Visualize Frustum

[BA-Utkarsh]

🎉 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,

1. Play the simulation.
   

2. Select the topic from scroll down.
   

3. Refresh it to get the "logical_camera/frustum" topic.
   

4. Subcriibed to "logical_camera/frustum".
   

5. Final output
   

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed
• All tests passed
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Supporting PRs

• Visualze Frustum gz-sim#2707
• Visualze Frustum gz-sensors#491

[BA-Utkarsh]

@ahcorde , thank you for review. I have addressed all the review comments.

[ahcorde]

please check linters:

  /usr/share/gz/gz-cmake4/codecheck/cpplint.py:55: DeprecationWarning: module 'sre_compile' is deprecated
    import sre_compile
  /github/workspace/include/gz/rendering/FrustumVisual.hh:131:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/include/gz/rendering/Scene.hh:1121:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/include/gz/rendering/base/BaseFrustumVisual.hh:81:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/include/gz/rendering/base/BaseFrustumVisual.hh:84:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/include/gz/rendering/base/BaseFrustumVisual.hh:84:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/include/gz/rendering/base/BaseFrustumVisual.hh:87:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/include/gz/rendering/base/BaseFrustumVisual.hh:87:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/include/gz/rendering/base/BaseFrustumVisual.hh:222:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/include/gz/rendering/base/BaseFrustumVisual.hh:238:  Tab found; better to use spaces  [whitespace/tab] [1]
  /github/workspace/include/gz/rendering/base/BaseScene.hh:850:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre/include/gz/rendering/ogre/OgreScene.hh:184:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre/src/OgreFrustumVisual.cc:32:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/ogre/src/OgreFrustumVisual.cc:33:  Tab found; better to use spaces  [whitespace/tab] [1]
  /github/workspace/ogre/src/OgreFrustumVisual.cc:33:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/ogre/src/OgreFrustumVisual.cc:42:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre/src/OgreFrustumVisual.cc:94:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/ogre2/include/gz/rendering/ogre2/Ogre2Scene.hh:347:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:61:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:62:  Tab found; better to use spaces  [whitespace/tab] [1]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:62:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:71:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:151:  Should have a space between // and comment  [whitespace/comments] [4]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:154:  Line ends in whitespace.  Consider deleting these extra spaces.  [whitespace/end_of_line] [4]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:175:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:176:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:177:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:193:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:194:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:195:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:268:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:269:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:272:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:275:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:278:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:281:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:283:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/ogre2/src/Ogre2FrustumVisual.cc:284:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  Total errors found: 37

[iche033]

Thanks for the contribution!

We follow semantic versioning and promise to maintain ABI compatibility within the same major version. Since this is targeting a release branch, we can't break ABI. The ABI checker did pick up that the changes broke ABI (compatibility needs to be 100%). The breaking change is mainly the new CreateFrustumVisualImpl virtual function (which changed the vtable for BaseScene class).

Ideally we should re-target this PR to the main branch. Do you need this is gz-rendering9? If I not, let's just re-target to main. If you do need this in a released branch (gz-rendering9 or earlier), I can help implement a workaround to make it ABI-compatible. To do this, we should also get this in main first, and I'll backport this change with ABI compatibility changes.

[BA-Utkarsh]

Thanks for the contribution!

We follow semantic versioning and promise to maintain ABI compatibility within the same major version. Since this is targeting a release branch, we can't break ABI. The ABI checker did pick up that the changes broke ABI (compatibility needs to be 100%). The breaking change is mainly the new CreateFrustumVisualImpl virtual function (which changed the vtable for BaseScene class).

Ideally we should re-target this PR to the main branch. Do you need this is gz-rendering9? If I not, let's just re-target to main. If you do need this in a released branch (gz-rendering9 or earlier), I can help implement a workaround to make it ABI-compatible. To do this, we should also get this in main first, and I'll backport this change with ABI compatibility changes.

Thank you @iche033 for your comment and review.
Yes, I do need it in gz-rendering9.
I shall change the target to main. Please help me with the ABI compatibility.

[BA-Utkarsh]

@iche033 , I changed the target branch to main, please let me know the next action items or you will take care from here? :)

[iche033]

I created a PR (BA-Utkarsh#2) to your repo with some changes to function and variable names for consistency with the Camera class. I also added a frustum_visual demo, and addressed comments from other reviewers. Please take a look and merge if changes look good to you.