Add projection matrix functions to ogre2 camera classes (#1021)

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Jul 26, 2024 · e8dd250 · e8dd250
1 parent a493a15
commit e8dd250
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Showing 7 changed files with 68 additions and 59 deletions.
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2BoundingBoxCamera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2BoundingBoxCamera.hh
@@ -67,6 +67,13 @@ namespace gz
       // Documentation inherited
       public: virtual void PostRender() override;
 
+      // Documentation inherited.
+      public: virtual math::Matrix4d ProjectionMatrix() const override;
+
+      // Documentation inherited.
+      public: virtual void SetProjectionMatrix(
+          const math::Matrix4d &_matrix) override;
+
       // Documentation inherited
       public: virtual const std::vector<BoundingBox> &BoundingBoxData() const
               override;

diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2SegmentationCamera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2SegmentationCamera.hh
@@ -68,6 +68,13 @@ namespace gz
       // Documentation inherited
       public: virtual void PostRender() override;
 
+      // Documentation inherited.
+      public: virtual math::Matrix4d ProjectionMatrix() const override;
+
+      // Documentation inherited.
+      public: virtual void SetProjectionMatrix(
+          const math::Matrix4d &_matrix) override;
+
       // Documentation inherited
       public: virtual gz::common::ConnectionPtr
         ConnectNewSegmentationFrame(

diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2ThermalCamera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2ThermalCamera.hh
@@ -75,6 +75,13 @@ namespace gz
       /// \brief Render the camera
       public: virtual void PostRender() override;
 
+      // Documentation inherited.
+      public: virtual math::Matrix4d ProjectionMatrix() const override;
+
+      // Documentation inherited.
+      public: virtual void SetProjectionMatrix(
+          const math::Matrix4d &_matrix) override;
+
       /// \brief Connect to the new thermal image event
       /// \param[in] _subscriber Subscriber callback function
       /// \return Pointer to the new Connection. This must be kept in scope

diff --git a/ogre2/src/Ogre2BoundingBoxCamera.cc b/ogre2/src/Ogre2BoundingBoxCamera.cc
@@ -465,21 +465,6 @@ void Ogre2BoundingBoxCamera::PreRender()
   if (!this->dataPtr->ogreRenderTexture)
     this->CreateBoundingBoxTexture();
 
-  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
-  // main / gz-rendering9 instead of checking and setting the custom
-  // projection matrix here
-  if (this->dataPtr->ogreCamera &&
-      this->projectionMatrix != gz::math::Matrix4d::Zero)
-  {
-    if (this->projectionMatrix !=
-        Ogre2Conversions::Convert(
-        this->dataPtr->ogreCamera->getProjectionMatrix()))
-    {
-      this->dataPtr->ogreCamera->setCustomProjectionMatrix(true,
-          Ogre2Conversions::Convert(this->projectionMatrix));
-    }
-  }
-
   this->dataPtr->outputBoxes.clear();
 }
 
@@ -1549,3 +1534,18 @@ BoundingBoxType Ogre2BoundingBoxCamera::Type() const
 {
   return this->dataPtr->type;
 }
+
+/////////////////////////////////////////////////
+math::Matrix4d Ogre2BoundingBoxCamera::ProjectionMatrix() const
+{
+  return Ogre2Conversions::Convert(
+      this->dataPtr->ogreCamera->getProjectionMatrix());
+}
+
+/////////////////////////////////////////////////
+void Ogre2BoundingBoxCamera::SetProjectionMatrix(const math::Matrix4d &_matrix)
+{
+  BaseBoundingBoxCamera::SetProjectionMatrix(_matrix);
+  this->dataPtr->ogreCamera->setCustomProjectionMatrix(
+      true, Ogre2Conversions::Convert(this->projectionMatrix));
+}
diff --git a/ogre2/src/Ogre2DepthCamera.cc b/ogre2/src/Ogre2DepthCamera.cc
@@ -1021,12 +1021,14 @@ void Ogre2DepthCamera::CreateWorkspaceInstance()
 }
 
 /////////////////////////////////////////////////
-math::Matrix4d Ogre2DepthCamera::ProjectionMatrix() const {
+math::Matrix4d Ogre2DepthCamera::ProjectionMatrix() const
+{
   return Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix());
 }
 
