Fixing Z check in WideAngleCamera::Project3d

Signed-off-by: Sanjuksha Nirgude <sanjuksha@gmail.com>
gazebosim · Nov 9, 2022 · e5d22e2 · e5d22e2
1 parent d86d435
commit e5d22e2
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/gazebo/rendering/WideAngleCamera.cc b/gazebo/rendering/WideAngleCamera.cc
@@ -773,7 +773,8 @@ ignition::math::Vector3d WideAngleCamera::Project3d(
     pos.x /= pos.w;
     pos.y /= pos.w;
     // check if point is visible
-    if (std::fabs(pos.x) <= 1 && std::fabs(pos.y) <= 1 && pos.z > 0)
+ if (std::fabs(pos.x) <= 1 && std::fabs(pos.y) <= 1 &&
+        pos.z > -std::fabs(pos.w))
     {
       // determine dir vector to projected point from env camera
       // work in y up, z forward, x right clip space