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CameraZoomPlugin is not updating topic camera_info #110

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srmainwaring opened this issue Sep 5, 2024 · 0 comments
Open

CameraZoomPlugin is not updating topic camera_info #110

srmainwaring opened this issue Sep 5, 2024 · 0 comments
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@srmainwaring
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Bug report

Issue details

The CameraZoomPlugin does not update the camera intrinsics published in the /world/{world}/model/{model}/link/{link}/sensor/{sensor}/camera_info (gz.msgs.CameraInfo) topic.

Version

  • main

Steps to replicate:

  • Run an example containing a model equipped with the gimbal_small_3d which includes a camera sensor and CameraZoomPlugin.
  • Inspect the topics for the one containing camera_info and subscribe to the topic and filter for the projection matrix. For example:
gz topic -e -t /world/playpen/model/mount/model/gimbal/link/pitch_link/sensor/camera/camera_info | grep -A12 projection
--
projection {
  p: 205.46962738037109
  p: 0
  p: 320
  p: 0
  p: 0
  p: 205.46965599060059
  p: 240
  p: 0
  p: 0
  p: 0
  p: 1
  p: 0

In another terminal change the zoom setting of the camera:

gz topic -t /model/gimbal/sensor/camera/zoom/cmd_zoom -m gz.msgs.Double -p "data: 4"

Monitor the camera_info topic and notice there is no change to the intrinsic matrix.

Platform
[ x ] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

@srmainwaring srmainwaring added the bug Something isn't working label Sep 5, 2024
@srmainwaring srmainwaring self-assigned this Sep 5, 2024
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