Fix camera display overlay (#1151)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros2 · Mar 1, 2024 · c7bf4c9 · c7bf4c9
1 parent 8e5f283
commit c7bf4c9
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Showing 5 changed files with 22 additions and 1 deletion.
diff --git a/rviz_common/src/rviz_common/render_panel.cpp b/rviz_common/src/rviz_common/render_panel.cpp
@@ -116,7 +116,7 @@ void RenderPanel::initialize(DisplayContext * context, bool use_main_scene)
     camera_node->attachObject(default_camera);
     camera_node->setPosition(default_camera_pose_);
     camera_node->lookAt(Ogre::Vector3(0, 0, 0), Ogre::Node::TS_WORLD);
-
+    rviz_rendering::RenderWindowOgreAdapter::setSceneNodeCamera(render_window_, camera_node);
     rviz_rendering::RenderWindowOgreAdapter::setOgreCamera(render_window_, default_camera);
   }
   // scene_manager_ = scene_manager;

diff --git a/rviz_rendering/include/rviz_rendering/render_window.hpp b/rviz_rendering/include/rviz_rendering/render_window.hpp
@@ -158,6 +158,10 @@ class RVIZ_RENDERING_PUBLIC RenderWindowOgreAdapter
   void
   setOgreCamera(RenderWindow * render_window, Ogre::Camera * ogre_camera);
 
+  static
+  void
+  setSceneNodeCamera(RenderWindow * render_window, Ogre::SceneNode * ogre_camera);
+
   static
   Ogre::Camera *
   getOgreCamera(RenderWindow * render_window);

diff --git a/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.cpp b/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.cpp
@@ -304,6 +304,13 @@ void RenderWindowImpl::setCamera(Ogre::Camera * ogre_camera)
   }
 }
 
+void RenderWindowImpl::setSceneNodeCamera(Ogre::SceneNode * ogre_camera)
+{
+  if (ogre_camera) {
+    ogre_camera_node_ = ogre_camera;
+  }
+}
+
 Ogre::Camera * RenderWindowImpl::getCamera() const
 {
   return ogre_camera_;

diff --git a/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.hpp b/rviz_rendering/src/rviz_rendering/ogre_render_window_impl.hpp
@@ -107,6 +107,8 @@ class RenderWindowImpl
   /// Set the camera associated with this render window's viewport.
   void setCamera(Ogre::Camera * camera);
 
+  void setSceneNodeCamera(Ogre::SceneNode * ogre_camera);
+
   /// Get the camera.
   Ogre::Camera * getCamera() const;
 

diff --git a/rviz_rendering/src/rviz_rendering/render_window.cpp b/rviz_rendering/src/rviz_rendering/render_window.cpp
@@ -200,6 +200,14 @@ RenderWindowOgreAdapter::setOgreCamera(RenderWindow * render_window, Ogre::Camer
   render_window->impl_->setCamera(ogre_camera);
 }
 
+void
+RenderWindowOgreAdapter::setSceneNodeCamera(
+  RenderWindow * render_window,
+  Ogre::SceneNode * ogre_camera)
+{
+  render_window->impl_->setSceneNodeCamera(ogre_camera);
+}
+
 Ogre::Camera *
 RenderWindowOgreAdapter::getOgreCamera(RenderWindow * render_window)
 {