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Add camera sensor frame_id variable #806

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Add camera sensor frame_id variable #806

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574aa8f
Add optical frame_id variable
MarqRazz Dec 27, 2021
867ac2b
Merge branch 'sdf12' into pr-add_optical_frame_id
MarqRazz Dec 30, 2021
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14 changes: 14 additions & 0 deletions include/sdf/Camera.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -324,6 +324,20 @@ namespace sdf
/// \param[in] _frame The name of the pose relative-to frame.
public: void SetPoseRelativeTo(const std::string &_frame);

/// \brief Get the name of the coordinate frame relative to which this
/// object's camera_info message header is expressed.
/// Note: while Gazebo interprets the camera frame to be looking towards +X,
/// other tools, such as ROS interprets this frame as looking towards +Z.
/// The Camera sensor assumes that the color and depth images are captured at
/// the same frame_id.
/// \return The name of the frame this camera uses in its camera_info topic.
public: const std::string OpticalFrameId() const;

/// \brief Set the name of the coordinate frame relative to which this
/// object's camera_info is expressed.
/// \param[in] _frame The frame this camera uses in its camera_info topic.
public: void SetOpticalFrameId(const std::string &_frame);

/// \brief Get the lens type. This is the type of the lens mapping.
/// Supported values are gnomonical, stereographic, equidistant,
/// equisolid_angle, orthographic, custom. For gnomonical (perspective)
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23 changes: 22 additions & 1 deletion src/Camera.cc
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Expand Up @@ -133,6 +133,9 @@ class sdf::Camera::Implementation
/// \brief Frame of the pose.
public: std::string poseRelativeTo = "";

/// \brief Frame ID the camera_info message header is expressed.
public: std::string opticalFrameId = "";

/// \brief Lens type.
public: std::string lensType{"stereographic"};

Expand Down Expand Up @@ -329,6 +332,11 @@ Errors Camera::Load(ElementPtr _sdf)
// Load the pose. Ignore the return value since the pose is optional.
loadPose(_sdf, this->dataPtr->pose, this->dataPtr->poseRelativeTo);

if (_sdf->HasElement("optical_frame_id"))
{
this->dataPtr->opticalFrameId = _sdf->Get<std::string>("optical_frame_id", "").first;
}

// Load the lens values.
if (_sdf->HasElement("lens"))
{
Expand Down Expand Up @@ -635,7 +643,8 @@ bool Camera::operator==(const Camera &_cam) const
this->SaveFrames() == _cam.SaveFrames() &&
this->SaveFramesPath() == _cam.SaveFramesPath() &&
this->ImageNoise() == _cam.ImageNoise() &&
this->VisibilityMask() == _cam.VisibilityMask();
this->VisibilityMask() == _cam.VisibilityMask() &&
this->OpticalFrameId() == _cam.OpticalFrameId();
}

//////////////////////////////////////////////////
Expand Down Expand Up @@ -752,6 +761,18 @@ void Camera::SetPoseRelativeTo(const std::string &_frame)
this->dataPtr->poseRelativeTo = _frame;
}

/////////////////////////////////////////////////
const std::string Camera::OpticalFrameId() const
{
return this->dataPtr->opticalFrameId;
}

/////////////////////////////////////////////////
void Camera::SetOpticalFrameId(const std::string &_frame)
{
this->dataPtr->opticalFrameId = _frame;
}

/////////////////////////////////////////////////
std::string Camera::LensType() const
{
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