Visualize Frustum #1095
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Visualize Frustum #1095
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This was referenced Dec 26, 2024
ahcorde
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Dec 26, 2024
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| /* | |||
| * Copyright (C) 2015 Open Source Robotics Foundation | |||
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| * Copyright (C) 2015 Open Source Robotics Foundation | |
| * Copyright (C) 2024 Open Source Robotics Foundation |
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| /// \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);*/ |
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| /// \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 | ||
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| /// \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 |
| private: void ComputePlanes(); | ||
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| /// \brief Private data pointer | ||
| //GZ_UTILS_IMPL_PTR(dataPtr) |
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| /* | |||
| * Copyright (C) 2020 Open Source Robotics Foundation | |||
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| * Copyright (C) 2020 Open Source Robotics Foundation | |
| * Copyright (C) 2024 Open Source Robotics Foundation |
| public: bool visible = true; | ||
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| /// \brief Each corner of the frustum. | ||
| public: std::array<gz::math::Vector3d, 8> points; |
| { | ||
| // enable GL_PROGRAM_POINT_SIZE so we can set gl_PointSize in vertex shader | ||
| auto engine = Ogre2RenderEngine::Instance(); | ||
| std::string renderSystemName = |
| ////////////////////////////////////////////////// | ||
| void Ogre2FrustumVisual::Update() | ||
| { | ||
| std::shared_ptr<Ogre2DynamicRenderable> renderable = |
| this->dataPtr->rayLines.push_back(renderable); | ||
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| // Tangent of half the field of view. | ||
| double tanFOV2 = std::tan(this->fov() * 0.5); |
src/FrustumVisual.cc
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| /* | |||
| * Copyright (C) 2020 Open Source Robotics Foundation | |||
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| * Copyright (C) 2020 Open Source Robotics Foundation | |
| * Copyright (C) 2024 Open Source Robotics Foundation |
Signed-off-by: Utkarsh <[email protected]>
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Signed-off-by: Utkarsh <[email protected]>
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@ahcorde , thank you for review. I have addressed all the review comments. |
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🎉 New feature
Summary
This PR mainly adds the visualization of Frustum.
We could see it was present in gazebo classic and from gazebo garden onwards the plugin/feature is not available.
Test it
$ Build gazebo from source.
$ . install/setup.sh
$ gz sim examples/worlds/visualize_frustum.sdf
Test Ref images,
Play the simulation.
Select the topic from scroll down.
Refresh it to get the "logical_camera/frustum" topic.
Subcriibed to "logical_camera/frustum".
Final output
Checklist
codecheckpassedSupporting PRs