Make Sensors aware of CameraPassCountPerGpuFlush & Scene::PostFrame

[darksylinc]

🎉 New feature

See gazebosim/gz-rendering/issues/323

Summary

ign-rendering has a new feature aimed to improve performance but also fixes a few bugs related to particle simulations; which is controlled via Scene::SetCameraPassCountPerGpuFlush.

A value of 0 will use the legacy mode (i.e. previous behavior) to ease porting from older version.
A value > 0 controls performance vs RAM tradeoff (note that it is an upper limit; a very high value doesn't immediately waste RAM. See Scene::SetCameraPassCountPerGpuFlush documentation for details)

These changes makes sensors aware of legacy and new setting so that it adapts to both modes of operation.

This PR depends on gazebosim/gz-rendering#353 otherwise it will not compile.

Test it

Just run the code again. This PR changes SetCameraPassCountPerGpuFlush in tests explicitly to 6 to take advantage of the new feature. Set it to 0 for legacy.

Outside of tests, this PR will not change CameraPassCountPerGpuFlush (since it has to respect what the user selects); thus the default value of Ogre2ScenePrivate::cameraPassCountPerGpuFlush matters.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[iche033]

@osrf-jenkins run tests please

[iche033]

looks good to me. I just merged gazebosim/gz-rendering#353 so I think we'll need to wait a day for the ign-rendering nightly debs to be available first before getting the ubuntu CI build to pass.

[darksylinc]

Mmm I wasn't ign-rendering expecting to be merged so fast! :)

I thought testing was going to be made "sandboxed" before merging.

Until this PR is not merged, ign-rendering's will break stuff for everybody. Please change Ogre2ScenePrivate::cameraPassCountPerGpuFlush default to 0 at least until ign-sensors is PR is merged.

[darksylinc]

I can submit a PR if you are far away from a PC to submit that change yourself

[iche033]

I tested the 3 PRs locally and it's working well. I was going to merge the 3 PRs in a row today but found that the CI uses nightlies instead of source builds so couldn't get this one in.

hmm ok I'll set Ogre2ScenePrivate::cameraPassCountPerGpuFlush to 0 and switch it back once the 3 PRs are in.

[iche033]

hmm ok I'll set Ogre2ScenePrivate::cameraPassCountPerGpuFlush to 0 and switch it back once the 3 PRs are in.

gazebosim/gz-rendering#367

[codecov]

Codecov Report

Merging #145 (97766e6) into main (53c87ea) will decrease coverage by 0.01%.
The diff coverage is 66.66%.

@@            Coverage Diff             @@
##             main     #145      +/-   ##
==========================================
- Coverage   77.23%   77.22%   -0.02%     
==========================================
  Files          23       23              
  Lines        2355     2358       +3     
==========================================
+ Hits         1819     1821       +2     
- Misses        536      537       +1     

Impacted Files	Coverage Δ
src/RenderingSensor.cc	93.93% <66.66%> (-2.73%)	⬇️

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[iche033]

ubuntu build is passing, approving.