Options to set the graphics window camera position

[Rauldg]

Depending on the scene that we are loading, we want to set the camera to a particular position from where the robot can be seen. We could provide the camera transformation in either a rock config a scene file or maybe mars conf file.

How can the position of the camera that the user has to see the simulation be set on Mars/Rock+Mars startup? Are there any options?

Currently the simulation camera starts always x=0, y=0, z=5, with alpha=0, beta=0.0, and gamma=0.0.

With the Entity Viewer I can see the position of the camera, under graphics>1:window. Also in View>Configure3DViews I tried to save a camera position but that didn't seem to work.

[Rauldg]

Here is how I use the save and load camera pose feature, which does not work as I would expect.

Save the camera pose

Move the camera with the mouse to the position that you want to save.

View>Configure 3dView

Lock Position and Lock Rotation

Click on the ... in the Save configuration line.

Select a .txt file that already exists (it won't create a new one).

Click on load.

Load a saved camera pose

View>Configure 3dView

Click on the ... in the Load configuration line.

Select a the camera pose .txt file that contains the camera pose.

Click on save.

---

-> Expected: Camera position is changed according to position in the file
-> Obtained: The camera position is not changed.

Uploaded is the data that gets stored when calling "save" on the first part. Neither rotation nor position are saved.

test_cam.txt

[Rauldg]

Save the camera pose that works

Move the camera with the mouse to the position that you want to save.

Edit > Entitity viewer > graphics > 1:window > on the right side, you can see the position and rotation of the camera.

Keep those values visible.

View>Configure 3dView

Lock Position and Lock Rotation, extend each of the widgets and copy the camera position and rotation.

Click on the ... in the Save configuration line.

Select a .txt file that already exists (it won't create a new one).

Click on save.

After save, the lock_camera flag should be "1" in the saved file but it is not. Modify it manually:

From

$ cat test_cam.txt 
window_id: 1
node_id: 0
lock_camera: 0
lock_rotation: 1
offset_pos: -46.409 -19.5 13.3
offset_euler: 76 0 -98
offset_rot: 0.40391 -0.464646 -0.594719 0.516982
frustum: -0.0491641 0.0491641 -0.054197 0.054197 0.116226 237.101

To

$ cat test_cam.txt 
window_id: 1
node_id: 0
lock_camera: 1
lock_rotation: 1
offset_pos: -46.409 -19.5 13.3
offset_euler: 76 0 -98
offset_rot: 0.40391 -0.464646 -0.594719 0.516982
frustum: -0.0491641 0.0491641 -0.054197 0.054197 0.116226 237.101

Load a saved camera pose

View>Configure 3dView

Click on the ... in the Load configuration line.

Select a the camera pose .txt file that contains the camera pose.

Click on load.