Fix crash when wide angle camera FOV is > 180 (#1016)

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Jul 22, 2024 · 3335d59 · 3335d59
1 parent a7cf4f0
commit 3335d59
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/ogre/src/OgreWideAngleCamera.cc b/ogre/src/OgreWideAngleCamera.cc
@@ -452,7 +452,11 @@ void OgreWideAngleCamera::CreateWideAngleTexture()
 
   double vfov = 2.0 * atan(tan(this->HFOV().Radian() / 2.0) / ratio);
   this->dataPtr->ogreCamera->setAspectRatio(ratio);
-  this->dataPtr->ogreCamera->setFOVy(Ogre::Radian(vfov));
+  // Setting the fov is likely not necessary for the ogreCamera but
+  // clamp to max fov supported by ogre to avoid issues with building the
+  // frustum
+  this->dataPtr->ogreCamera->setFOVy(Ogre::Radian(
+      Ogre::Real(std::clamp(vfov, 0.0, GZ_PI))));
 
   // create the env cameras and textures
   this->CreateEnvCameras();

diff --git a/ogre2/src/Ogre2WideAngleCamera.cc b/ogre2/src/Ogre2WideAngleCamera.cc
@@ -1344,7 +1344,12 @@ void Ogre2WideAngleCamera::PrepareForFinalPass(Ogre::Pass *_pass)
   const double ratio = static_cast<double>(this->ImageWidth()) /
                        static_cast<double>(this->ImageHeight());
   const double vfov = 2.0 * atan(tan(this->HFOV().Radian() / 2.0) / ratio);
-  this->dataPtr->ogreCamera->setFOVy(Ogre::Radian(Ogre::Real(vfov)));
+
+  // Setting the fov is likely not necessary in the final pass but
+  // clamp to max fov supported by ogre to avoid issues with building the
+  // frustum
+  this->dataPtr->ogreCamera->setFOVy(Ogre::Radian(
+      Ogre::Real(std::clamp(vfov, 0.0, GZ_PI))));
 
   const float localHfov = static_cast<float>(this->HFOV().Radian());