Visualze Frustum #2707
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Visualze Frustum #2707
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This was referenced Dec 26, 2024
ahcorde
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Dec 26, 2024
| @@ -0,0 +1,440 @@ | |||
| /* | |||
| * 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 |
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@ahcorde thank you for reviewing.
Before proceeding, I have a small query.
Do you want me to,
- use
sign off and commit suggestionfor each review comment? - Or, do all the changes in my local branch and push it?
Additionally, for sign off, do I need to do to all the commits as I missed it in my first version, or commits from now onwards it's ok.
I'm bit confused.
| ///////////////////////////////////////////////// | ||
| void VisualizeFrustum::OnRefresh() | ||
| { | ||
| gzmsg << "Refreshing topic list for Logical Camera Sensor messages." << std::endl; |
| @@ -0,0 +1,105 @@ | |||
| /* | |||
| * 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 |
| EntityComponentManager &_ecm) override; | ||
|
|
||
| /// \brief Callback function to get data from the message | ||
| /// \param[in]_msg FrustumSensor message |
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| /// \param[in]_msg FrustumSensor message | |
| /// \param[in] _msg FrustumSensor message |
| @@ -0,0 +1,78 @@ | |||
| /* | |||
| * 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 <Utkarsh.Yenurkar@Sony.com>
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Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>
|
@ahcorde , thank you for review. I have addressed all the review comments. |
|
Thanks for the contribution. There are still stray spaces in the code. Do you mind fixing them: https://github.com/gazebosim/gz-sim/actions/runs/12514253900/job/35270143157?pr=2707 Also is there a chance that we can visualize the frustum without the need for pressing play? |
Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>
ahcorde
requested changes
Jan 10, 2025
| /// \brief Mutex for variable mutated by the checkbox and spinboxes | ||
| /// callbacks. | ||
| /// The variables are: msg | ||
| public: std::mutex serviceMutex; |
| if (!engine) | ||
| { | ||
| gzerr << "Internal error: failed to load engine [" << engineName | ||
| << "]. VisualizeFrustum plugin won't work." << std::endl; |
| { | ||
| auto parent = baseEntity; | ||
| bool success = false; | ||
| for (size_t i = 0u; i < frustumURIVec.size()-1; i++) |
| std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex); | ||
| if (this->dataPtr->initialized) | ||
| { | ||
| this->dataPtr->msg = std::move(_msg); |
| @@ -0,0 +1,105 @@ | |||
| /* | |||
| * Copyright (C) 2024 Open Source Robotics Foundation | |||
There was a problem hiding this comment.
Suggested change
| * Copyright (C) 2024 Open Source Robotics Foundation | |
| * Copyright (C) 2025 Open Source Robotics Foundation |
| @@ -0,0 +1,438 @@ | |||
| /* | |||
| * Copyright (C) 2024 Open Source Robotics Foundation | |||
There was a problem hiding this comment.
Suggested change
| * Copyright (C) 2024 Open Source Robotics Foundation | |
| * Copyright (C) 2025 Open Source Robotics Foundation |
| @@ -0,0 +1,78 @@ | |||
| /* | |||
| * Copyright (C) 2024 Open Source Robotics Foundation | |||
There was a problem hiding this comment.
Suggested change
| * Copyright (C) 2024 Open Source Robotics Foundation | |
| * Copyright (C) 2025 Open Source Robotics Foundation |
Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>
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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,