Merge from ign-rendering6

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Oct 10, 2023 · 9344fac · 9344fac
2 parents 70e2fe4 + 4e49945
commit 9344fac
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diff --git a/Changelog.md b/Changelog.md
@@ -380,6 +380,15 @@
 
 ### Gazebo Rendering 6.X
 
+### Gazebo Rendering 6.6.2 (2023-10-03)
+
+1. Backport camera intrinsics calculation : Refactor
+    * [Pull request #905](https://github.com/gazebosim/gz-rendering/pull/905)
+    * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929)
+
+1. Revert mesh viewer background color back to gray
+    * [Pull request #894](https://github.com/gazebosim/gz-rendering/pull/894)
+
 ### Gazebo Rendering 6.6.1 (2023-09-01)
 
 1. Fixed light visual in OGRE

diff --git a/test/common_test/Camera_TEST.cc b/test/common_test/Camera_TEST.cc
@@ -335,12 +335,12 @@ TEST_F(CameraTest, IntrinsicMatrix)
   EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 2), 120);
 
   // Verify rest of the intrinsics
-  EXPECT_EQ(cameraIntrinsics(0, 1), 0);
-  EXPECT_EQ(cameraIntrinsics(1, 0), 0);
-  EXPECT_EQ(cameraIntrinsics(0, 1), 0);
-  EXPECT_EQ(cameraIntrinsics(2, 0), 0);
-  EXPECT_EQ(cameraIntrinsics(2, 1), 0);
-  EXPECT_EQ(cameraIntrinsics(2, 2), 1);
+  EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 1), 0);
+  EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 0), 0);
+  EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 1), 0);
+  EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 0), 0);
+  EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 1), 0);
+  EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 2), 1);
 
   // Verify that changing camera size changes intrinsics
   height = 1000;