[ADD] forgot to add the CameraSensor::OpticalFrameId()

gazebosim · Aug 13, 2024 · a076f3e · a076f3e
1 parent f967916
commit a076f3e
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diff --git a/include/gz/sensors/CameraSensor.hh b/include/gz/sensors/CameraSensor.hh
@@ -153,6 +153,10 @@ namespace ignition
       /// \todo(iche033) Make this function virtual on Harmonic
       public: bool HasInfoConnections() const;
 
+      /// \brief Get the camera optical frame
+      /// \return The camera optical frame
+      public: const std::string& OpticalFrameId() const;
+
       /// \brief Advertise camera info topic.
       /// \return True if successful.
       protected: bool AdvertiseInfo();

diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
@@ -895,6 +895,12 @@ bool CameraSensor::HasInfoConnections() const
   return this->dataPtr->infoPub && this->dataPtr->infoPub.HasConnections();
 }
 
+//////////////////////////////////////////////////
+const std::string& CameraSensor::OpticalFrameId() const
+{
+  return this->dataPtr->opticalFrameId;
+}
+
 //////////////////////////////////////////////////
 math::Matrix4d CameraSensorPrivate::BuildProjectionMatrix(
     double _imageWidth, double _imageHeight,