diff --git a/include/gz/rendering/FrustumVisual.hh b/include/gz/rendering/FrustumVisual.hh
new file mode 100644
index 000000000..bd1771a30
--- /dev/null
+++ b/include/gz/rendering/FrustumVisual.hh
@@ -0,0 +1,180 @@
+/*
+ * Copyright (C) 2015 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_RENDERING_FRUSTUMVISUAL_HH_
+#define GZ_RENDERING_FRUSTUMVISUAL_HH_
+
+#include <gz/math/Angle.hh>
+#include <gz/math/AxisAlignedBox.hh>
+#include <gz/math/Plane.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/ImplPtr.hh>
+#include "gz/rendering/config.hh"
+#include "gz/rendering/Visual.hh"
+#include "gz/rendering/Object.hh"
+#include "gz/rendering/RenderTypes.hh"
+#include "gz/rendering/Marker.hh"
+
+namespace gz
+{
+  namespace rendering
+  {
+    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
+    //
+    /// \brief Planes that define the boundaries of the frustum.
+    enum GZ_RENDERING_VISIBLE FrustumVisualPlane
+    {
+      /// \brief Near plane
+      FRUSTUM_PLANE_NEAR   = 0,
+
+      /// \brief Far plane
+      FRUSTUM_PLANE_FAR    = 1,
+
+      /// \brief Left plane
+      FRUSTUM_PLANE_LEFT   = 2,
+
+      /// \brief Right plane
+      FRUSTUM_PLANE_RIGHT  = 3,
+
+      /// \brief Top plane
+      FRUSTUM_PLANE_TOP    = 4,
+
+      /// \brief Bottom plane
+      FRUSTUM_PLANE_BOTTOM = 5
+    };
+
+    /// \brief Mathematical representation of a frustum and related functions.
+    /// This is also known as a view frustum.
+    class GZ_RENDERING_VISIBLE FrustumVisual : public virtual Visual
+    {
+      /// \brief Default constructor. With the following default values:
+      ///
+      /// * near: 0.0
+      /// * far: 1.0
+      /// * fov: 0.78539 radians (45 degrees)
+      /// * aspect ratio: 1.0
+      /// * pose: Pose3d::Zero
+      protected: FrustumVisual();
+
+      /// \brief Destructor
+      public: virtual ~FrustumVisual();
+
+      /// \brief Constructor
+      /// \param[in] _near Near plane distance. This is the distance from
+      /// the frustum's vertex to the closest plane
+      /// \param[in] _far Far plane distance. This is the distance from the
+      /// frustum's vertex to the farthest plane.
+      /// \param[in] _fov Field of view. The field of view is the
+      /// angle between the frustum's vertex and the edges of the near or far
+      /// plane. This value represents the horizontal angle.
+      /// \param[in] _aspectRatio The aspect ratio, which is the width divided
+      /// by height of the near or far planes.
+      /// \param[in] _pose Pose of the frustum, which is the vertex (top of
+      /// the pyramid).
+      /*protected: FrustumVisual(double _near,
+                      double _far,
+                      const math::Angle &_fov,
+                      double _aspectRatio,
+                      const gz::math::Pose3d &_pose = gz::math::Pose3d::Zero);*/
+
+      public: virtual void Update() = 0;
+
+      /// \brief Get the near distance. This is the distance from the
+      /// frustum's vertex to the closest plane.
+      /// \return Near distance.
+      /// \sa SetNear
+      public: virtual double Near() const = 0;
+
+      /// \brief Set the near distance. This is the distance from the
+      /// frustum's vertex to the closest plane.
+      /// \param[in] _near Near distance.
+      /// \sa Near
+      public: virtual void SetNear(double _near) = 0;
+
+      /// \brief Get the far distance. This is the distance from the
+      /// frustum's vertex to the farthest plane.
+      /// \return Far distance.
+      /// \sa SetFar
+      public: virtual double Far() const = 0;
+
+      /// \brief Set the far distance. This is the distance from the
+      /// frustum's vertex to the farthest plane.
+      /// \param[in] _far Far distance.
+      /// \sa Far
+      public: virtual void SetFar(double _far) = 0;
+
+      /// \brief Get the horizontal field of view. The field of view is the
+      /// angle between the frustum's vertex and the edges of the near or far
+      /// plane. This value represents the horizontal angle.
+      /// \return The field of view.
+      /// \sa SetFOV
+      public: virtual gz::math::Angle FOV() const = 0;
+
+      /// \brief Set the horizontal field of view. The field of view is the
+      /// angle between the frustum's vertex and the edges of the near or far
+      /// plane. This value represents the horizontal angle.
+      /// \param[in] _fov The field of view.
+      /// \sa FOV
+      public: virtual void SetFOV(const gz::math::Angle &_fov) = 0;
+
+      /// \brief Get the aspect ratio, which is the width divided by height
+      /// of the near or far planes.
+      /// \return The frustum's aspect ratio.
+      /// \sa SetAspectRatio
+      public: virtual double AspectRatio() const = 0;
+
+      /// \brief Set the aspect ratio, which is the width divided by height
+      /// of the near or far planes.
+      /// \param[in] _aspectRatio The frustum's aspect ratio.
+      /// \sa AspectRatio
+      public: virtual void SetAspectRatio(double _aspectRatio) = 0;
+
+      /// \brief Get a plane of the frustum.
+      /// \param[in] _plane The plane to return.
+      /// \return Plane of the frustum.
+      public: virtual gz::math::Planed Plane(const FrustumVisualPlane _plane) const = 0;
+
+      /// \brief Check if a box lies inside the pyramid frustum.
+      /// \param[in] _b Box to check.
+      /// \return True if the box is inside the pyramid frustum.
+      //public: virtual bool Contains(const gz::math::AxisAlignedBox &_b) const = 0; //TO-DO
+
+      /// \brief Check if a point lies inside the pyramid frustum.
