GUI for adjusting FOV

src/gui/plugins/view_angle/ViewAngle.cc

@@ -73,11 +73,23 @@ namespace ignition::gazebo
     /// coming from qml side
     public: bool newCamClipDist = false;
 
+    /// \brief GUI camera horizontal FOV in degree
+    public: double camHFOV = 0;
+
+    /// \brief Flag indicating if there is a new camera horizontal FOV
+    /// coming from qml
+    public: bool newCamHFOV = false;
+
     /// \brief Checks if there is new camera clipping distance from gui camera,
     /// used to update qml side
     /// \return True if there is a new clipping distance from gui camera
     public: bool UpdateQtCamClipDist();
 
+    /// \brief Checks if there is a new camera horizontal FOV from gui camera,
+    /// used to update qml side
+    /// \return True if there is a new camera horizontal FOV from gui camera
+    public: bool UpdateQtCamHFOV();
+
     /// \brief User camera
     public: rendering::CameraPtr camera{nullptr};
 
@@ -164,6 +176,11 @@ bool ViewAngle::eventFilter(QObject *_obj, QEvent *_event)
     {
       this->CamClipDistChanged();
     }
+
+    if (this->dataPtr->UpdateQtCamHFOV())
+    {
+      this->CamHFOVChanged();
+    }
   }
   else if (_event->type() ==
            ignition::gazebo::gui::events::EntitiesSelected::kType)
@@ -307,6 +324,12 @@ QList<double> ViewAngle::CamClipDist() const
   return this->dataPtr->camClipDist;
 }
 
+/////////////////////////////////////////////////
+double ViewAngle::GetCamHFOV() const
+{
+  return this->dataPtr->camHFOV;
+}
+
 /////////////////////////////////////////////////
 void ViewAngle::SetCamClipDist(double _near, double _far)
 {
@@ -315,6 +338,13 @@ void ViewAngle::SetCamClipDist(double _near, double _far)
   this->dataPtr->newCamClipDist = true;
 }
 
+/////////////////////////////////////////////////
+void ViewAngle::SetCamHFOV(double _fovDeg)
+{
+  this->dataPtr->camHFOV = _fovDeg;
+  this->dataPtr->newCamHFOV = true;
+}
+
 /////////////////////////////////////////////////
 void ViewAnglePrivate::OnRender()
 {
@@ -435,6 +465,12 @@ void ViewAnglePrivate::OnRender()
     this->camera->SetFarClipPlane(this->camClipDist[1]);
     this->newCamClipDist = false;
   }
+
+  if (this->newCamHFOV)
+  {
+    // camera used Radian but GUI uses degree.
+    this->camera->SetHFOV(IGN_DTOR(this->camHFOV));
+  }
 }
 
 /////////////////////////////////////////////////
@@ -462,6 +498,19 @@ bool ViewAnglePrivate::UpdateQtCamClipDist()
   return updated;
 }
 
+/////////////////////////////////////////////////
+bool ViewAnglePrivate::UpdateQtCamHFOV()
+{
+  bool updated = false;
+  if (std::abs(this->camera->HFOV().Degree() - this->camHFOV) > 0.1)
+  {
+    this->camHFOV = this->camera->HFOV().Degree();
+    updated = true;
+  }
+  return updated;
+}
+
+
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gazebo::ViewAngle,
                     ignition::gui::Plugin)

src/gui/plugins/view_angle/ViewAngle.hh

@@ -54,6 +54,12 @@ namespace gazebo
       NOTIFY CamClipDistChanged
     )
 
+    Q_PROPERTY(
+      double camHFOV
+      READ GetCamHFOV
+      NOTIFY CamHFOVChanged
+    )
+
     /// \brief Constructor
     public: ViewAngle();
 
@@ -106,6 +112,16 @@ namespace gazebo
     /// \param[in] _far Far clipping plane distance
     public slots: void SetCamClipDist(double _near, double _far);
 
+    /// \brief Get the current GUI camera's horizontal FOV
+    public: Q_INVOKABLE double GetCamHFOV() const;
+
+    /// \brief Notify that the GUI camera's horizontal FOV changed
+    signals: void CamHFOVChanged();
+
+    /// \brief Update gui camera's FOV
+    /// \param[in] _fovDeg Horizontal FOV of the camera in degree
+    public slots: void SetCamHFOV(double _fovDeg);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<ViewAnglePrivate> dataPtr;

src/gui/plugins/view_angle/ViewAngle.qml

@@ -391,6 +391,41 @@ ColumnLayout {
     }
   }
 
+  // Set camera's FOV
+  Text {
+    text: "Camera FOV"
+    Layout.fillWidth: true
+    color: Material.Grey
+    leftPadding: 5
+    topPadding: 10
+    font.bold: true
+  }
+
+  GridLayout {
+    width: parent.width
+    columns: 4
+
+    Text {
+      text: "horizontal fov (degree)"
+      color: "dimgrey"
+      Layout.row: 0
+      Layout.column: 0
+      leftPadding: 5
+    }
+    IgnSpinBox {
+      id: hfov
+      Layout.fillWidth: true
+      Layout.row: 0
+      Layout.column: 1
+      value: ViewAngle.camHFOV
+      maximumValue: 170
+      minimumValue: 10
+      decimals: 1
+      stepSize: 10
+      onEditingFinished: ViewAngle.SetCamHFOV(hfov.value)
+    }
+  }
+
   // Bottom spacer
   Item {
     width: 10