Merge ign-sensors6 ➡️ gz-sensors7

Changelog.md

@@ -327,7 +327,22 @@
 
 ## Gazebo Sensors 3
 
-### Gazebo Sensors 3.X.X (202X-XX-XX)
+### Gazebo Sensors 3.4.0 (2022-08-16)
+
+1. Remove redundant namespace references
+    * [Pull request #258](https://github.com/gazebosim/gz-sensors/pull/258)
+
+1. Ignition -> Gazebo
+    * [Pull request #245](https://github.com/gazebosim/gz-sensors/pull/245)
+
+1. Conform to ros format for header field `frame_id` of sensor msgs
+    * [Pull request #195](https://github.com/gazebosim/gz-sensors/pull/195)
+
+1. Fix compiler warnings (`CMP0072` and copy elision)
+    * [Pull request #188](https://github.com/gazebosim/gz-sensors/pull/188)
+
+1. Require ign-transport >= 8.2
+    * [Pull request #167](https://github.com/gazebosim/gz-sensors/pull/167)
 
 ### Gazebo Sensors 3.3.0 (2021-08-26)
 

src/AirPressureSensor.cc

@@ -15,14 +15,14 @@
  *
 */
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <gz/msgs/fluid_pressure.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 #include <gz/msgs/Utility.hh>
 
@@ -114,7 +114,7 @@ bool AirPressureSensor::Load(const sdf::Sensor &_sdf)
     this->SetTopic("/air_pressure");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<gz::msgs::FluidPressure>(
+      this->dataPtr->node.Advertise<msgs::FluidPressure>(
       this->Topic());
 
   if (!this->dataPtr->pub)
@@ -194,7 +194,7 @@ bool AirPressureSensor::Update(
         NoiseType::GAUSSIAN)
     {
      GaussianNoiseModelPtr gaussian =
-       std::dynamic_pointer_cast<sensors::GaussianNoiseModel>(
+       std::dynamic_pointer_cast<GaussianNoiseModel>(
            this->dataPtr->noises[AIR_PRESSURE_NOISE_PASCALS]);
       msg.set_variance(sqrt(gaussian->StdDev()));
     }

src/AltimeterSensor.cc

@@ -15,14 +15,14 @@
  *
 */
 
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable: 4005)
-#pragma warning(disable: 4251)
+#if defined(_MSC_VER)
+  #pragma warning(push)
+  #pragma warning(disable: 4005)
+  #pragma warning(disable: 4251)
 #endif
 #include <gz/msgs/altimeter.pb.h>
-#ifdef _WIN32
-#pragma warning(pop)
+#if defined(_MSC_VER)
+  #pragma warning(pop)
 #endif
 
 #include <gz/common/Profiler.hh>
@@ -103,7 +103,7 @@ bool AltimeterSensor::Load(const sdf::Sensor &_sdf)
     this->SetTopic("/altimeter");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<gz::msgs::Altimeter>(this->Topic());
+      this->dataPtr->node.Advertise<msgs::Altimeter>(this->Topic());
 
   if (!this->dataPtr->pub)
   {

src/CMakeLists.txt

@@ -1,11 +1,11 @@
 set (sources
+  BrownDistortionModel.cc
+  Distortion.cc
+  GaussianNoiseModel.cc
   Manager.cc
-  Sensor.cc
   Noise.cc
-  GaussianNoiseModel.cc
-  Distortion.cc
-  BrownDistortionModel.cc
   PointCloudUtil.cc
+  Sensor.cc
   SensorFactory.cc
   SensorTypes.cc
   Util.cc
@@ -14,10 +14,10 @@ set (sources
 set(rendering_sources
   RenderingSensor.cc
   RenderingEvents.cc
-  ImageGaussianNoiseModel.cc
-  ImageNoise.cc
   ImageBrownDistortionModel.cc
   ImageDistortion.cc
+  ImageGaussianNoiseModel.cc
+  ImageNoise.cc
 )
 
 set (gtest_sources
@@ -58,7 +58,11 @@ target_link_libraries(${rendering_target}
 )
 
 set(camera_sources CameraSensor.cc)
-gz_add_component(camera SOURCES ${camera_sources} GET_TARGET_NAME camera_target)
+gz_add_component(camera
+  SOURCES ${camera_sources}
+  DEPENDS_ON_COMPONENTS rendering
+  GET_TARGET_NAME camera_target
+)
 # custom compile definitions since the one provided automatically is versioned and will
 # make the code need to change with every major version
 target_compile_definitions(${camera_target} PUBLIC CameraSensor_EXPORTS)
@@ -71,7 +75,11 @@ target_link_libraries(${camera_target}
 )
 
 set(depth_camera_sources DepthCameraSensor.cc)
-gz_add_component(depth_camera SOURCES ${depth_camera_sources} GET_TARGET_NAME depth_camera_target)
+gz_add_component(depth_camera
+  SOURCES ${depth_camera_sources}
+  DEPENDS_ON_COMPONENTS camera
+  GET_TARGET_NAME depth_camera_target
+)
 target_compile_definitions(${depth_camera_target} PUBLIC DepthCameraSensor_EXPORTS)
 target_link_libraries(${depth_camera_target}
   PRIVATE
@@ -81,7 +89,11 @@ target_link_libraries(${depth_camera_target}
 )
 
 set(lidar_sources Lidar.cc)
-gz_add_component(lidar SOURCES ${lidar_sources} GET_TARGET_NAME lidar_target)
+gz_add_component(lidar
+  SOURCES ${lidar_sources}
+  DEPENDS_ON_COMPONENTS rendering
+  GET_TARGET_NAME lidar_target
+)
 target_compile_definitions(${lidar_target} PUBLIC Lidar_EXPORTS)
 target_link_libraries(${lidar_target}
   PUBLIC
@@ -92,7 +104,11 @@ target_link_libraries(${lidar_target}
 )
 
 set(gpu_lidar_sources GpuLidarSensor.cc)
-gz_add_component(gpu_lidar SOURCES ${gpu_lidar_sources} GET_TARGET_NAME gpu_lidar_target)
+gz_add_component(gpu_lidar
+  DEPENDS_ON_COMPONENTS lidar
+  SOURCES ${gpu_lidar_sources}
+  GET_TARGET_NAME gpu_lidar_target
+)
 target_compile_definitions(${gpu_lidar_target} PUBLIC GpuLidarSensor_EXPORTS)
 target_link_libraries(${gpu_lidar_target}
   PRIVATE
@@ -116,20 +132,23 @@ gz_add_component(magnetometer SOURCES ${magnetometer_sources} GET_TARGET_NAME ma
 set(imu_sources ImuSensor.cc)
 gz_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
 
-set(force_torque_sources ForceTorqueSensor.cc)
-gz_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME force_torque_target)
-
 set(altimeter_sources AltimeterSensor.cc)
 gz_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
 
 set(air_pressure_sources AirPressureSensor.cc)
 gz_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
+set(force_torque_sources ForceTorqueSensor.cc)
+gz_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME force_torque_target)
 
 set(navsat_sources NavSatSensor.cc)
 gz_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
 
 set(rgbd_camera_sources RgbdCameraSensor.cc)
-gz_add_component(rgbd_camera SOURCES ${rgbd_camera_sources} GET_TARGET_NAME rgbd_camera_target)
+gz_add_component(rgbd_camera
+  SOURCES ${rgbd_camera_sources}
+  DEPENDS_ON_COMPONENTS camera
+  GET_TARGET_NAME rgbd_camera_target
+)
 target_compile_definitions(${rgbd_camera_target} PUBLIC RgbdCameraSensor_EXPORTS)
 target_link_libraries(${rgbd_camera_target}
   PRIVATE
@@ -139,7 +158,11 @@ target_link_libraries(${rgbd_camera_target}
 )
 
 set(thermal_camera_sources ThermalCameraSensor.cc)
-gz_add_component(thermal_camera SOURCES ${thermal_camera_sources} GET_TARGET_NAME thermal_camera_target)
+gz_add_component(thermal_camera
+  SOURCES ${thermal_camera_sources}
+  DEPENDS_ON_COMPONENTS camera
+  GET_TARGET_NAME thermal_camera_target
+)
 target_link_libraries(${thermal_camera_target}
   PRIVATE
     ${camera_target}

src/CameraSensor.cc

@@ -49,7 +49,7 @@ class gz::sensors::CameraSensorPrivate
 {
   /// \brief Callback for triggered subscription
   /// \param[in] _msg Boolean message
-  public: void OnTrigger(const gz::msgs::Boolean &_msg);
+  public: void OnTrigger(const msgs::Boolean &_msg);
 
   /// \brief Save an image
   /// \param[in] _data the image data to be saved
@@ -125,6 +125,9 @@ class gz::sensors::CameraSensorPrivate
   /// \brief Camera information message.
   public: msgs::CameraInfo infoMsg;
 
+  /// \brief The frame this camera uses in its camera_info topic.
+  public: std::string opticalFrameId{""};
+
   /// \brief Topic for info message.
   public: std::string infoTopic{""};
 
@@ -208,13 +211,13 @@ bool CameraSensor::CreateCamera()
   switch (pixelFormat)
   {
     case sdf::PixelFormatType::RGB_INT8:
-      this->dataPtr->camera->SetImageFormat(gz::rendering::PF_R8G8B8);
+      this->dataPtr->camera->SetImageFormat(rendering::PF_R8G8B8);
       break;
     case sdf::PixelFormatType::L_INT8:
-      this->dataPtr->camera->SetImageFormat(gz::rendering::PF_L8);
+      this->dataPtr->camera->SetImageFormat(rendering::PF_L8);
       break;
     case sdf::PixelFormatType::L_INT16:
-      this->dataPtr->camera->SetImageFormat(gz::rendering::PF_L16);
+      this->dataPtr->camera->SetImageFormat(rendering::PF_L16);
       break;
     default:
       gzerr << "Unsupported pixel format ["
@@ -435,16 +438,16 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
 
   switch (this->dataPtr->camera->ImageFormat())
   {
-    case gz::rendering::PF_R8G8B8:
-      format = gz::common::Image::RGB_INT8;
+    case rendering::PF_R8G8B8:
+      format = common::Image::RGB_INT8;
       msgsPixelFormat = msgs::PixelFormatType::RGB_INT8;
       break;
-    case gz::rendering::PF_L8:
-      format = gz::common::Image::L_INT8;
+    case rendering::PF_L8:
+      format = common::Image::L_INT8;
       msgsPixelFormat = msgs::PixelFormatType::L_INT8;
       break;
-    case gz::rendering::PF_L16:
-      format = gz::common::Image::L_INT16;
+    case rendering::PF_L16:
+      format = common::Image::L_INT16;
       msgsPixelFormat = msgs::PixelFormatType::L_INT16;
       break;
     default:
@@ -454,7 +457,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
   }
 
   // create message
-  gz::msgs::Image msg;
+  msgs::Image msg;
   {
     GZ_PROFILE("CameraSensor::Update Message");
     msg.set_width(width);
@@ -465,7 +468,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
     *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
     auto frame = msg.mutable_header()->add_data();
     frame->set_key("frame_id");
-    frame->add_value(this->FrameId());
+    frame->add_value(this->dataPtr->opticalFrameId);
     msg.set_data(data, this->dataPtr->camera->ImageMemorySize());
   }
 
@@ -645,19 +648,18 @@ void CameraSensor::PopulateInfo(const sdf::Camera *_cameraSdf)
   intrinsics->add_k(0.0);
   intrinsics->add_k(1.0);
 
-  // TODO(anyone) Get tx and ty from SDF
   msgs::CameraInfo::Projection *proj =
     this->dataPtr->infoMsg.mutable_projection();
 
-  proj->add_p(_cameraSdf->LensIntrinsicsFx());
+  proj->add_p(_cameraSdf->LensProjectionFx());
   proj->add_p(0.0);
-  proj->add_p(_cameraSdf->LensIntrinsicsCx());
-  proj->add_p(-_cameraSdf->LensIntrinsicsFx() * this->dataPtr->baseline);
+  proj->add_p(_cameraSdf->LensProjectionCx());
+  proj->add_p(_cameraSdf->LensProjectionTx());
 
   proj->add_p(0.0);
-  proj->add_p(_cameraSdf->LensIntrinsicsFy());
-  proj->add_p(_cameraSdf->LensIntrinsicsCy());
-  proj->add_p(0.0);
+  proj->add_p(_cameraSdf->LensProjectionFy());
+  proj->add_p(_cameraSdf->LensProjectionCy());
+  proj->add_p(_cameraSdf->LensProjectionTy());
 
   proj->add_p(0.0);
   proj->add_p(0.0);
@@ -679,11 +681,20 @@ void CameraSensor::PopulateInfo(const sdf::Camera *_cameraSdf)
 
   // Note: while Gazebo interprets the camera frame to be looking towards +X,
   // other tools, such as ROS, may interpret this frame as looking towards +Z.
-  // TODO(anyone) Expose the `frame_id` as an SDF parameter so downstream users
-  // can populate it with arbitrary frames.
+  // To make this configurable the user has the option to set an optical frame.
+  // If the user has set <optical_frame_id> in the cameraSdf use it,
+  // otherwise fall back to the sensor frame.
+  if (_cameraSdf->OpticalFrameId().empty())
+  {
+   this->dataPtr->opticalFrameId = this->FrameId();
+  }
+  else
+  {
+   this->dataPtr->opticalFrameId = _cameraSdf->OpticalFrameId();
+  }
   auto infoFrame = this->dataPtr->infoMsg.mutable_header()->add_data();
   infoFrame->set_key("frame_id");
-  infoFrame->add_value(this->FrameId());
+  infoFrame->add_value(this->dataPtr->opticalFrameId);
 
   this->dataPtr->infoMsg.set_width(width);
   this->dataPtr->infoMsg.set_height(height);

src/Camera_TEST.cc

@@ -107,6 +107,14 @@ sdf::ElementPtr CameraToSdf(const std::string &_type,
     << "            <cy>124</cy>"
     << "            <s>1.2</s>"
     << "          </intrinsics>"
+    << "          <projection>"
+    << "            <p_fx>282</p_fx>"
+    << "            <p_fy>283</p_fy>"
+    << "            <p_cx>163</p_cx>"
+    << "            <p_cy>125</p_cy>"
+    << "            <tx>1</tx>"
+    << "            <ty>2</ty>"
+    << "          </projection>"
     << "        </lens>"
     << "      </camera>"
     << "    </sensor>"