 /////////////////////////////////////////////////
-void Ogre2DepthCamera::SetProjectionMatrix(const math::Matrix4d &_matrix) {
+void Ogre2DepthCamera::SetProjectionMatrix(const math::Matrix4d &_matrix)
+{
   BaseDepthCamera::SetProjectionMatrix(_matrix);
   this->ogreCamera->setCustomProjectionMatrix(
       true, Ogre2Conversions::Convert(this->projectionMatrix));
@@ -1069,20 +1071,6 @@ void Ogre2DepthCamera::PreRender()
   if (!this->dataPtr->ogreCompositorWorkspace)
     this->CreateWorkspaceInstance();
 
-  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
-  // main / gz-rendering9 instead of checking and setting the custom
-  // projection matrix here
-  if (this->ogreCamera &&
-      this->projectionMatrix != gz::math::Matrix4d::Zero)
-  {
-    if (this->projectionMatrix !=
-        Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix()))
-    {
-      this->ogreCamera->setCustomProjectionMatrix(true,
-          Ogre2Conversions::Convert(this->projectionMatrix));
-    }
-  }
-
   // Disable color target (set to clear pass) if there are no rgb point cloud
   // connections
   if (this->dataPtr->colorTargetDef)

diff --git a/ogre2/src/Ogre2SegmentationCamera.cc b/ogre2/src/Ogre2SegmentationCamera.cc
@@ -165,20 +165,6 @@ void Ogre2SegmentationCamera::PreRender()
 {
   if (!this->dataPtr->ogreSegmentationTexture)
     this->CreateSegmentationTexture();
-
-  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
-  // main / gz-rendering9 instead of checking and setting the custom
-  // projection matrix here
-  if (this->ogreCamera &&
-      this->projectionMatrix != gz::math::Matrix4d::Zero)
-  {
-    if (this->projectionMatrix !=
-        Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix()))
-    {
-      this->ogreCamera->setCustomProjectionMatrix(true,
-          Ogre2Conversions::Convert(this->projectionMatrix));
-    }
-  }
 }
 
 /////////////////////////////////////////////////
@@ -439,3 +425,17 @@ Ogre::Camera *Ogre2SegmentationCamera::OgreCamera() const
 {
   return this->ogreCamera;
 }
+
+/////////////////////////////////////////////////
+math::Matrix4d Ogre2SegmentationCamera::ProjectionMatrix() const
+{
+  return Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix());
+}
+
+/////////////////////////////////////////////////
+void Ogre2SegmentationCamera::SetProjectionMatrix(const math::Matrix4d &_matrix)
+{
+  BaseSegmentationCamera::SetProjectionMatrix(_matrix);
+  this->ogreCamera->setCustomProjectionMatrix(
+      true, Ogre2Conversions::Convert(this->projectionMatrix));
+}
diff --git a/ogre2/src/Ogre2ThermalCamera.cc b/ogre2/src/Ogre2ThermalCamera.cc
@@ -1131,20 +1131,6 @@ void Ogre2ThermalCamera::PreRender()
 {
   if (!this->dataPtr->ogreThermalTexture)
     this->CreateThermalTexture();
-
-  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
-  // main / gz-rendering9 instead of checking and setting the custom
-  // projection matrix here
-  if (this->ogreCamera &&
-      this->projectionMatrix != gz::math::Matrix4d::Zero)
-  {
-    if (this->projectionMatrix !=
-        Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix()))
-    {
-      this->ogreCamera->setCustomProjectionMatrix(true,
-          Ogre2Conversions::Convert(this->projectionMatrix));
-    }
-  }
 }
 
 //////////////////////////////////////////////////
@@ -1236,3 +1222,17 @@ Ogre::Camera *Ogre2ThermalCamera::OgreCamera() const
 {
   return this->ogreCamera;
 }
+
+/////////////////////////////////////////////////
+math::Matrix4d Ogre2ThermalCamera::ProjectionMatrix() const
+{
+  return Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix());
+}
+
+/////////////////////////////////////////////////
+void Ogre2ThermalCamera::SetProjectionMatrix(const math::Matrix4d &_matrix)
+{
+  BaseThermalCamera::SetProjectionMatrix(_matrix);
+  this->ogreCamera->setCustomProjectionMatrix(
+      true, Ogre2Conversions::Convert(this->projectionMatrix));
+}