Destroy rendering sensors when sensor is removed (#169)

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Oct 16, 2023 · 97b6123 · 97b6123
1 parent 3ace7ae
commit 97b6123
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diff --git a/src/RenderingSensor.cc b/src/RenderingSensor.cc
@@ -47,6 +47,15 @@ RenderingSensor::RenderingSensor() :
 //////////////////////////////////////////////////
 RenderingSensor::~RenderingSensor()
 {
+  if (!this->dataPtr->scene)
+    return;
+  for (auto &s : this->dataPtr->sensors)
+  {
+    auto sensor = s.lock();
+    if (sensor)
+      this->dataPtr->scene->DestroySensor(sensor);
+  }
+  this->dataPtr->sensors.clear();
 }
 
 /////////////////////////////////////////////////

diff --git a/test/integration/camera_plugin.cc b/test/integration/camera_plugin.cc
@@ -167,6 +167,18 @@ void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
     EXPECT_DOUBLE_EQ(0.0, projection.p(11));
   }
 
+  // test removing sensor
+  // first make sure the sensor objects do exist
+  auto sensorId = sensor->Id();
+  auto cameraId = sensor->RenderingCamera()->Id();
+  EXPECT_EQ(sensor, mgr.Sensor(sensorId));
+  EXPECT_EQ(sensor->RenderingCamera(), scene->SensorById(cameraId));
+  // remove and check sensor objects no longer exist in both sensors and
+  // rendering
+  EXPECT_TRUE(mgr.Remove(sensorId));
+  EXPECT_EQ(nullptr, mgr.Sensor(sensorId));
+  EXPECT_EQ(nullptr, scene->SensorById(cameraId));
+
   // Clean up
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());