+      /// \param[in] _p Point to check.
+      /// \return True if the point is inside the pyramid frustum.
+      //public: virtual bool Contains(const gz::math::Vector3d &_p) const = 0; //TO-DO
+
+      /// \brief Get the pose of the frustum
+      /// \return Pose of the frustum
+      /// \sa SetPose
+      public: virtual gz::math::Pose3d Pose() const = 0;
+
+      /// \brief Set the pose of the frustum
+      /// \param[in] _pose Pose of the frustum, top vertex.
+      /// \sa Pose
+      public: virtual void SetPose(const gz::math::Pose3d &_pose) = 0;
+
+      /// \brief Compute the planes of the frustum. This is called whenever
+      /// a property of the frustum is changed.
+      private: void ComputePlanes();
+
+      /// \brief Private data pointer
+      //GZ_UTILS_IMPL_PTR(dataPtr)
+    };
+    }
+  }
+}
+#endif
diff --git a/include/gz/rendering/RenderTypes.hh b/include/gz/rendering/RenderTypes.hh
index 2a7c5e0e8..addac9636 100644
--- a/include/gz/rendering/RenderTypes.hh
+++ b/include/gz/rendering/RenderTypes.hh
@@ -72,6 +72,7 @@ namespace gz
     class LightVisual;
     class JointVisual;
     class LidarVisual;
+    class FrustumVisual;
     class Light;
     class Marker;
     class Material;
@@ -206,6 +207,10 @@ namespace gz
     /// \brief Shared pointer to LidarVisual
     typedef shared_ptr<LidarVisual> LidarVisualPtr;
 
+    /// \typedef FrustumVisualPtr
+    /// \brief Shared pointer to FrustumVisual
+    typedef shared_ptr<FrustumVisual> FrustumVisualPtr;
+
     /// \typedef MaterialPtr
     /// \brief Shared pointer to Material
     typedef shared_ptr<Material> MaterialPtr;
@@ -384,6 +389,10 @@ namespace gz
     /// \brief Shared pointer to const LidarVisual
     typedef shared_ptr<const LidarVisual> ConstLidarVisualPtr;
 
+    /// \typedef const FrustumVisualPtr
+    /// \brief Shared pointer to const FrustumVisual
+    typedef shared_ptr<const FrustumVisual> ConstFrustumVisualPtr;
+
     /// \typedef const MaterialPtr
     /// \brief Shared pointer to const Material
     typedef shared_ptr<const Material> ConstMaterialPtr;
diff --git a/include/gz/rendering/Scene.hh b/include/gz/rendering/Scene.hh
index fdaa6436d..bf6b11395 100644
--- a/include/gz/rendering/Scene.hh
+++ b/include/gz/rendering/Scene.hh
@@ -1108,6 +1108,34 @@ namespace gz
       public: virtual LidarVisualPtr CreateLidarVisual(
                   unsigned int _id, const std::string &_name) = 0;
 
+      /// \brief Create new frusum visual. A unique ID and name will
+      /// automatically be assigned to the frustum visual.
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual() = 0;
+
+      /// \brief Create new frustum visual with the given ID. A unique name
+      /// will automatically be assigned to the frustum visual. If the given
+      /// ID is already in use, NULL will be returned.
+      /// \param[in] _id ID of the new frustum visual
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual(unsigned int _id) = 0;
+
+      /// \brief Create new frustum visual with the given name. A unique ID
+      /// will automatically be assigned to the frustum visual. If the given
+      /// name is already in use, NULL will be returned.
+      /// \param[in] _name Name of the new frustum visual
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual(
+                  const std::string &_name) = 0;
+
+      /// \brief Create new frustum visual with the given name. If either
+      /// the given ID or name is already in use, NULL will be returned.
+      /// \param[in] _id ID of the frustum visual.
+      /// \param[in] _name Name of the new frustum visual.
+      /// \return The created frustum visual
+      public: virtual FrustumVisualPtr CreateFrustumVisual(
+                  unsigned int _id, const std::string &_name) = 0;
+
       /// \brief Create new heightmap geomerty. The rendering::Heightmap will be
       /// created from the given HeightmapDescriptor.
