddChild(box);
 
   mgr.RunOnce(gz::common::Time::Zero, true);
   for (int sleep = 0;
@@ -296,11 +294,9 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   g_mutex.unlock();
 
   // Check that for a box really far it returns ambient temperature
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionFar(
       unitBoxSize * 0.5 + far_ * 1.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFar);
-  root->AddChild(box);
 
   mgr.RunOnce(gz::common::Time::Zero, true);
   for (int sleep = 0;
@@ -329,8 +325,14 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   g_infoMutex.unlock();
   g_mutex.unlock();
 
+  delete [] g_thermalBuffer;
+  g_thermalBuffer = nullptr;
+
+  // Clean up rendering ptrs
+  box.reset();
 
   // Clean up
+  mgr.Remove(thermalSensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }