Merge branch 'main' into fix/gaussian_noise_zero_stddev

gazebosim · Oct 23, 2023 · 1216651 · 1216651
2 parents 7323780 + b834d76
commit 1216651
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Showing 9 changed files with 36 additions and 37 deletions.
diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -1,9 +1,9 @@
-libgz-cmake3-dev
-libgz-common5-dev
-libgz-math7-dev
-libgz-msgs10-dev
-libgz-rendering8-dev
+libgz-cmake4-dev
+libgz-common6-dev
+libgz-math8-dev
+libgz-msgs11-dev
+libgz-rendering9-dev
 libgz-tools2-dev
-libgz-transport13-dev
-libsdformat14-dev
+libgz-transport14-dev
+libsdformat15-dev
 xvfb
diff --git a/.github/disabled_workflows/macos.yml b/.github/disabled_workflows/macos.yml
@@ -6,7 +6,7 @@ jobs:
   build:
 
     env:
-      PACKAGE: gz-sensors8
+      PACKAGE: gz-sensors9
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v3

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,7 @@ project(gz-sensors9 VERSION 9.0.0)
 #============================================================================
 # Find gz-cmake
 #============================================================================
-find_package(gz-cmake3 REQUIRED)
+find_package(gz-cmake4 REQUIRED)
 
 #============================================================================
 # Configure the project
@@ -44,20 +44,20 @@ gz_find_package(GzProtobuf
 
 #--------------------------------------
 # Find gz-math
-gz_find_package(gz-math7 REQUIRED)
-set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
+gz_find_package(gz-math8 REQUIRED)
+set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-common
-gz_find_package(gz-common5
+gz_find_package(gz-common6
                  COMPONENTS profiler
                  REQUIRED)
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-transport
-gz_find_package(gz-transport13 REQUIRED)
-set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+gz_find_package(gz-transport14 REQUIRED)
+set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-rendering
@@ -67,8 +67,8 @@ if ((NOT ${CMAKE_VERSION} VERSION_LESS 3.11) AND (NOT OpenGL_GL_PREFERENCE))
   set(OpenGL_GL_PREFERENCE "GLVND")
 endif()
 
-gz_find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
-set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+gz_find_package(gz-rendering9 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
+set(GZ_RENDERING_VER ${gz-rendering9_VERSION_MAJOR})
 
 if (TARGET gz-rendering${GZ_RENDERING_VER}::ogre)
   set(HAVE_OGRE TRUE)
@@ -82,13 +82,13 @@ endif()
 
 #--------------------------------------
 # Find gz-msgs
-gz_find_package(gz-msgs10 REQUIRED)
-set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+gz_find_package(gz-msgs11 REQUIRED)
+set(GZ_MSGS_VER ${gz-msgs11_VERSION_MAJOR})
 
 #--------------------------------------
 # Find SDFormat
-gz_find_package(sdformat14 REQUIRED)
-set(SDF_VER ${sdformat14_VERSION_MAJOR})
+gz_find_package(sdformat15 REQUIRED)
+set(SDF_VER ${sdformat15_VERSION_MAJOR})
 
 #--------------------------------------
 # Find Eigen3

diff --git a/examples/custom_sensor/CMakeLists.txt b/examples/custom_sensor/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
 project(odometer)
 
-find_package(gz-cmake3 REQUIRED)
+find_package(gz-cmake4 REQUIRED)
 find_package(gz-sensors9 REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED Odometer.cc)

diff --git a/examples/save_image/CMakeLists.txt b/examples/save_image/CMakeLists.txt
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 project(gz-sensors-camera-demo)
 
 # Find the Gazebo Libraries used directly by the example
-find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
+find_package(gz-rendering9 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
 find_package(gz-sensors9 REQUIRED COMPONENTS rendering camera)
 
