Visualze Frustum #2707

BA-Utkarsh · 2024-12-26T11:17:28Z

🎉 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,

Play the simulation.
Select the topic from scroll down.
Refresh it to get the "logical_camera/frustum" topic.
Subcriibed to "logical_camera/frustum".
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,

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

src/gui/plugins/visualize_frustum/VisualizeFrustum.hh

src/gui/plugins/visualize_frustum/VisualizeFrustum.qml

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

BA-Utkarsh · 2024-12-27T09:21:09Z

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

arjo129 · 2025-01-09T05:20:39Z

Thanks for the contribution. There are still stray spaces in the code. Do you mind fixing them: https://github.com/gazebosim/gz-sim/actions/runs/12514253900/job/35270143157?pr=2707

Also is there a chance that we can visualize the frustum without the need for pressing play?

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

src/gui/plugins/visualize_frustum/VisualizeFrustum.hh

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

src/gui/plugins/visualize_frustum/VisualizeFrustum.qml

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

ntfshard · 2025-01-12T16:34:14Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex);
+  this->dataPtr->frustum->SetVisible(_value);
+  gzerr << "Frustum Visual Display " << ((_value) ? "ON." : "OFF.")


is it really error level of logging?

ntfshard · 2025-01-12T16:37:21Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+            }
+            std::string childname = std::string(
+                            comp->Data());
+            if (nextstring.compare(childname) == 0)


nextstring and childname are std::strings, why not use == for it?
Like: if (nextstring == childname)

ntfshard · 2025-01-12T16:40:06Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+  {
+    std::vector<transport::MessagePublisher> publishers;
+    this->dataPtr->node.TopicInfo(topic, publishers);
+    for (auto pub : publishers)


do you really need a pub by copy? Just curious

ntfshard · 2025-01-12T16:41:14Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+  // Get updated list
+  std::vector<std::string> allTopics;
+  this->dataPtr->node.TopicList(allTopics);
+  for (auto topic : allTopics)


maybe const reference could be enough for topic?

ntfshard · 2025-01-12T16:43:38Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+  {
+    auto frustumURIVec = common::split(common::trimmed(
+                  this->dataPtr->frustumString), "::");
+    if (frustumURIVec.size() > 0)


size() is already unsigned, maybe !frustumURIVec.empty() is more c++-like
(and for some containers size() operation can be quite costly)

ntfshard · 2025-01-12T16:45:13Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+          bool foundChild = false;
+          for (auto child : children)
+          {
+            std::string nextstring = frustumURIVec[i+1];


it can be const reference on a left side of expression, you don't need a full string copy here AFAIS
const std::string &nextstring = frustumURIVec[i+1]; or use auto instead of std::string

ntfshard · 2025-01-12T16:54:25Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+
+    this->dataPtr->visualDirty = true;
+
+    for (auto data_values : this->dataPtr->msg.header().data())


const reference should be fine here I suppose

ntfshard · 2025-01-12T16:55:23Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+        if (this->dataPtr->frustumString.compare(
+                common::trimmed(data_values.value(0))) != 0)


seems it's comparing of 2 strings, seems better to use != here

ntfshard · 2025-01-12T17:01:06Z

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

+      }
+    }
+  }
+  if (this->dataPtr->topicList.size() > 0)


same comment as above about size() and empty

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

BA-Utkarsh · 2025-01-13T14:50:11Z

@ntfshard , \cc: @ahcorde
All the changes are done from the reference of https://github.com/gazebosim/gz-sim/blob/gz-sim9/src/gui/plugins/visualize_lidar/
I have not modified the code (apart from frustum part). visualize_lidar are already in the upstream repo. Thus taking the same reference.

In my opinion, the changes are not needed for now. @ahcorde , please let me know your views on the same..

BA-Utkarsh · 2025-01-21T19:43:02Z

@mjcarroll , please let us know your view as well..

BA-Utkarsh · 2025-01-27T04:51:09Z

@mjcarroll @ahcorde @iche033 any update?

src/gui/plugins/visualize_frustum/VisualizeFrustum.hh

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

BA-Utkarsh · 2025-01-28T15:57:11Z

@ntfshard , \cc: @ahcorde All the changes are done from the reference of https://github.com/gazebosim/gz-sim/blob/gz-sim9/src/gui/plugins/visualize_lidar/ I have not modified the code (apart from frustum part). visualize_lidar are already in the upstream repo. Thus taking the same reference.

