Bounding Box camera

This example shows how to use the bounding box camera.

Install prerequisites

In order to compile the example in this tutorial, make sure to install the dependencies listed in the Installation tutorial.

Compile and run the example

Clone the source code, create a build directory and use cmake and make to compile the code:

git clone https://github.com/gazebosim/gz-rendering
cd gz-rendering/examples/boundingbox_camera
mkdir build
cd build
cmake ..
make

Execute the example:

./boundingbox_camera

You'll see:

[Msg] Loading plugin [gz-rendering-ogre2]
===============================
   S  - Save image & its boxes
  ESC - Exit
===============================

By default, you'll see 3D boxes:

There are 2 other types of boxes:

• 2D visible: box around the visible parts of an object.
• 2D full: box around the object, including parts that aren't visible to the camera.

Compare the two 2D box types as follows:

./boundingbox_camera 2D_visible

./boundingbox_camera 2D_full

Note how the bounding box for the right sphere is larger for the 2D full box.