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Taking roi in cameraInfo in consideration when using camera_display plugin #1158

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merged 3 commits into from
Apr 10, 2018
Merged

Taking roi in cameraInfo in consideration when using camera_display plugin #1158

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59465fd
taking roi in cameraInfo in consideration when using camera_display
Shin-nn Oct 5, 2017
db46411
Merge remote-tracking branch 'rviz/kinetic-devel' into kinetic-devel
Shin-nn Nov 7, 2017
dd466db
Keep simple logic for non-ROI case for readability
dhood Dec 18, 2017
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22 changes: 20 additions & 2 deletions src/rviz/default_plugin/camera_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -490,8 +490,26 @@ bool CameraDisplay::updateCamera()
#endif

//adjust the image rectangles to fit the zoom & aspect ratio
bg_screen_rect_->setCorners( -1.0f*zoom_x, 1.0f*zoom_y, 1.0f*zoom_x, -1.0f*zoom_y );
fg_screen_rect_->setCorners( -1.0f*zoom_x, 1.0f*zoom_y, 1.0f*zoom_x, -1.0f*zoom_y );
double x_corner_start, y_corner_start, x_corner_end, y_corner_end;

if ( info->roi.height != 0 || info->roi.width != 0 )
{
//corners are computed according to roi
x_corner_start = (2.0 * info->roi.x_offset / info->width - 1.0) * zoom_x;
y_corner_start = (-2.0 * info->roi.y_offset / info->height + 1.0) * zoom_y;
x_corner_end = x_corner_start + (2.0 * info->roi.width / info->width) * zoom_x;
y_corner_end = y_corner_start - (2.0 * info->roi.height / info->height) * zoom_y;
}
else
{
x_corner_start = -1.0f*zoom_x;
y_corner_start = 1.0f*zoom_y;
x_corner_end = 1.0f*zoom_x;
y_corner_end = -1.0f*zoom_y;
}

bg_screen_rect_->setCorners( x_corner_start, y_corner_start, x_corner_end, y_corner_end);
fg_screen_rect_->setCorners( x_corner_start, y_corner_start, x_corner_end, y_corner_end);

Ogre::AxisAlignedBox aabInf;
aabInf.setInfinite();
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