In my opinion, the changes are not needed for now. @ahcorde , please let me know your views on the same..

@ntfshard thank you for #2739

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

iche033 · 2025-01-30T01:28:24Z

Thanks for the contribution. This looks to me. We can apply optimizations similar to #2739 in a separate PR. I also ticked a feature request for extending the Visualize Frustum plugin to support other camera sensor types, #2746, any help is welcome :)

BA-Utkarsh · 2025-01-30T05:17:11Z

Thanks for the contribution. This looks to me.

Thank you very much @iche033 for your support.
Let me know the procedure to merge quickly @mjcarroll @ahcorde

We can apply optimizations similar to #2739 in a separate PR.

Surely, will create a separate PR after this merge.

I also ticked a feature request for extending the Visualize Frustum plugin to support other camera sensor types, #2746, any help is welcome :)

Oh great!

addressed all comments

BA-Utkarsh requested a review from mjcarroll as a code owner December 26, 2024 11:17

github-actions bot added 🏛️ ionic Gazebo Ionic 🪵 jetty Gazebo Jetty labels Dec 26, 2024

This was referenced Dec 26, 2024

Visualze Frustum gazebosim/gz-sensors#491

Merged

Visualize Frustum gazebosim/gz-rendering#1095

Merged

Visualization of frustum gazebosim/gz-sensors#492

Closed

Visualization of frustum gazebosim/gz-rendering#1096

Closed

Visualization of frustum #2688

Closed

ahcorde requested changes Dec 26, 2024

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Visualze Frustum

cbabb37

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

BA-Utkarsh force-pushed the gz-sim9-v1 branch from 32d5e9b to cbabb37 Compare December 27, 2024 08:05

Update visualize_frustum plugins

f87b563

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

strip trailing whitespace

2393539

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

BA-Utkarsh requested a review from ahcorde January 10, 2025 07:44

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Code formatting and Copyright updates

342e5ef

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BA-Utkarsh requested a review from ahcorde January 11, 2025 10:23

ntfshard reviewed Jan 12, 2025

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iche033 added the needs upstream release Blocked by a release of an upstream library label Jan 17, 2025

iche033 mentioned this pull request Jan 27, 2025

Prepare for 9.1.0 release gazebosim/gz-rendering#1104

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BA-Utkarsh and others added 4 commits January 28, 2025 20:34

Update src/gui/plugins/visualize_frustum/VisualizeFrustum.hh

43d3458

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

Update src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

48a78db

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

Update src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

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Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

Update src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

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Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

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Update src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

50a9e8a

Co-authored-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>

Update comments

725b034

Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

BA-Utkarsh requested a review from iche033 January 28, 2025 15:18

ntfshard mentioned this pull request Jan 28, 2025

Improvement for Visualize lidar plugin #2739

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BA-Utkarsh and others added 2 commits January 28, 2025 23:37

Update comment

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Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>

Merge branch 'gz-sim9' into gz-sim9-v1

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Update src/gui/plugins/visualize_frustum/VisualizeFrustum.cc

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Merge branch 'gz-sim9' into gz-sim9-v1

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Extend Visualize Frustum GUI plugin to support camera sensors #2746

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iche033 merged commit 1eebaa3 into gazebosim:gz-sim9 Jan 30, 2025
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		this->dataPtr->visualDirty = true;

		for (auto data_values : this->dataPtr->msg.header().data())

		if (this->dataPtr->frustumString.compare(
		common::trimmed(data_values.value(0))) != 0)

Visualze Frustum #2707

Visualze Frustum #2707

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BA-Utkarsh commented Dec 26, 2024 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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🎉 New feature

Summary

Test it

Test Ref images,

Checklist

Supporting PRs,

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BA-Utkarsh commented Dec 27, 2024

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BA-Utkarsh commented Jan 13, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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BA-Utkarsh commented Jan 21, 2025

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BA-Utkarsh commented Jan 28, 2025

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iche033 commented Jan 30, 2025

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BA-Utkarsh commented Dec 26, 2024 •

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