Extend Visualize Frustum GUI plugin to support camera sensors

[iche033]

Visualize Frustum GUI plugin (#2707) adds frustum visualization for logical camera sensors by subscribing to the logical camera sensor's frustum topic, e.g. /logical_cam_sensor/frustum (gazebosim/gz-sensors#491). One improvement is to extend the plugin to support visualization of other types of camera sensors, starting with a regular RGB camera sensor.

Desired behavior

The GUI plugin allows users to select other camera topics for visualizing frustums

Alternatives considered

Another option for enabling/disabling frustum visualization is to parse the //sensor/visualize sdf tag

Implementation suggestion

In the topic drop down list, we can also support gz.msgs.CameraInfo msg type which is published by many other types of camera sensors. On callback, we should be able to compute camera frustum info (near, far, hfov, etc) from the intrinsic params.

[Mehul0x]

Hi!
Can I be alloted this issue?

[iche033]

sure! please go ahead

[Mehul0x]

Hi!
I have gone through the structure of Gazebo and worked out the details, as to what I have to change to add frustum to other cameras but I have ran into 2 problems

1. I can't visualize the frustum for logical camera

2. I can't open examples from cmd line

I already have added these lines to /. bashrc

GZ_CONFIG_PATH=/home/aerosheesh-24/workspace/install/share/gz/

source /home/aerosheesh-24/workspace/install/setup.sh 

I have built it from source

[iche033]

just double checking, for 1), have you tried running the simulation by clicking the Play button on the bottom left of the window?

As for 2), what's the directory that you're in from you run that cmd? Looking at the path you specified in the cmd line, you'll need to run that from the root of the gz-sim directory, which is probably /home/aerosheesh-24/workspace/src/gz-sim

[shashank1300]

Hey @iche033,
I was thinking of working on this issue (already started).