[backport fortress] camera info topic published with the right data #383
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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Aditya <[email protected]>
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Closes #288 This PR extends the camera sensor functionality to support custom projection matrix based on input instrinics values. Specifically, it reads the lens <instrinsics> params from SDF, builds the projection matrix from the input values using code ported from Gazebo-classic, and set the camera to use this custom projection matrix. Expanded the camera intrinsics integration test to compare image output from cameras with different intrinsics values. Signed-off-by: Ian Chen <[email protected]>
ahcorde
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Is this depending on another in gz-rendering? Some methods seem to be not defined in CI. |
9 tasks
Yes, this one gazebosim/gz-rendering#905 |
mjcarroll
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needs upstream release
iche033
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Sep 13, 2023
| cameraSdf->SetLensProjectionFy(intrinsicMatrix(1, 1)); | ||
| cameraSdf->SetLensProjectionCx(intrinsicMatrix(0, 2)); | ||
| cameraSdf->SetLensProjectionCy(intrinsicMatrix(1, 2)); | ||
| } |
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also port this else block?
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
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@iche033 can we make a |
yep on it. While preparing for release, I ran into some warnings and like to clean it up: gazebosim/gz-rendering#929 |
7 tasks
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@osrf-jenkins run tests please! |
ahcorde
removed
the
needs upstream release
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@iche033 thank you for the release |
Signed-off-by: Ian Chen <[email protected]>
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the |
iche033
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Oct 6, 2023
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🦟 Bug fix
Summary
In Garden some PR were included to fix the camera topic info. This PR backport some of the relevant PRs
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.