Camera::HFOV override for Ogre and Ogre2 (#636)

* camera HFOV override and add camera HFOV tests Signed-off-by: youhy <[email protected]> Co-authored-by: Ian Chen <[email protected]>
gazebosim · Jun 1, 2022 · a3dc1ae · a3dc1ae
1 parent 830c051
commit a3dc1ae
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Showing 5 changed files with 23 additions and 1 deletion.
diff --git a/ogre/include/ignition/rendering/ogre/OgreCamera.hh b/ogre/include/ignition/rendering/ogre/OgreCamera.hh
@@ -45,6 +45,9 @@ namespace ignition
 
       public: virtual ~OgreCamera();
 
+      // Documentation inherited.
+      public: virtual math::Angle HFOV() const override;
+
       // Documentation inherited.
       public: virtual void SetHFOV(const math::Angle &_hfov) override;
 

diff --git a/ogre/src/OgreCamera.cc b/ogre/src/OgreCamera.cc
@@ -66,6 +66,14 @@ void OgreCamera::Destroy()
   }
 }
 
+//////////////////////////////////////////////////
+math::Angle OgreCamera::HFOV() const
+{
+  double vfov = this->ogreCamera->getFOVy().valueRadians();
+  double hFOV = 2.0 * atan(tan(vfov / 2.0) * this->AspectRatio());
+  return math::Angle(hFOV);
+}
+
 //////////////////////////////////////////////////
 void OgreCamera::SetHFOV(const math::Angle &_angle)
 {

diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2Camera.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2Camera.hh
@@ -49,6 +49,9 @@ namespace ignition
       /// \brief Destructor
       public: virtual ~Ogre2Camera();
 
+      // Documentation inherited.
+      public: virtual math::Angle HFOV() const override;
+
       // Documentation inherited.
       public: virtual void SetHFOV(const math::Angle &_hfov) override;
 

diff --git a/ogre2/src/Ogre2Camera.cc b/ogre2/src/Ogre2Camera.cc
@@ -71,6 +71,14 @@ void Ogre2Camera::Destroy()
   }
 }
 
+//////////////////////////////////////////////////
+math::Angle Ogre2Camera::HFOV() const
+{
+  double vfov = this->ogreCamera->getFOVy().valueRadians();
+  double hFOV = 2.0 * atan(tan(vfov / 2.0) * this->AspectRatio());
+  return math::Angle(hFOV);
+}
+
 //////////////////////////////////////////////////
 void Ogre2Camera::SetHFOV(const math::Angle &_angle)
 {

diff --git a/src/Camera_TEST.cc b/src/Camera_TEST.cc
@@ -72,7 +72,7 @@ void CameraTest::ViewProjectionMatrix(const std::string &_renderEngine)
   EXPECT_GT(camera->HFOV(), 0);
   math::Angle hfov(1.57);
   camera->SetHFOV(hfov);
-  EXPECT_DOUBLE_EQ(hfov.Radian(), camera->HFOV().Radian());
+  EXPECT_NEAR(hfov.Radian(), camera->HFOV().Radian(), 1e-6);
 
   EXPECT_GT(camera->AspectRatio(), 0);
   camera->SetAspectRatio(1.7777);