Support setting horizontal and vertical resolution for GpuRays

include/ignition/rendering/GpuRays.hh

@@ -158,6 +158,38 @@ namespace ignition
       /// \brief Get the number of channels used to store the ray data.
       /// \return Channel count.
       public: virtual unsigned int Channels() const = 0;
+
+      /// \brief Set the horizontal resolution. This number is multiplied by
+      /// RayCount to calculate RangeCount, which is the the number range data
+      /// points.
+      /// \sa RayCount()
+      /// \param[in] _resolution The new horizontal resolution. The
+      /// absolute value of this parameter is used to prevent a
+      /// negative resolution value.
+      public: virtual void SetHorizontalResolution(double _resolution) = 0;
+
+      /// \brief Get the horizontal resolution. This number is multiplied by
+      /// RayCount to calculate RangeCount, which is the the number range data
+      /// points.
+      /// \sa RayCount()
+      /// \return The horizontal resolution
+      public: virtual double HorizontalResolution() const = 0;
+
+      /// \brief Set the vertical resolution. This number is multiplied by
+      /// VerticalRayCount to calculate VerticalRangeCount, which is the the
+      /// number vertical range data points.
+      /// \param[in] _resolution The new vertical resolution. The
+      /// absolute value of this parameter is used to prevent a
+      /// negative resolution value.
+      /// \sa VerticalRayCount()
+      public: virtual void SetVerticalResolution(double _resolution) = 0;
+
+      /// \brief Get the vertical resolution. This number is multiplied by
+      /// VerticalRayCount to calculate VerticalRangeCount, which is the the
+      /// number vertical range data points.
+      /// \return The vertical resolution.
+      /// \sa VerticalRayCount()
+      public: virtual double VerticalResolution() const = 0;
     };
   }
   }

include/ignition/rendering/base/BaseGpuRays.hh

@@ -139,6 +139,18 @@ namespace ignition
       // Documentation inherited.
       public: virtual unsigned int Channels() const override;
 
+      // Documentation inherited.
+      public: virtual void SetHorizontalResolution(double _resolution) override;
+
+      // Documentation inherited.
+      public: virtual double HorizontalResolution() const override;
+
+      // Documentation inherited.
+      public: virtual void SetVerticalResolution(double resolution) override;
+
+      // Documentation inherited.
+      public: virtual double VerticalResolution() const override;
+
       /// \brief maximum value used for data outside sensor range
       public: float dataMaxVal = ignition::math::INF_D;
 
@@ -180,10 +192,10 @@ namespace ignition
       protected: int vSamples = 0;
 
       /// \brief Resolution of horizontal rays
-      protected: int hResolution = 1;
+      protected: double hResolution = 1;
 
       /// \brief Resolution of vertical rays
-      protected: int vResolution = 1;
+      protected: double vResolution = 1;
 
       /// \brief Number of channels used to store the data
       protected: unsigned int channels = 1u;
@@ -348,7 +360,7 @@ namespace ignition
     //////////////////////////////////////////////////
     int BaseGpuRays<T>::RangeCount() const
     {
-      return this->RayCount() * this->hResolution;
+      return static_cast<int>(this->RayCount() * this->hResolution);
     }
 
     template <class T>
@@ -369,7 +381,7 @@ namespace ignition
     //////////////////////////////////////////////////
     int BaseGpuRays<T>::VerticalRangeCount() const
     {
-      return this->VerticalRayCount() * this->vResolution;
+      return static_cast<int>(this->VerticalRayCount() * this->vResolution);
     }
 
     template <class T>
@@ -406,6 +418,34 @@ namespace ignition
     {
       return this->channels;
     }
+
+    template <class T>
+    //////////////////////////////////////////////////
+    void BaseGpuRays<T>::SetHorizontalResolution(double _resolution)
+    {
+      this->hResolution = std::abs(_resolution);
+    }
+
+    template <class T>
+    //////////////////////////////////////////////////
+    double BaseGpuRays<T>::HorizontalResolution() const
+    {
+      return this->hResolution;
+    }
+
+    template <class T>
+    //////////////////////////////////////////////////
+    void BaseGpuRays<T>::SetVerticalResolution(double _resolution)
+    {
+      this->vResolution = std::abs(_resolution);
+    }
+
+    template <class T>
+    //////////////////////////////////////////////////
+    double BaseGpuRays<T>::VerticalResolution() const
+    {
+      return this->vResolution;
+    }
     }
   }
 }

test/integration/gpu_rays.cc

@@ -133,6 +133,19 @@ void GpuRaysTest::Configure(const std::string &_renderEngine)
 
     gpuRays->SetVerticalRayCount(67);
     EXPECT_NEAR(gpuRays->VerticalRayCount(), 67, 1e-6);
+
+    EXPECT_DOUBLE_EQ(1.0, gpuRays->HorizontalResolution());
+    EXPECT_DOUBLE_EQ(1.0, gpuRays->VerticalResolution());
+
+    gpuRays->SetHorizontalResolution(0.1);
+    gpuRays->SetVerticalResolution(10.5);
+    EXPECT_DOUBLE_EQ(0.1, gpuRays->HorizontalResolution());
+    EXPECT_DOUBLE_EQ(10.5, gpuRays->VerticalResolution());
+
+    gpuRays->SetHorizontalResolution(-2.4);
+    gpuRays->SetVerticalResolution(-0.8);
+    EXPECT_DOUBLE_EQ(2.4, gpuRays->HorizontalResolution());
+    EXPECT_DOUBLE_EQ(0.8, gpuRays->VerticalResolution());
   }
 
   // Clean up