Fixed rendering in case multiple static image compositors are used at the same time.

Author: peci1

src/compositors/OgreStaticImage.cc

@@ -119,8 +119,11 @@ void OgreStaticImage::CreateRenderPass()
     return;
   }
 
+  static size_t n {0u};
+  n += 1;
+
   this->dataPtr->material = Ogre::MaterialManager::getSingleton().getByName("StaticImageMat")->clone(
-    "StaticImageMat/" + this->ogreCamera->getName());
+    "StaticImageMat/" + this->ogreCamera->getName() + "_" + std::to_string(n));
 
   const auto params = this->dataPtr->material->getTechnique(0)->getPass(0)->getFragmentProgramParameters();
   params->setNamedConstant("is_background", this->dataPtr->isBackground);
@@ -130,7 +133,7 @@ void OgreStaticImage::CreateRenderPass()
   params->setNamedConstant("color_mode_color", convertColor(this->dataPtr->colorModeColor, this->dataPtr->sceneFormat));
 
   // initialize the texture
-  const auto texName = this->ogreCamera->getName() + "_staticImageTex";
+  const auto texName = this->ogreCamera->getName() + "_staticImageTex" + std::to_string(n);
   this->dataPtr->texture = Ogre::TextureManager::getSingleton().createManual(
     texName, "General", Ogre::TEX_TYPE_2D, this->dataPtr->image.cols, this->dataPtr->image.rows, 1, 0,
     this->dataPtr->sceneFormat, Ogre::TU_STATIC_WRITE_ONLY);

src/robot_model_renderer/cras_bag_tools_plugin.py

@@ -44,6 +44,8 @@ def __init__(self, camera_info_topic, mask_topic=None, description_param=None, d
             else:
                 print('URDF model file "%s" does not exist.' % (description_file,), file=sys.stderr)
 
+        self._static_mask_file = None
+
         self._config = RobotModelRendererConfig()
         # Default config for this plugin
         self._config.renderingMode = RenderingMode.MASK
@@ -89,6 +91,7 @@ def __init__(self, camera_info_topic, mask_topic=None, description_param=None, d
                         package_path = rospack.get_path(matches[1])
                         image_file = image_file.replace('$(find %s)' % (matches[1],), package_path)
                     self._config.staticMaskImage = cv2.imread(image_file, cv2.IMREAD_UNCHANGED)
+                    self._static_mask_file = image_file
                 except Exception as e:
                     print("Error reading static mask image %s: %s" % (kwargs[k], str(e)), file=sys.stderr)
             else:
@@ -161,8 +164,10 @@ def reset(self):
     def _str_params(self):
         parts = [
             'camera_info_topic=' + self.camera_info_topic,
-            'mask_topic=' + self.mask_topic
+            'mask_topic=' + self.mask_topic,
         ]
+        if self._static_mask_file is not None:
+            parts.append('staticMaskImage=' + self._static_mask_file)
         if self.description_param != "robot_description":
             parts.append('description_param=' + self.description_param)
         parent_params = super(RenderCameraMask, self)._str_params()