       /// \param[in] _desc Data about the heightmap
diff --git a/include/gz/rendering/base/BaseFrustumVisual.hh b/include/gz/rendering/base/BaseFrustumVisual.hh
new file mode 100644
index 000000000..875156ec4
--- /dev/null
+++ b/include/gz/rendering/base/BaseFrustumVisual.hh
@@ -0,0 +1,265 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_RENDERING_BASEFRUSTUMVISUAL_HH_
+#define GZ_RENDERING_BASEFRUSTUMVISUAL_HH_
+
+#include <vector>
+
+#include "gz/rendering/FrustumVisual.hh"
+#include "gz/rendering/base/BaseObject.hh"
+#include "gz/rendering/base/BaseRenderTypes.hh"
+#include "gz/rendering/Scene.hh"
+
+namespace gz
+{
+  namespace rendering
+  {
+    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
+    /// \brief Base implementation of a Frustum Visual
+    template <class T>
+    class BaseFrustumVisual :
+      public virtual FrustumVisual,
+      public virtual T
+    {
+      // Documentation inherited
+      protected: BaseFrustumVisual();
+
+      // Documentation inherited
+      public: virtual ~BaseFrustumVisual();
+
+      // Documentation inherited
+      public: virtual void PreRender() override;
+
+      // Documentation inherited
+      public: virtual void Destroy() override;
+
+      // Documentation inherited
+      public: virtual void Update() override;
+
+      // Documentation inherited
+      public: virtual void Init() override;
+
+      // Documentation inherited
+      public: virtual double Near() const override;
+
+      // Documentation inherited
+      public: virtual void SetNear(double _near) override;
+
+      // Documentation inherited
+      public: virtual double Far() const override;
+
+      // Documentation inherited
+      public: virtual void SetFar(double _far) override;
+
+      // Documentation inherited
+      public: virtual math::Angle FOV() const override;
+
+      // Documentation inherited
+      public: virtual void SetFOV(const math::Angle &_fov) override;
+
+      // Documentation inherited
+      public: virtual double AspectRatio() const override;
+
+      // Documentation inherited
+      public: virtual void SetAspectRatio(double _aspectRatio) override;
+
+      // Documentation inherited
+      public: virtual gz::math::Planed Plane(const FrustumVisualPlane _plane) const override;
+
+      // Documentation inherited
+      //public: virtual bool Contains(const gz::math::AxisAlignedBox &_b) const override;
+
+      // Documentation inherited
+      //public: virtual bool Contains(const gz::math::Vector3d &_p) const override;
+
+      // Documentation inherited
+      public: virtual gz::math::Pose3d Pose() const override;
+
+      // Documentation inherited
+      public: virtual void SetPose(const gz::math::Pose3d &_pose) override;
+
+      /// \brief Create predefined materials for lidar visual
+      public: virtual void CreateMaterials();
+
+      /// \brief near value
+      protected: double near = 0.0;
+
+      /// \brief far value
+      protected: double far = 1.0;
+
+      /// \brief fov value
+      protected: gz::math::Angle fov = 0.78539;
+
+      /// \brief aspect ratio value
+      protected: double aspectRatio = 1.0;
+
+      /// \brief array of plane
+      protected: std::array<gz::math::Planed, 6> planes;
+
+      /// \brief pose of visual
+      protected: gz::math::Pose3d pose = gz::math::Pose3d::Zero;
+    };
+
+    /////////////////////////////////////////////////
+    // BaseFrustumVisual
+    /////////////////////////////////////////////////
+    template <class T>
+    BaseFrustumVisual<T>::BaseFrustumVisual()
+    {
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    BaseFrustumVisual<T>::~BaseFrustumVisual()
+    {
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::PreRender()
+    {
+      T::PreRender();
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::Destroy()
+    {
+      T::Destroy();
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::Update()
+    {
+      // no op
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::Init()
+    {
+      T::Init();
+      this->CreateMaterials();
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::SetNear(
+          double _near)
+    {
+      this->near = _near;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    double BaseFrustumVisual<T>::Near() const
+    {
+      return this->near;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::SetFar(
+                  double _far)
+    {
+      this->far = _far;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    double BaseFrustumVisual<T>::Far() const
+    {
+      return this->far;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::SetFOV(
+          const gz::math::Angle &_fov)
+    {
+      this->fov = _fov;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    gz::math::Angle BaseFrustumVisual<T>::FOV() const
+    {
+      return this->fov;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::SetAspectRatio(
+          double _aspectRatio)
+    {
+      this->aspectRatio = _aspectRatio;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    double BaseFrustumVisual<T>::AspectRatio() const
+    {
+      return this->aspectRatio;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    gz::math::Planed BaseFrustumVisual<T>::Plane(const FrustumVisualPlane _plane) const
+    {
+      return this->planes[_plane];
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::SetPose(const gz::math::Pose3d &_pose)
+    {
+      this->pose = _pose;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    gz::math::Pose3d BaseFrustumVisual<T>::Pose() const
+    {
+	    return this->pose;
+    }
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseFrustumVisual<T>::CreateMaterials()
+    {
+      MaterialPtr mtl;
+
+      if (!this->Scene()->MaterialRegistered("Frustum/BlueRay"))
+      {
+        mtl = this->Scene()->CreateMaterial("Frustum/BlueRay");
+        mtl->SetAmbient(0.0, 0.0, 1.0);
+        mtl->SetDiffuse(0.0, 0.0, 1.0);
+        mtl->SetEmissive(0.0, 0.0, 1.0);
+        mtl->SetSpecular(0.0, 0.0, 1.0);
+        mtl->SetTransparency(0.0);
+        mtl->SetCastShadows(false);
+        mtl->SetReceiveShadows(false);
+        mtl->SetLightingEnabled(false);
+        mtl->SetMetalness(0.1f);
+        mtl->SetReflectivity(0.2);
+      }
+      return;
+    }
+    }
+  }
+}
+#endif
diff --git a/include/gz/rendering/base/BaseScene.hh b/include/gz/rendering/base/BaseScene.hh
index 200246a2b..b92fd1449 100644
--- a/include/gz/rendering/base/BaseScene.hh
+++ b/include/gz/rendering/base/BaseScene.hh
@@ -537,6 +537,21 @@ namespace gz
       public: virtual LidarVisualPtr CreateLidarVisual(unsigned int _id,
                                             const std::string &_name) override;
 
+      // Documentation inherited.
+      public: virtual FrustumVisualPtr CreateFrustumVisual() override;
+
+      // Documentation inherited.
+      public: virtual FrustumVisualPtr CreateFrustumVisual(
+                                            unsigned int _id) override;
+
+      // Documentation inherited.
+      public: virtual FrustumVisualPtr CreateFrustumVisual(
+                                            const std::string &_name) override;
+
+      // Documentation inherited.
+      public: virtual FrustumVisualPtr CreateFrustumVisual(unsigned int _id,
+                                            const std::string &_name) override;
+
       // Documentation inherited.
       public: virtual HeightmapPtr CreateHeightmap(
           const HeightmapDescriptor &_desc) override;
@@ -828,6 +843,13 @@ namespace gz
       protected: virtual LidarVisualPtr CreateLidarVisualImpl(unsigned int _id,
                      const std::string &_name) = 0;
 
+      /// \brief Implementation for creating a frustum visual
+      /// \param[in] _id unique object id.
+      /// \param[in] _name unique object name.
+      /// \return Pointer to a frustum visual
+      protected: virtual FrustumVisualPtr CreateFrustumVisualImpl(unsigned int _id,
+                     const std::string &_name) = 0;
+
       /// \brief Implementation for creating a heightmap geometry
       /// \param[in] _id Unique object id.
       /// \param[in] _name Unique object name.
diff --git a/ogre/include/gz/rendering/ogre/OgreFrustumVisual.hh b/ogre/include/gz/rendering/ogre/OgreFrustumVisual.hh
new file mode 100644
index 000000000..ede578b37
--- /dev/null
+++ b/ogre/include/gz/rendering/ogre/OgreFrustumVisual.hh
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef GZ_RENDERING_OGRE_OGREFRUSTUMVISUAL_HH_
+#define GZ_RENDERING_OGRE_OGREFRUSTUMVISUAL_HH_
+
+#include <vector>
+#include <memory>
+#include "gz/rendering/base/BaseFrustumVisual.hh"
+#include "gz/rendering/ogre/OgreVisual.hh"
+#include "gz/rendering/ogre/OgreIncludes.hh"
+#include "gz/rendering/ogre/OgreScene.hh"
+
+namespace gz
+{
+  namespace rendering
+  {
+    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
+    //
+    // Forward declaration
+    class OgreFrustumVisualPrivate;
+
+    /// \brief Ogre implementation of a Frustum Visual.
+    class GZ_RENDERING_OGRE_VISIBLE OgreFrustumVisual
+      : public BaseFrustumVisual<OgreVisual>
+    {
+      /// \brief Constructor
+      protected: OgreFrustumVisual();
+
+      /// \brief Destructor
+      public: virtual ~OgreFrustumVisual();
+
+      // Documentation inherited.
+      public: virtual void Init() override;
+
+      // Documentation inherited.
+      public: virtual void PreRender() override;
+
+      // Documentation inherited.
+      public: virtual void Destroy() override;
+
+      // Documentation inherited
+      public: virtual void Update() override;
+
+      /// \brief Create the Frustum Visual in ogre
+      private: void Create();
+
+      /// \brief Clear data stored by dynamiclines
+      private: void ClearVisualData();
+
+      // Documentation inherited
+      public: virtual void SetVisible(bool _visible) override;
+
+      /// \brief Frustum Visual should only be created by scene.
+      private: friend class OgreScene;
+
+      /// \brief Private data class
+      private: std::unique_ptr<OgreFrustumVisualPrivate> dataPtr;
+    };
+    }
+  }
+}
+#endif
diff --git a/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh b/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh
index 06fabd6f8..031caa34d 100644
--- a/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh
+++ b/ogre/include/gz/rendering/ogre/OgreRenderTypes.hh
@@ -33,6 +33,7 @@ namespace gz
     class OgreCOMVisual;
     class OgreDepthCamera;
     class OgreDirectionalLight;
+    class OgreFrustumVisual;
     class OgreGeometry;
     class OgreGizmoVisual;
     class OgreGpuRays;
@@ -86,6 +87,7 @@ namespace gz
     typedef shared_ptr<OgreCOMVisual>            OgreCOMVisualPtr;
     typedef shared_ptr<OgreDepthCamera>          OgreDepthCameraPtr;
     typedef shared_ptr<OgreDirectionalLight>     OgreDirectionalLightPtr;
+    typedef shared_ptr<OgreFrustumVisual>        OgreFrustumVisualPtr;
     typedef shared_ptr<OgreGeometry>             OgreGeometryPtr;
     typedef shared_ptr<OgreGeometryStore>        OgreGeometryStorePtr;
     typedef shared_ptr<OgreGizmoVisual>          OgreGizmoVisualPtr;
diff --git a/ogre/include/gz/rendering/ogre/OgreScene.hh b/ogre/include/gz/rendering/ogre/OgreScene.hh
index a55c8de66..19f14f368 100644
--- a/ogre/include/gz/rendering/ogre/OgreScene.hh
+++ b/ogre/include/gz/rendering/ogre/OgreScene.hh
@@ -180,6 +180,10 @@ namespace gz
       protected: virtual LidarVisualPtr CreateLidarVisualImpl(unsigned int _id,
                      const std::string &_name) override;
 
+      // Documentation inherited
+      protected: virtual FrustumVisualPtr CreateFrustumVisualImpl(unsigned int _id,
+                     const std::string &_name) override;
+
       // Documentation inherited
       protected: virtual WireBoxPtr CreateWireBoxImpl(unsigned int _id,
                      const std::string &_name) override;
diff --git a/ogre/src/OgreFrustumVisual.cc b/ogre/src/OgreFrustumVisual.cc
new file mode 100644
index 000000000..abe7c1b79
--- /dev/null
+++ b/ogre/src/OgreFrustumVisual.cc
@@ -0,0 +1,102 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <gz/common/Console.hh>
+#include "gz/rendering/ogre/OgreDynamicLines.hh"
+#include "gz/rendering/ogre/OgreFrustumVisual.hh"
+#include "gz/rendering/ogre/OgreScene.hh"
+#include "gz/rendering/ogre/OgreMarker.hh"
+#include "gz/rendering/ogre/OgreGeometry.hh"
+
+
+class gz::rendering::OgreFrustumVisualPrivate
+{
+  /// \brief Frustum Ray DynamicLines Object to display
+  public: std::vector<std::shared_ptr<OgreDynamicLines>> rayLines;
+
+  /// \brief Frustum visual type
+  //public: FrustumVisualPlane frustumVisPlane =
+  	  //FrustumVisualPlane::FRUSTUM_PLANE_TOP;
+
+  /// \brief The visibility of the visual
+  public: bool visible = true;
+
+  /// \brief Each corner of the frustum.
+  public: std::array<gz::math::Vector3d, 8> points;
+
+  /// \brief each edge of the frustum.
+  public: std::array<std::pair<gz::math::Vector3d, gz::math::Vector3d>, 12> edges;
+};
+
+using namespace gz;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+OgreFrustumVisual::OgreFrustumVisual()
+  : dataPtr(new OgreFrustumVisualPrivate)
+{
+}
+
+//////////////////////////////////////////////////
+OgreFrustumVisual::~OgreFrustumVisual()
+{
+  // no ops
+}
+
+//////////////////////////////////////////////////
+void OgreFrustumVisual::PreRender()
+{
+  // no ops
+}
+
+//////////////////////////////////////////////////
+void OgreFrustumVisual::Destroy()
+{
+  BaseFrustumVisual::Destroy();
+}
+
+//////////////////////////////////////////////////
+void OgreFrustumVisual::Init()
+{
+  BaseFrustumVisual::Init();
+  this->Create();
+}
+
+//////////////////////////////////////////////////
+void OgreFrustumVisual::Create()
+{
+  // no ops
+}
+
+//////////////////////////////////////////////////
+void OgreFrustumVisual::ClearVisualData()
+{
+  this->dataPtr->rayLines.clear();
+}
+
+//////////////////////////////////////////////////
+void OgreFrustumVisual::Update()
+{
+  //no ops FIX-ME
+}
+
+//////////////////////////////////////////////////
+void OgreFrustumVisual::SetVisible(bool _visible)
+{
+  this->dataPtr->visible = _visible;
+  this->ogreNode->setVisible(this->dataPtr->visible);
+}
diff --git a/ogre/src/OgreScene.cc b/ogre/src/OgreScene.cc
index 36531eb21..981c64fe4 100644
--- a/ogre/src/OgreScene.cc
+++ b/ogre/src/OgreScene.cc
@@ -35,6 +35,7 @@
 #include "gz/rendering/ogre/OgreInertiaVisual.hh"
 #include "gz/rendering/ogre/OgreJointVisual.hh"
 #include "gz/rendering/ogre/OgreLidarVisual.hh"
+#include "gz/rendering/ogre/OgreFrustumVisual.hh"
 #include "gz/rendering/ogre/OgreLightVisual.hh"
 #include "gz/rendering/ogre/OgreMarker.hh"
 #include "gz/rendering/ogre/OgreMaterial.hh"
@@ -622,6 +623,15 @@ LidarVisualPtr OgreScene::CreateLidarVisualImpl(unsigned int _id,
   return (result) ? lidar: nullptr;
 }
 
+//////////////////////////////////////////////////
+FrustumVisualPtr OgreScene::CreateFrustumVisualImpl(unsigned int _id,
+                                      const std::string &_name)
+{
+  OgreFrustumVisualPtr frustum(new OgreFrustumVisual);
+  bool result = this->InitObject(frustum, _id, _name);
+  return (result) ? frustum: nullptr;
+}
+
 //////////////////////////////////////////////////
 TextPtr OgreScene::CreateTextImpl(unsigned int _id, const std::string &_name)
 {
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2FrustumVisual.hh b/ogre2/include/gz/rendering/ogre2/Ogre2FrustumVisual.hh
new file mode 100644
index 000000000..f0c63cec0
--- /dev/null
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2FrustumVisual.hh
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef GZ_RENDERING_OGRE2_OGREFRUSTUMVISUAL_HH_
+#define GZ_RENDERING_OGRE2_OGREFRUSTUMVISUAL_HH_
+
+#include <memory>
+#include <vector>
+#include "gz/rendering/base/BaseFrustumVisual.hh"
+#include "gz/rendering/ogre2/Ogre2Visual.hh"
+#include "gz/rendering/ogre2/Ogre2Includes.hh"
+#include "gz/rendering/ogre2/Ogre2Scene.hh"
+
+namespace gz
+{
+  namespace rendering
+  {
+    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
+    //
+    // Forward declaration
+    class Ogre2FrustumVisualPrivate;
+
+    /// \brief Ogre 2.x implementation of a Frustum Visual.
+    class GZ_RENDERING_OGRE2_VISIBLE Ogre2FrustumVisual
+      : public BaseFrustumVisual<Ogre2Visual>
+    {
+      /// \brief Constructor
+      protected: Ogre2FrustumVisual();
+
+      /// \brief Destructor
+      public: virtual ~Ogre2FrustumVisual();
+
+      // Documentation inherited.
+      public: virtual void Init() override;
+
+      // Documentation inherited.
+      public: virtual void PreRender() override;
+
+      // Documentation inherited.
+      public: virtual void Destroy() override;
+
+      // Documentation inherited
+      public: virtual void Update() override;
+
+      /// \brief Create the Frustum Visual in ogre
+      private: void Create();
+
+      /// \brief Clear data stored by dynamiclines
+      private: void ClearVisualData();
+
+      // Documentation inherited
+      public: virtual void SetVisible(bool _visible) override;
+
+      /// \brief Frustum Visual should only be created by scene.
+      private: friend class Ogre2Scene;
+
+      /// \brief Private data class
+      private: std::unique_ptr<Ogre2FrustumVisualPrivate> dataPtr;
+    };
+    }
+  }
+}
+#endif
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh
index b2c0fd6dd..d8c5ef4eb 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderTypes.hh
@@ -36,6 +36,7 @@ namespace gz
     class Ogre2COMVisual;
     class Ogre2DepthCamera;
     class Ogre2DirectionalLight;
+    class Ogre2FrustumVisual;
     class Ogre2Geometry;
     class Ogre2GizmoVisual;
     class Ogre2GlobalIlluminationCiVct;
@@ -92,6 +93,7 @@ namespace gz
     typedef shared_ptr<Ogre2COMVisual>            Ogre2COMVisualPtr;
     typedef shared_ptr<Ogre2DepthCamera>          Ogre2DepthCameraPtr;
     typedef shared_ptr<Ogre2DirectionalLight>     Ogre2DirectionalLightPtr;
+    typedef shared_ptr<Ogre2FrustumVisual>        Ogre2FrustumVisualPtr;
     typedef shared_ptr<Ogre2Geometry>             Ogre2GeometryPtr;
     typedef shared_ptr<Ogre2GizmoVisual>          Ogre2GizmoVisualPtr;
     typedef shared_ptr<Ogre2GpuRays>              Ogre2GpuRaysPtr;
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
index 323c2b30b..4c2e5d1ef 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh
@@ -343,6 +343,10 @@ namespace gz
       protected: virtual LidarVisualPtr CreateLidarVisualImpl(unsigned int _id,
                      const std::string &_name) override;
 
+      // Documentation inherited
+      protected: virtual FrustumVisualPtr CreateFrustumVisualImpl(unsigned int _id,
+                     const std::string &_name) override;
+
       // Documentation inherited
       protected: virtual WireBoxPtr CreateWireBoxImpl(unsigned int _id,
                      const std::string &_name) override;
diff --git a/ogre2/src/Ogre2FrustumVisual.cc b/ogre2/src/Ogre2FrustumVisual.cc
new file mode 100644
index 000000000..7669bcd8f
--- /dev/null
+++ b/ogre2/src/Ogre2FrustumVisual.cc
@@ -0,0 +1,290 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifdef __APPLE__
+  #define GL_SILENCE_DEPRECATION
+  #include <OpenGL/gl.h>
+  #include <OpenGL/glext.h>
+#else
+#ifndef _WIN32
+  #include <GL/gl.h>
+#endif
+#endif
+
+#include <gz/common/Console.hh>
+
+#include "gz/rendering/ogre2/Ogre2Conversions.hh"
+#include "gz/rendering/ogre2/Ogre2DynamicRenderable.hh"
+#include "gz/rendering/ogre2/Ogre2FrustumVisual.hh"
+#include "gz/rendering/ogre2/Ogre2RenderEngine.hh"
+#include "gz/rendering/ogre2/Ogre2Scene.hh"
+#include "gz/rendering/ogre2/Ogre2Marker.hh"
+#include "gz/rendering/ogre2/Ogre2Geometry.hh"
+
+#ifdef _MSC_VER
+  #pragma warning(push, 0)
+#endif
+#include <OgreItem.h>
+#include <OgreMaterialManager.h>
+#include <OgreRoot.h>
+#include <OgreSceneNode.h>
+#include <OgreTechnique.h>
+#ifdef _MSC_VER
+  #pragma warning(pop)
+#endif
+
+class gz::rendering::Ogre2FrustumVisualPrivate
+{
+  /// \brief Frustum Ray DynamicLines Object to display
+  public: std::vector<std::shared_ptr<Ogre2DynamicRenderable>> rayLines;
+
+  /// \brief Frustum visual type
+  //public: FrustumVisualPlane frustumVisPlane =
+  	  //FrustumVisualPlane::FRUSTUM_PLANE_TOP;
+
+  /// \brief The visibility of the visual
+  public: bool visible = true;
+
+  /// \brief Each corner of the frustum.
+  public: std::array<gz::math::Vector3d, 8> points;
+
+  /// \brief each edge of the frustum.
+  public: std::array<std::pair<gz::math::Vector3d, gz::math::Vector3d>, 12> edges;
+};
+
+using namespace gz;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+Ogre2FrustumVisual::Ogre2FrustumVisual()
+  : dataPtr(new Ogre2FrustumVisualPrivate)
+{
+}
+
+//////////////////////////////////////////////////
+Ogre2FrustumVisual::~Ogre2FrustumVisual()
+{
+  // no ops
+}
+
+//////////////////////////////////////////////////
+void Ogre2FrustumVisual::PreRender()
+{
+  // no ops
+}
+
+//////////////////////////////////////////////////
+void Ogre2FrustumVisual::Destroy()
+{
+  BaseFrustumVisual::Destroy();
+}
+
+//////////////////////////////////////////////////
+void Ogre2FrustumVisual::Init()
+{
+  BaseFrustumVisual::Init();
+  this->Create();
+}
+
+//////////////////////////////////////////////////
+void Ogre2FrustumVisual::Create()
+{
+  // enable GL_PROGRAM_POINT_SIZE so we can set gl_PointSize in vertex shader
+  auto engine = Ogre2RenderEngine::Instance();
+  std::string renderSystemName =
+      engine->OgreRoot()->getRenderSystem()->getFriendlyName();
+  if (renderSystemName.find("OpenGL") != std::string::npos)
+  {
+#ifdef __APPLE__
+    glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
+#else
+#ifndef _WIN32
+    glEnable(GL_PROGRAM_POINT_SIZE);
+#endif
+#endif
+  }
+}
+
+//////////////////////////////////////////////////
+void Ogre2FrustumVisual::ClearVisualData()
+{
+  this->dataPtr->rayLines.clear();
+}
+
+//////////////////////////////////////////////////
+void Ogre2FrustumVisual::Update()
+{
+  std::shared_ptr<Ogre2DynamicRenderable> renderable =
+                  std::shared_ptr<Ogre2DynamicRenderable>(
+                              new Ogre2DynamicRenderable(this->Scene()));
+  this->ogreNode->attachObject(renderable->OgreObject());
+
+  #if (!(OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7)))
+  // the Materials are assigned here to avoid repetitive search for materials
+  Ogre::MaterialPtr rayLineMat =
+                  Ogre::MaterialManager::getSingleton().getByName(
+                                                    "Frustum/BlueRay");
+  #endif
+
+  #if (OGRE_VERSION <= ((1 << 16) | (10 << 8) | 7))
+    MaterialPtr mat = this->Scene()->Material("Frustum/BlueRay");
+  #else
+    //MaterialPtr mat = this->Scene()->Material(rayLineMat); //FIX-ME
+    MaterialPtr mat = this->Scene()->Material("Frustum/BlueRay");
+  #endif
+  
+  renderable->SetMaterial(mat, false);
+  renderable->SetOperationType(MT_LINE_LIST);
+  this->dataPtr->rayLines.push_back(renderable);
+
+  // Tangent of half the field of view.
+  double tanFOV2 = std::tan(this->fov() * 0.5);
+
+  // Width of near plane
+  double nearWidth = 2.0 * tanFOV2 * this->near;
+
+  // Height of near plane
+  double nearHeight = nearWidth / this->aspectRatio;
+
+  // Width of far plane
+  double farWidth = 2.0 * tanFOV2 * this->far;
+
+  // Height of far plane
+  double farHeight = farWidth / this->aspectRatio;
+
+  // Up, right, and forward unit vectors.
+  gz::math::Vector3d forward = this->pose.Rot().RotateVector(gz::math::Vector3d::UnitX);
+  gz::math::Vector3d up = this->pose.Rot().RotateVector(gz::math::Vector3d::UnitZ);
+  gz::math::Vector3d right = this->pose.Rot().RotateVector(-gz::math::Vector3d::UnitY);
+
+  // Near plane center
+  gz::math::Vector3d nearCenter = this->pose.Pos() + forward * this->near;
+
+  // Far plane center
+  gz::math::Vector3d farCenter = this->pose.Pos() + forward * this->far;
+
+  // These four variables are here for convenience.
+  gz::math::Vector3d upNearHeight2 = up * (nearHeight * 0.5);
+  gz::math::Vector3d rightNearWidth2 = right * (nearWidth * 0.5);
+  gz::math::Vector3d upFarHeight2 = up * (farHeight * 0.5);
+  gz::math::Vector3d rightFarWidth2 = right * (farWidth * 0.5);
+
+  // Compute the vertices of the near plane
+  gz::math::Vector3d nearTopLeft = nearCenter + upNearHeight2 - rightNearWidth2;
+  gz::math::Vector3d nearTopRight = nearCenter + upNearHeight2 + rightNearWidth2;
+  gz::math::Vector3d nearBottomLeft = nearCenter - upNearHeight2 - rightNearWidth2;
+  gz::math::Vector3d nearBottomRight = nearCenter - upNearHeight2 + rightNearWidth2;
+
+  // Compute the vertices of the far plane
+  gz::math::Vector3d farTopLeft = farCenter + upFarHeight2 - rightFarWidth2;
+  gz::math::Vector3d farTopRight = farCenter + upFarHeight2 + rightFarWidth2;
+  gz::math::Vector3d farBottomLeft = farCenter - upFarHeight2 - rightFarWidth2;
+  gz::math::Vector3d farBottomRight = farCenter - upFarHeight2 + rightFarWidth2;
+
+  // Save these vertices
+  this->dataPtr->points[0] = nearTopLeft;
+  this->dataPtr->points[1] = nearTopRight;
+  this->dataPtr->points[2] = nearBottomLeft;
+  this->dataPtr->points[3] = nearBottomRight;
+  this->dataPtr->points[4] = farTopLeft;
+  this->dataPtr->points[5] = farTopRight;
+  this->dataPtr->points[6] = farBottomLeft;
+  this->dataPtr->points[7] = farBottomRight;
+
+  // Save the edges
+  this->dataPtr->edges[0] = {nearTopLeft, nearTopRight};
+  this->dataPtr->edges[1] = {nearTopLeft, nearBottomLeft};
+  this->dataPtr->edges[2] = {nearTopLeft, farTopLeft};
+  this->dataPtr->edges[3] = {nearTopRight, nearBottomRight};
+  this->dataPtr->edges[4] = {nearTopRight, farTopRight};
+  this->dataPtr->edges[5] = {nearBottomLeft, nearBottomRight};
+  this->dataPtr->edges[6] = {nearBottomLeft, farBottomLeft};
+  this->dataPtr->edges[7] = {farTopLeft, farTopRight};
+  this->dataPtr->edges[8] = {farTopLeft, farBottomLeft};
+  this->dataPtr->edges[9] = {farTopRight, farBottomRight};
+  this->dataPtr->edges[10] = {farBottomLeft, farBottomRight};
+  this->dataPtr->edges[11] = {farBottomRight, nearBottomRight};
+
+  gz::math::Vector3d leftCenter =
+    (farTopLeft + nearTopLeft + farBottomLeft + nearBottomLeft) / 4.0;
+
+  gz::math::Vector3d rightCenter =
+    (farTopRight + nearTopRight + farBottomRight + nearBottomRight) / 4.0;
+
+  gz::math::Vector3d topCenter =
+    (farTopRight + nearTopRight + farTopLeft + nearTopLeft) / 4.0;
+
+  gz::math::Vector3d bottomCenter =
+    (farBottomRight + nearBottomRight + farBottomLeft + nearBottomLeft) / 4.0;
+
+  // For creating the frustum visuals
+  renderable->AddPoint(gz::math::Vector3d(this->near, nearWidth, nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, nearWidth, -nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, nearWidth, -nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, -nearWidth, -nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, -nearWidth, -nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, -nearWidth, nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, -nearWidth, nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, nearWidth, nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, farWidth, farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, farWidth, -farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, farWidth, -farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, -farWidth, -farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, -farWidth, -farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, -farWidth, farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, -farWidth, farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, farWidth, farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, nearWidth, nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, farWidth, farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, -nearWidth, nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, -farWidth, farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, -nearWidth, -nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, -farWidth, -farHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->near, nearWidth, -nearHeight));
