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Support wide angle camera #744

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Merged
merged 9 commits into from
Nov 22, 2021
Merged

Support wide angle camera #744

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076df22
add support for wide angle camera type
iche033 Oct 27, 2021
54e2e47
cherry pick wide_angle_camera changes
iche033 Nov 10, 2021
61b4cdf
Merge branch 'sdf12' into wide_angle_camera_12
iche033 Nov 10, 2021
12354c7
fix test
iche033 Nov 10, 2021
3ad3747
Merge branch 'wide_angle_camera_12' of github.com:ignitionrobotics/sd…
iche033 Nov 10, 2021
2800f2c
add integration test
iche033 Nov 10, 2021
ef6fe84
Merge branch 'sdf12' into wide_angle_camera_12
iche033 Nov 18, 2021
8aacb98
wideanglecamera -> wide_angle_camera
iche033 Nov 19, 2021
538856f
Merge branch 'wide_angle_camera_12' of github.com:ignitionrobotics/sd…
iche033 Nov 19, 2021
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5 changes: 4 additions & 1 deletion include/sdf/Sensor.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,10 @@ namespace sdf
BOUNDINGBOX_CAMERA = 23,

/// \brief A custom sensor
CUSTOM = 24
CUSTOM = 24,

/// \brief A wide angle camera sensor
WIDE_ANGLE_CAMERA = 25
};

/// \brief Information about an SDF sensor.
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11 changes: 10 additions & 1 deletion src/Sensor.cc
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Expand Up @@ -64,7 +64,8 @@ const std::vector<std::string> sensorTypeStrs =
"navsat",
"segmentation_camera",
"boundingbox_camera",
"custom"
"custom",
"wideanglecamera"
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We should document this string here: https://github.com/ignitionrobotics/sdformat/blob/f2a286cbf89aca7daa722a70a357e0de32224372/sdf/1.9/sensor.sdf#L10-L36

Most other cameras are using camel_case (at least partially), can we do it here too? i.e. wideangle_camera or wide_angle_camera, or all of them to be safe?

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the existing convention with gazebo classic is wideanglecamera. I think we can choose to add alternates, but I would keep wideanglecamera for backwards compatibility

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changed wideanglecamera to wide_angle_camera here. Also updated the Load function to check for both wide_angle_came and wideanglecamera when loading the sdf for backward compatibility.
8aacb98

};

class sdf::Sensor::Implementation
Expand Down Expand Up @@ -169,6 +170,7 @@ bool Sensor::operator==(const Sensor &_sensor) const
case SensorType::DEPTH_CAMERA:
case SensorType::RGBD_CAMERA:
case SensorType::THERMAL_CAMERA:
case SensorType::WIDE_ANGLE_CAMERA:
case SensorType::SEGMENTATION_CAMERA:
case SensorType::BOUNDINGBOX_CAMERA:
return *(this->dataPtr->camera) == *(_sensor.dataPtr->camera);
Expand Down Expand Up @@ -302,6 +304,13 @@ Errors Sensor::Load(ElementPtr _sdf)
Errors err = this->dataPtr->camera->Load(_sdf->GetElement("camera"));
errors.insert(errors.end(), err.begin(), err.end());
}
else if (type == "wideanglecamera")
{
this->dataPtr->type = SensorType::WIDE_ANGLE_CAMERA;
this->dataPtr->camera.emplace();
Errors err = this->dataPtr->camera->Load(_sdf->GetElement("camera"));
errors.insert(errors.end(), err.begin(), err.end());
}
else if (type == "force_torque")
{
this->dataPtr->type = SensorType::FORCE_TORQUE;
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6 changes: 4 additions & 2 deletions src/Sensor_TEST.cc
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Expand Up @@ -263,7 +263,8 @@ TEST(DOMSensor, Type)
sdf::SensorType::WIRELESS_RECEIVER,
sdf::SensorType::WIRELESS_TRANSMITTER,
sdf::SensorType::THERMAL_CAMERA,
sdf::SensorType::CUSTOM
sdf::SensorType::CUSTOM,
sdf::SensorType::WIDE_ANGLE_CAMERA
};
std::vector<std::string> typeStrs =
{
Expand All @@ -288,7 +289,8 @@ TEST(DOMSensor, Type)
"wireless_receiver",
"wireless_transmitter",
"thermal_camera",
"custom"
"custom",
"wideanglecamera"
};

for (size_t i = 0; i < types.size(); ++i)
Expand Down