Visualze Frustum #491
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Visualze Frustum #491
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This was referenced Dec 26, 2024
ahcorde
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Dec 26, 2024
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Do you mind to sign the commit https://github.com/gazebosim/gz-sensors/pull/491/checks?check_run_id=34883433200 ?
Signed-off-by: Utkarsh <[email protected]>
Signed-off-by: Utkarsh <[email protected]>
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@ahcorde , done. |
ahcorde
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Jan 10, 2025
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please check linters
/github/workspace/src/LogicalCameraSensor.cc:185: Lines should be <= 80 characters long [whitespace/line_length] [2]
/github/workspace/src/LogicalCameraSensor.cc:195: Lines should be <= 80 characters long [whitespace/line_length] [2]
/github/workspace/src/LogicalCameraSensor.cc:196: Lines should be <= 80 characters long [whitespace/line_length] [2]
Signed-off-by: Utkarsh <[email protected]>
ahcorde
approved these changes
Jan 13, 2025
iche033
reviewed
Jan 16, 2025
src/LogicalCameraSensor.cc
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| @@ -36,9 +36,13 @@ class gz::sensors::LogicalCameraSensorPrivate | |||
| /// \brief node to create publisher | |||
| public: transport::Node node; | |||
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| public: transport::Node node_logic; | |||
src/LogicalCameraSensor.cc
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| @@ -56,6 +60,8 @@ class gz::sensors::LogicalCameraSensorPrivate | |||
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| /// \brief Msg containg info on models detected by logical camera | |||
| msgs::LogicalCameraImage msg; | |||
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| msgs::LogicalCameraSensor msg_logic; | |||
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Suggested change
| msgs::LogicalCameraSensor msg_logic; | |
| /// \brief Msg containing logical camera frustum info. | |
| public: msgs::LogicalCameraSensor msgLogic; |
Looks like we forgot to add public to msg above as well.
src/LogicalCameraSensor.cc
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| /// \brief publisher to publish logical camera messages. | ||
| public: transport::Node::Publisher pub; | ||
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| public: transport::Node::Publisher pub_logic; |
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use camelCase and add doxygen comment:
Suggested change
| public: transport::Node::Publisher pub_logic; | |
| /// \brief Publisher to publish logical camera frustum information | |
| public: transport::Node::Publisher pubLogic; |
src/LogicalCameraSensor.cc
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| if (!this->dataPtr->pub) | ||
| { | ||
| gzerr << "Unable to create publisher on topic[" << this->Topic() << "].\n"; | ||
| return false; | ||
| } | ||
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| if (!this->dataPtr->pub_logic) | ||
| { | ||
| gzerr << "Unable to create publisher on topic[" << this->Topic() << "].\n"; |
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Suggested change
| gzerr << "Unable to create publisher on topic[" << this->Topic() << "].\n"; | |
| gzerr << "Unable to create publisher on topic[" << this->Topic() << "/frustum].\n"; |
Signed-off-by: Utkarsh <[email protected]>
Signed-off-by: Utkarsh <[email protected]>
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iche033
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Jan 17, 2025
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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