Add near and far clipping distance to ROS2 Camera sensor.

Co-authored-by: Piotr Jaroszek <[email protected]> Co-authored-by: Jan Hanca <[email protected]> Signed-off-by: Michał Pełka <[email protected]>
o3de · Jul 21, 2023 · 9c99939 · 9c99939
1 parent 17ddb04
commit 9c99939
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Showing 3 changed files with 27 additions and 4 deletions.
diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.cpp
@@ -17,12 +17,14 @@ namespace ROS2
         if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
         {
             serializeContext->Class<CameraSensorConfiguration>()
-                ->Version(1)
+                ->Version(2)
                 ->Field("VerticalFieldOfViewDeg", &CameraSensorConfiguration::m_verticalFieldOfViewDeg)
                 ->Field("Width", &CameraSensorConfiguration::m_width)
                 ->Field("Height", &CameraSensorConfiguration::m_height)
                 ->Field("Depth", &CameraSensorConfiguration::m_depthCamera)
-                ->Field("Color", &CameraSensorConfiguration::m_colorCamera);
+                ->Field("Color", &CameraSensorConfiguration::m_colorCamera)
+                ->Field("ClipNear", &CameraSensorConfiguration::m_nearClipDistance)
+                ->Field("ClipFar", &CameraSensorConfiguration::m_farClipDistance);
 
             if (AZ::EditContext* ec = serializeContext->GetEditContext())
             {
@@ -39,7 +41,17 @@ namespace ROS2
                     ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_height, "Image height", "Image height")
                     ->Attribute(AZ::Edit::Attributes::Min, CameraSensorConfiguration::m_minHeight)
                     ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_colorCamera, "Color Camera", "Color Camera")
-                    ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_depthCamera, "Depth Camera", "Depth Camera");
+                    ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_depthCamera, "Depth Camera", "Depth Camera")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &CameraSensorConfiguration::m_nearClipDistance,
+                        "Near clip distance",
+                        "Minimum distance to detect objects")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &CameraSensorConfiguration::m_farClipDistance,
+                        "Far clip distance",
+                        "Maximum distance to detect objects");
             }
         }
     }

diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.h b/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.h
@@ -29,5 +29,7 @@ namespace ROS2
         int m_height = 480; //!< Camera image height in pixels.
         bool m_colorCamera = true; //!< Use color camera?
         bool m_depthCamera = true; //!< Use depth camera?
+        float m_nearClipDistance = 0.1f; //!< Near clip distance of the camera.
+        float m_farClipDistance = 100.0f; //!< Far clip distance of the camera.
     };
 } // namespace ROS2
diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensorDescription.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensorDescription.cpp
@@ -22,7 +22,11 @@ namespace ROS2
         , m_cameraName(cameraName)
         , m_cameraNamespace(effectiveNamespace)
         , m_viewToClipMatrix(CameraUtils::MakeClipMatrix(
-              m_cameraConfiguration.m_width, m_cameraConfiguration.m_height, m_cameraConfiguration.m_verticalFieldOfViewDeg))
+              m_cameraConfiguration.m_width,
+              m_cameraConfiguration.m_height,
+              m_cameraConfiguration.m_verticalFieldOfViewDeg,
+              m_cameraConfiguration.m_nearClipDistance,
+              m_cameraConfiguration.m_farClipDistance))
         , m_cameraIntrinsics(CameraUtils::MakeCameraIntrinsics(
               m_cameraConfiguration.m_width, m_cameraConfiguration.m_height, m_cameraConfiguration.m_verticalFieldOfViewDeg))
     {
@@ -37,6 +41,11 @@ namespace ROS2
         AZ_Assert(
             m_cameraConfiguration.m_width > 0 && m_cameraConfiguration.m_height > 0, "Camera resolution dimensions should be above zero");
         AZ_Assert(!m_cameraName.empty(), "Camera name cannot be empty");
+        AZ_Assert(m_cameraConfiguration.m_nearClipDistance > 0.0f, "Near clip distance should be greater than zero");
+        AZ_Assert(m_cameraConfiguration.m_farClipDistance > m_cameraConfiguration.m_nearClipDistance , "Far clip distance should be greater than the near plane distance");
+        AZ_Assert(
+            m_cameraConfiguration.m_farClipDistance > m_cameraConfiguration.m_nearClipDistance,
+            "Far clip distance should be greater than near clip distance");
     }
 
 } // namespace ROS2