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Add far plane distance property to camera #849

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merged 1 commit into from
Apr 7, 2022
Merged

Add far plane distance property to camera #849

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1 change: 1 addition & 0 deletions rviz_default_plugins/include/rviz_default_plugins/displays/camera/camera_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -194,6 +194,7 @@ private Q_SLOTS:
rviz_common::properties::FloatProperty * alpha_property_;
rviz_common::properties::EnumProperty * image_position_property_;
rviz_common::properties::FloatProperty * zoom_property_;
rviz_common::properties::FloatProperty * far_plane_property_;
rviz_common::properties::DisplayGroupVisibilityProperty * visibility_property_;

sensor_msgs::msg::CameraInfo::ConstSharedPtr current_caminfo_;
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9 changes: 8 additions & 1 deletion rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
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Expand Up @@ -122,6 +122,13 @@ CameraDisplay::CameraDisplay()
this);
zoom_property_->setMin(0.00001f);
zoom_property_->setMax(100000.0f);

far_plane_property_ = new rviz_common::properties::FloatProperty(
"Far Plane Distance", 100.0f,
"Geometry beyond the camera's far plane will not be rendered.",
this);
far_plane_property_->setMin(0.00001f);
far_plane_property_->setMax(100000.0f);
}

CameraDisplay::~CameraDisplay()
Expand Down Expand Up @@ -593,7 +600,7 @@ Ogre::Matrix4 CameraDisplay::calculateProjectionMatrix(
auto fx = static_cast<float>(info->p[0]);
auto fy = static_cast<float>(info->p[5]);

float far_plane = 100.0f;
float far_plane = far_plane_property_->getFloat();
float near_plane = 0.01f;

Ogre::Matrix4 proj_matrix;
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