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Override SetProjectionMatrix and ProjectionMatrix functions in derived ogre2 camera classes. #1021

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merged 2 commits into from
Jul 26, 2024
Merged

Override SetProjectionMatrix and ProjectionMatrix functions in derived ogre2 camera classes. #1021

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adbcc92
Add projection matrix functions to ogre2 camera classes
iche033 Jul 25, 2024
fc34426
Merge branch 'main' into projection_matrix_ogre2
iche033 Jul 26, 2024
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7 changes: 7 additions & 0 deletions ogre2/include/gz/rendering/ogre2/Ogre2BoundingBoxCamera.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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7 changes: 7 additions & 0 deletions ogre2/include/gz/rendering/ogre2/Ogre2SegmentationCamera.hh
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Expand Up @@ -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(
Expand Down
7 changes: 7 additions & 0 deletions ogre2/include/gz/rendering/ogre2/Ogre2ThermalCamera.hh
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Expand Up @@ -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
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30 changes: 15 additions & 15 deletions ogre2/src/Ogre2BoundingBoxCamera.cc
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Expand Up @@ -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();
}

Expand Down Expand Up @@ -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));
}
20 changes: 4 additions & 16 deletions ogre2/src/Ogre2DepthCamera.cc
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Expand Up @@ -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));
Expand Down Expand Up @@ -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)
Expand Down
28 changes: 14 additions & 14 deletions ogre2/src/Ogre2SegmentationCamera.cc
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Expand Up @@ -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));
}
}
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -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));
}
28 changes: 14 additions & 14 deletions ogre2/src/Ogre2ThermalCamera.cc
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Expand Up @@ -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));
}
}
}

//////////////////////////////////////////////////
Expand Down Expand Up @@ -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));
}