Allow to change camera user hfov in camera_view plugin

src/gui/plugins/view_angle/ViewAngle.cc

@@ -29,6 +29,7 @@
 #include <ignition/gui/Application.hh>
 #include <ignition/gui/GuiEvents.hh>
 #include <ignition/gui/MainWindow.hh>
+#include <ignition/math/Angle.hh>
 #include <ignition/plugin/Register.hh>
 #include <ignition/rendering/MoveToHelper.hh>
 #include <ignition/rendering/RenderingIface.hh>
@@ -78,6 +79,13 @@ namespace ignition::gazebo
  /// \brief Distance of the camera to the model
  public: double distanceMoveToModel = 0.0;
 
+ /// \brief Camera horizontal fov
+ public: double horizontalFov = 0.0;
+
+ /// \brief Flag indicating if there is a new camera horizontalFOV
+ /// coming from qml side
+ public: bool newHorizontalFOV = false;
+
  /// \brief gui camera pose
  public: math::Pose3d camPose;
 
@@ -101,6 +109,11 @@ namespace ignition::gazebo
  /// \return True if there is a new view controller from gui camera
  public: bool UpdateQtViewControl();
 
+ /// \brief Checks if there is new camera horizontal fov from gui camera,
+ /// used to update qml side
+ /// \return True if there is a new horizontal fov from gui camera
+ public: bool UpdateQtCamHorizontalFOV();
+
  /// \brief User camera
  public: rendering::CameraPtr camera{nullptr};
 
@@ -203,6 +216,12 @@ bool ViewAngle::eventFilter(QObject *_obj, QEvent *_event)
  this->CamClipDistChanged();
  }
 
+ // updates qml cam horizontal fov spin boxes if changed
+ if (this->dataPtr->UpdateQtCamHorizontalFOV())
+ {
+ this->CamHorizontalFOVChanged();
+ }
+
  if (this->dataPtr->UpdateQtViewControl())
  {
  this->ViewControlIndexChanged();
@@ -462,6 +481,19 @@ void ViewAngle::CamPoseCb(const msgs::Pose &_msg)
  }
 }
 
+/////////////////////////////////////////////////
+double ViewAngle::HorizontalFOV() const
+{
+ return this->dataPtr->horizontalFov;
+}
+
+/////////////////////////////////////////////////
+void ViewAngle::SetHorizontalFOV(double _horizontalFOV)
+{
+ this->dataPtr->horizontalFov = _horizontalFOV;
+ this->dataPtr->newHorizontalFOV = true;
+}
+
 /////////////////////////////////////////////////
 QList<double> ViewAngle::CamClipDist() const
 {
@@ -596,6 +628,13 @@ void ViewAnglePrivate::OnRender()
  this->camera->SetFarClipPlane(this->camClipDist[1]);
  this->newCamClipDist = false;
  }
+
+ // Camera horizontalFOV
+ if (this->newHorizontalFOV)
+ {
+ this->camera->SetHFOV(gz::math::Angle(this->horizontalFov));
+ this->newHorizontalFOV = false;
+ }
 }
 
 /////////////////////////////////////////////////
@@ -634,6 +673,18 @@ void ViewAnglePrivate::OnComplete()
  }
 }
 
+/////////////////////////////////////////////////
+bool ViewAnglePrivate::UpdateQtCamHorizontalFOV()
+{
+ bool updated = false;
+ if (std::abs(this->camera->HFOV().Radian() - this->horizontalFov) > 0.0001)
+ {
+ this->horizontalFov = this->camera->HFOV().Radian();
+ updated = true;
+ }
+ return updated;
+}
+
 /////////////////////////////////////////////////
 bool ViewAnglePrivate::UpdateQtCamClipDist()
 {

src/gui/plugins/view_angle/ViewAngle.hh

@@ -63,6 +63,13 @@ namespace gazebo
  NOTIFY ViewControlIndexChanged
  )
 
+ /// \brief gui camera horizontal fov
+ Q_PROPERTY(
+ double horizontalFOV
+ READ HorizontalFOV
+ NOTIFY CamHorizontalFOVChanged
+ )
+
  /// \brief Constructor
  public: ViewAngle();
 
@@ -98,6 +105,16 @@ namespace gazebo
  /// \param[in] _sensitivity View control sensitivity vlaue
  public slots: void OnViewControlSensitivity(double _sensitivity);
 
+ /// \brief Updates gui camera's Horizontal fov
+ /// \param[in] _horizontalFOV Horizontal fov
+ public slots: void SetHorizontalFOV(double _horizontalFOV);
+
+ /// \brief Get the current gui horizontal fov.
+ public: Q_INVOKABLE double HorizontalFOV() const;
+
+ /// \brief Notify that the gui camera's horizontal fov changed
+ signals: void CamHorizontalFOVChanged();
+
  /// \brief Get the current gui camera pose.
  public: Q_INVOKABLE QList<double> CamPose() const;
 

src/gui/plugins/view_angle/ViewAngle.qml

@@ -326,6 +326,41 @@ ColumnLayout {
  }
  }
 
+ // Set camera's horizontal FOV
+ Text {
+ text: "Horizontal FOV"
+ Layout.fillWidth: true
+ color: Material.Grey
+ leftPadding: 5
+ topPadding: 10
+ font.bold: true
+ }
+
+ GridLayout {
+ width: parent.width
+ columns: 2
+
+ Text {
+ text: "HorizontalFOV (rads)"
+ color: "dimgrey"
+ Layout.row: 0
+ Layout.column: 0
+ leftPadding: 5
+ }
+ IgnSpinBox {
+ id: horizontalFOV
+ Layout.fillWidth: true
+ Layout.row: 0
+ Layout.column: 1
+ value: ViewAngle.horizontalFOV
+ maximumValue: 3.14159
+ minimumValue: 0.000001
+ decimals: 6
+ stepSize: 0.01
+ onEditingFinished: ViewAngle.SetHorizontalFOV(horizontalFOV.value)
+ }
+ }
+
  // Bottom spacer
  Item {
  width: 10