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ogre2: Set custom projection matrix for other types of cameras #1002
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8 tasks
ahcorde
requested changes
May 14, 2024
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
This reverts commit 7fbcb1c. Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
ahcorde
approved these changes
May 29, 2024
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馃 Bug fix
Related issues: #968, gazebosim/gz-sensors#363
Related PR: gazebosim/gz-sensors#432
Summary
The
SetProjectionMatrix
function call currently works correctly only for theOgre2Camera
class but not other types of cameras. It just ends up calling the base camera'sSetProjectionMatrix
without actually making ogre API calls to actually set the projection matrix. To make it work, we would need to override theBaseCamera::SetProjectionMatrix
in the derived ogre2 classes. This breaks API so the workaround is to handle setting the custom projection matrix in thePreRender
.Added a test that verifies when the
SetProjectionMatrix
function is called, the depth image also changed.Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-by
messages.