+  renderable->AddPoint(gz::math::Vector3d(this->far, farWidth, -farHeight));
+
+  // Compute plane offsets
+  // Set the planes, where the first value is the plane normal and the
+  // second the plane offset
+  gz::math::Vector3d norm = gz::math::Vector3d::Normal(nearTopLeft, nearTopRight, nearBottomLeft);
+  this->planes[FrustumVisualPlane::FRUSTUM_PLANE_NEAR].Set(norm, nearCenter.Dot(norm));
+
+  norm = gz::math::Vector3d::Normal(farTopRight, farTopLeft, farBottomLeft);
+  this->planes[FrustumVisualPlane::FRUSTUM_PLANE_FAR].Set(norm, farCenter.Dot(norm));
+
+  norm = gz::math::Vector3d::Normal(farTopLeft, nearTopLeft, nearBottomLeft);
+  this->planes[FrustumVisualPlane::FRUSTUM_PLANE_LEFT].Set(norm, leftCenter.Dot(norm));
+
+  norm = gz::math::Vector3d::Normal(nearTopRight, farTopRight, farBottomRight);
+  this->planes[FrustumVisualPlane::FRUSTUM_PLANE_RIGHT].Set(norm, rightCenter.Dot(norm));
+
+  norm = gz::math::Vector3d::Normal(nearTopLeft, farTopLeft, nearTopRight);
+  this->planes[FrustumVisualPlane::FRUSTUM_PLANE_TOP].Set(norm, topCenter.Dot(norm));
+
+  norm = gz::math::Vector3d::Normal(nearBottomLeft, nearBottomRight, farBottomRight);
+  this->planes[FrustumVisualPlane::FRUSTUM_PLANE_BOTTOM].Set(norm, bottomCenter.Dot(norm));
+
+  renderable->Update();
+  this->SetVisible(this->dataPtr->visible);
+}
+
+//////////////////////////////////////////////////
+void Ogre2FrustumVisual::SetVisible(bool _visible)
+{
+  this->dataPtr->visible = _visible;
+  this->ogreNode->setVisible(this->dataPtr->visible);
+}
diff --git a/ogre2/src/Ogre2Scene.cc b/ogre2/src/Ogre2Scene.cc
index 2d164e235..22d172593 100644
--- a/ogre2/src/Ogre2Scene.cc
+++ b/ogre2/src/Ogre2Scene.cc
@@ -53,6 +53,7 @@
 #include "gz/rendering/ogre2/Ogre2Light.hh"
 #include "gz/rendering/ogre2/Ogre2LightVisual.hh"
 #include "gz/rendering/ogre2/Ogre2LidarVisual.hh"
+#include "gz/rendering/ogre2/Ogre2FrustumVisual.hh"
 #include "gz/rendering/ogre2/Ogre2Marker.hh"
 #include "gz/rendering/ogre2/Ogre2Material.hh"
 #include "gz/rendering/ogre2/Ogre2MeshFactory.hh"
@@ -1344,6 +1345,15 @@ LidarVisualPtr Ogre2Scene::CreateLidarVisualImpl(unsigned int _id,
   return (result) ? lidar: nullptr;
 }
 
+//////////////////////////////////////////////////
+FrustumVisualPtr Ogre2Scene::CreateFrustumVisualImpl(unsigned int _id,
+    const std::string &_name)
+{
+  Ogre2FrustumVisualPtr frustum(new Ogre2FrustumVisual);
+  bool result = this->InitObject(frustum, _id, _name);
+  return (result) ? frustum: nullptr;
+}
+
 //////////////////////////////////////////////////
 TextPtr Ogre2Scene::CreateTextImpl(unsigned int /*_id*/,
     const std::string &/*_name*/)
diff --git a/src/FrustumVisual.cc b/src/FrustumVisual.cc
new file mode 100644
index 000000000..a1021142f
--- /dev/null
+++ b/src/FrustumVisual.cc
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+
+#include "gz/rendering/FrustumVisual.hh"
+
+using namespace gz;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+FrustumVisual::FrustumVisual() = default;
+
+//////////////////////////////////////////////////
+FrustumVisual::~FrustumVisual() = default;
diff --git a/src/base/BaseScene.cc b/src/base/BaseScene.cc
index b65112fb3..2a03743c7 100644
--- a/src/base/BaseScene.cc
+++ b/src/base/BaseScene.cc
@@ -30,6 +30,7 @@
 #include "gz/rendering/InstallationDirectories.hh"
 #include "gz/rendering/JointVisual.hh"
 #include "gz/rendering/LidarVisual.hh"
+#include "gz/rendering/FrustumVisual.hh"
 #include "gz/rendering/LightVisual.hh"
 #include "gz/rendering/Camera.hh"
 #include "gz/rendering/Capsule.hh"
@@ -1262,6 +1263,36 @@ LidarVisualPtr BaseScene::CreateLidarVisual(unsigned int _id,
   return (result) ? lidar : nullptr;
 }
 
+//////////////////////////////////////////////////
+FrustumVisualPtr BaseScene::CreateFrustumVisual()
+{
+  unsigned int objId = this->CreateObjectId();
+  return this->CreateFrustumVisual(objId);
+}
+
+//////////////////////////////////////////////////
+FrustumVisualPtr BaseScene::CreateFrustumVisual(unsigned int _id)
+{
+  const std::string objName = this->CreateObjectName(_id, "FrustumVisual");
+  return this->CreateFrustumVisual(_id, objName);
+}
+
+//////////////////////////////////////////////////
+FrustumVisualPtr BaseScene::CreateFrustumVisual(const std::string &_name)
+{
+  unsigned int objId = this->CreateObjectId();
+  return this->CreateFrustumVisual(objId, _name);
+}
+
+//////////////////////////////////////////////////
+FrustumVisualPtr BaseScene::CreateFrustumVisual(unsigned int _id,
+                                            const std::string &_name)
+{
+  FrustumVisualPtr frustum = this->CreateFrustumVisualImpl(_id, _name);
+  bool result = this->RegisterVisual(frustum);
+  return (result) ? frustum : nullptr;
+}
+
 //////////////////////////////////////////////////
 WireBoxPtr BaseScene::CreateWireBox()
 {