VisualizeFrustum.hh

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/*
 * Copyright (C) 2025 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_SIM_GUI_VISUALIZEFRUSTUM_HH_
#define GZ_SIM_GUI_VISUALIZEFRUSTUM_HH_
 
#include <memory>
#include <string>
 
#include "gz/msgs/camera_info.pb.h"
#include "gz/msgs/header.pb.h"
#include "gz/msgs/logical_camera_sensor.pb.h"
#include "gz/sim/gui/GuiSystem.hh"
#include "gz/gui/qt.h"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE
{
  class VisualizeFrustumPrivate;
 
  class VisualizeFrustum : public gz::sim::GuiSystem
  {
    Q_OBJECT
 
    Q_PROPERTY(
      QStringList topicList
      READ TopicList
      WRITE SetTopicList
      NOTIFY TopicListChanged
    )
 
    
    public: struct FrustumData
    {
      double nearClip{0.1};
 
      double farClip{10.0};
 
      double horizontalFov{1.0471975512};
 
      double aspectRatio{1.3333333333};
 
      std::string frameId;
 
      bool valid{false};
    };
 
    public: VisualizeFrustum();
 
    public: ~VisualizeFrustum() override;
 
    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
 
    // Documentation inherited
    public: bool eventFilter(QObject *_obj, QEvent *_event) override;
 
    // Documentation inherited
    public: void Update(const UpdateInfo &,
                        EntityComponentManager &_ecm) override;
 
    public: void OnScan(const msgs::LogicalCameraSensor &_msg);
 
    public: void OnCameraInfo(const msgs::CameraInfo &_msg);
 
    public: void LoadFrustum();
 
    public: Q_INVOKABLE QStringList TopicList() const;
 
    public: Q_INVOKABLE void SetTopicList(const QStringList &_topicList);
 
    signals: void TopicListChanged();
 
    public: Q_INVOKABLE void OnTopic(const QString &_topicName);
 
    public: Q_INVOKABLE void DisplayVisual(bool _value);
 
    public: Q_INVOKABLE void OnRefresh();
 
    private: std::string FrameIdFromHeader(const msgs::Header &_header) const;
 
    private: bool FrustumDataFromLogicalCamera(
        const msgs::LogicalCameraSensor &_msg,
        FrustumData &_data) const;
 
    private: bool FrustumDataFromCameraInfo(
        const msgs::CameraInfo &_msg,
        FrustumData &_data) const;
 
    private: void ApplyFrustumData(const FrustumData &_data);
 
    private: std::unique_ptr<VisualizeFrustumPrivate> dataPtr;
  };
}
}
}
#endif