-if (TARGET gz-rendering8::ogre)
+if (TARGET gz-rendering9::ogre)
    add_definitions(-DWITH_OGRE)
 endif()
-if (TARGET gz-rendering8::ogre2)
+if (TARGET gz-rendering9::ogre2)
    add_definitions(-DWITH_OGRE2)
 endif()
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1,6 +1,5 @@
 set (sources
   BrownDistortionModel.cc
-  CameraSensorUtil.cc
   Distortion.cc
   EnvironmentalData.cc
   GaussianNoiseModel.cc
@@ -59,7 +58,7 @@ target_link_libraries(${rendering_target}
     gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
 )
 
-set(camera_sources CameraSensor.cc)
+set(camera_sources CameraSensor.cc CameraSensorUtil.cc)
 gz_add_component(camera
   SOURCES ${camera_sources}
   DEPENDS_ON_COMPONENTS rendering
@@ -76,7 +75,7 @@ target_link_libraries(${camera_target}
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
-set(depth_camera_sources DepthCameraSensor.cc)
+set(depth_camera_sources DepthCameraSensor.cc CameraSensorUtil.cc)
 gz_add_component(depth_camera
   SOURCES ${depth_camera_sources}
   DEPENDS_ON_COMPONENTS camera
@@ -165,7 +164,7 @@ gz_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME fo
 set(navsat_sources NavSatSensor.cc)
 gz_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
 
-set(rgbd_camera_sources RgbdCameraSensor.cc)
+set(rgbd_camera_sources RgbdCameraSensor.cc CameraSensorUtil.cc)
 gz_add_component(rgbd_camera
   SOURCES ${rgbd_camera_sources}
   DEPENDS_ON_COMPONENTS camera

diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
@@ -259,7 +259,7 @@ bool CameraSensor::CreateCamera()
     double cx = cameraSdf->LensIntrinsicsCx();
     double cy = cameraSdf->LensIntrinsicsCy();
     double s = cameraSdf->LensIntrinsicsSkew();
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->camera->ImageWidth(),
         this->dataPtr->camera->ImageHeight(),
         fx, fy, cx, cy, s,
@@ -313,7 +313,7 @@ bool CameraSensor::CreateCamera()
     double cy = cameraSdf->LensProjectionCy();
     double s = 0;
 
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->camera->ImageWidth(),
         this->dataPtr->camera->ImageHeight(),
         fx, fy, cx, cy, s,

diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
@@ -405,7 +405,7 @@ bool DepthCameraSensor::CreateCamera()
     double cx = cameraSdf->LensIntrinsicsCx();
     double cy = cameraSdf->LensIntrinsicsCy();
     double s = cameraSdf->LensIntrinsicsSkew();
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->depthCamera->ImageWidth(),
         this->dataPtr->depthCamera->ImageHeight(), fx, fy, cx, cy, s,
         this->dataPtr->depthCamera->NearClipPlane(),
@@ -446,7 +446,7 @@ bool DepthCameraSensor::CreateCamera()
     double cy = cameraSdf->LensProjectionCy();
     double s = 0;
 
-    auto projectionMatrix = buildProjectionMatrix(
+    auto projectionMatrix = gz::sensors::buildProjectionMatrix(
         this->dataPtr->depthCamera->ImageWidth(),
         this->dataPtr->depthCamera->ImageHeight(),
         fx, fy, cx, cy, s,

diff --git a/tutorials/thermal_camera.md b/tutorials/thermal_camera.md
@@ -353,12 +353,12 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 project(image-listener)
 
 # Find the Gazebo Libraries used directly by the example
-find_package(gz-msgs10 REQUIRED)
-find_package(gz-transport13 REQUIRED)
+find_package(gz-msgs11 REQUIRED)
+find_package(gz-transport14 REQUIRED)
 
 add_executable(${PROJECT_NAME} main.cpp)
-target_link_libraries(${PROJECT_NAME} PUBLIC gz-msgs10 gz-transport13)
-target_include_directories(${PROJECT_NAME} PUBLIC ${gz_msgs10_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} PUBLIC gz-msgs11 gz-transport14)
+target_include_directories(${PROJECT_NAME} PUBLIC ${gz_msgs11_INCLUDE_DIRS})
 ```
 
 Although most of the code above is described in the comments, let's go over the key points again: