Merge pull request #437 from gazebosim/merge_8_main_20240528

Merge 8 -> main

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

Changelog.md

@@ -4,6 +4,41 @@
 
 ## Gazebo Sensors 8
 
+### Gazebo Sensors 8.1.0 (2024-05-16)
+
+1. Set camera projection matrix based on lens params for other types of cameras
+    * [Pull request #432](https://github.com/gazebosim/gz-sensors/pull/432)
+
+1. Move trigger logic to base Sensor class and enable trigger for all camera sensors
+    * [Pull request #431](https://github.com/gazebosim/gz-sensors/pull/431)
+
+1. Add package.xml
+    * [Pull request #422](https://github.com/gazebosim/gz-sensors/pull/422)
+
+### Gazebo Sensors 8.0.1 (2024-03-15)
+
+1. Avoid calling DblNormal with invalid standard deviation
+    * [Pull request #396](https://github.com/gazebosim/gz-sensors/pull/396)
+
+1. DepthCamera and RGBDCamera - optimize RGB point cloud connection
+    * [Pull request #413](https://github.com/gazebosim/gz-sensors/pull/413)
+
+1. Update CI badges to point to release branch job
+    * [Pull request #406](https://github.com/gazebosim/gz-sensors/pull/406)
+    * [Pull request #405](https://github.com/gazebosim/gz-sensors/pull/405)
+
+1. Infrastructure
+    * [Pull request #401](https://github.com/gazebosim/gz-sensors/pull/401)
+
+1. Clean up rendering resources
+    * [Pull request #324](https://github.com/gazebosim/gz-sensors/pull/324)
+
+1. Destroy rendering sensors when sensor is removed
+    * [Pull request #169](https://github.com/gazebosim/gz-sensors/pull/169)
+
+1. Support protobuf >= 22
+    * [Pull request #351](https://github.com/gazebosim/gz-sensors/pull/351)
+
 ### Gazebo Sensors 8.0.0 (2023-09-29)
 
 1. Documentation fixes

include/gz/sensors/BoundingBoxCameraSensor.hh

@@ -103,10 +103,6 @@ namespace gz
       /// \return True on success.
       private: bool CreateCamera();
 
-      /// \brief Callback for triggered subscription
-      /// \param[in] _msg Boolean message
-      private: void OnTrigger(const gz::msgs::Boolean &/*_msg*/);
-
       GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal

include/gz/sensors/CameraSensor.hh

@@ -148,6 +148,17 @@ namespace gz
       /// \return The camera optical frame
       public: const std::string& OpticalFrameId() const;
 
+      /// \brief Set camera lens intrinsics and projection based on
+      /// values from SDF. If the camera SDF does not contain intrinsic or
+      /// projection parameters, the camera will not be updated. Instead, the
+      /// camera SDF will be updated with intrinsic and projection values
+      /// computed manually from current camera intrinsic properties.
+      /// \param[in] _camera Camera to set intrinsic and projection params.
+      /// \param[in,out] _cameraSdf Camera sdf with intrinisc and projection
+      /// parameters.
+      public: void UpdateLensIntrinsicsAndProjection(
+          rendering::CameraPtr _camera, sdf::Camera &_cameraSdf);
+
       /// \brief Advertise camera info topic.
       /// \return True if successful.
       protected: bool AdvertiseInfo();
@@ -178,10 +189,6 @@ namespace gz
       /// \param[in] _scene Pointer to the new scene.
       private: void OnSceneChange(gz::rendering::ScenePtr /*_scene*/);
 
-      /// \brief Callback for triggered subscription
-      /// \param[in] _msg Boolean message
-      private: void OnTrigger(const gz::msgs::Boolean &/*_msg*/);
-
       GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal

include/gz/sensors/Sensor.hh

@@ -113,8 +113,8 @@ namespace gz
       ///   subclasses' Update() method will be called.
       /// \param[in] _now The current time
       /// \param[in] _force Force the update to happen even if it's not time
-      /// \return True if the update was triggered (_force was true or _now
-      /// >= next_update_time) and the sensor's
+      /// \return True if the update was performed (_force was true or _now
+      /// >= next_update_time or sensor had a pending trigger) and the sensor's
       /// bool Sensor::Update(std::chrono::steady_clock::time_point)
       /// function returned true.
       /// False otherwise.
@@ -231,6 +231,28 @@ namespace gz
       /// \return True if there are subscribers, false otherwise
       public: virtual bool HasConnections() const;
 
+      /// \brief Enable or disable triggered mode. In this mode,
+      /// - the sensor will only update if a new message has been published to
+      ///   the passed _triggerTopic since the last update,
+      /// - until the next message is published on _triggerTopic, all Update
+      ///   calls will return false, and
+      /// - if the sensor has a pending trigger, the next Update call will
+      ///   ignore the sensor's update rate and try generate data immediately.
+      /// \param[in] _triggered Sets triggered mode if true and disables it if
+      /// false.
+      /// \param[in] _triggerTopic The topic on which the sensor will listen
+      /// for trigger messages in triggered mode. If _triggered is true, this
+      /// value should not be empty. If _triggered is false, this value is
+      /// ignored.
+      /// \return True if the operation succeeded.
+      public: bool SetTriggered(bool _triggered,
+                                const std::string &_triggerTopic = "");
+
+      /// \brief Whether the sensor has a pending trigger.
+      /// \return True if the sensor is in trigger mode and has a pending
+      /// trigger.
+      public: bool HasPendingTrigger() const;
+
       GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data

package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>gz-sensors9</name>
+  <version>9.0.0</version>
+  <description>Gazebo Sensors : Sensor models for simulation</description>
+  <maintainer email="[email protected]">Ian Chen</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-sensors</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>gz-cmake4</build_depend>
+
+  <depend>gz-common6</depend>
+  <depend>gz-math8</depend>
+  <depend>gz-msgs11</depend>
+  <depend>gz-rendering9</depend>
+  <depend>gz-tools2</depend>
+  <depend>gz-transport14</depend>
+  <depend>sdformat15</depend>
+
+  <test_depend>xvfb</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

src/BoundingBoxCameraSensor.cc

@@ -16,6 +16,8 @@
 */
 
 #include <mutex>
+#include <ostream>
+#include <string>
 
 #include <gz/msgs/boolean.pb.h>
 #include <gz/msgs/image.pb.h>
@@ -32,6 +34,7 @@
 #include <gz/rendering/BoundingBoxCamera.hh>
 #include <gz/transport/Node.hh>
 #include <gz/transport/Publisher.hh>
+#include <gz/transport/TopicUtils.hh>
 
 #include "gz/sensors/BoundingBoxCameraSensor.hh"
 #include "gz/sensors/RenderingEvents.hh"
@@ -88,15 +91,6 @@ class gz::sensors::BoundingBoxCameraSensorPrivate
   /// \brief Just a mutex for thread safety
   public: std::mutex mutex;
 
-  /// \brief True if camera is triggered by a topic
-  public: bool isTriggeredCamera{false};
-
-  /// \brief True if camera has been triggered by a topic
-  public: bool isTriggered{false};
-
-  /// \brief Topic for camera trigger
-  public: std::string triggerTopic{""};
-
   /// \brief BoundingBoxes type
   public: rendering::BoundingBoxType type
     {rendering::BoundingBoxType::BBT_VISIBLEBOX2D};
@@ -231,30 +225,13 @@ bool BoundingBoxCameraSensor::Load(const sdf::Sensor &_sdf)
 
   if (_sdf.CameraSensor()->Triggered())
   {
-    if (!_sdf.CameraSensor()->TriggerTopic().empty())
-    {
-      this->dataPtr->triggerTopic = _sdf.CameraSensor()->TriggerTopic();
-    }
-    else
+    std::string triggerTopic = _sdf.CameraSensor()->TriggerTopic();
+    if (triggerTopic.empty())
     {
-      this->dataPtr->triggerTopic =
-          transport::TopicUtils::AsValidTopic(
-          this->Topic() + "/trigger");
-
-      if (this->dataPtr->triggerTopic.empty())
-      {
-        gzerr << "Invalid trigger topic name [" <<
-        this->dataPtr->triggerTopic << "]" << std::endl;
-        return false;
-      }
+      triggerTopic = transport::TopicUtils::AsValidTopic(this->Topic() +
+                                                         "/trigger");
     }
-
-    this->dataPtr->node.Subscribe(this->dataPtr->triggerTopic,
-        &BoundingBoxCameraSensor::OnTrigger, this);
-
-    gzdbg << "Camera trigger messages for [" << this->Name() << "] subscribed"
-          << " on [" << this->dataPtr->triggerTopic << "]" << std::endl;
-    this->dataPtr->isTriggeredCamera = true;
+    this->SetTriggered(true, triggerTopic);
   }
 
   if (!this->AdvertiseInfo())
@@ -303,9 +280,6 @@ bool BoundingBoxCameraSensor::CreateCamera()
     return false;
   }
 
-  // Camera Info Msg
-  this->PopulateInfo(sdfCamera);
-
   if (!this->dataPtr->rgbCamera)
   {
     // Create rendering camera
@@ -356,6 +330,14 @@ bool BoundingBoxCameraSensor::CreateCamera()
   this->AddSensor(this->dataPtr->boundingboxCamera);
   this->AddSensor(this->dataPtr->rgbCamera);
 
+  this->UpdateLensIntrinsicsAndProjection(this->dataPtr->rgbCamera,
+      *sdfCamera);
+  this->UpdateLensIntrinsicsAndProjection(this->dataPtr->boundingboxCamera,
+      *sdfCamera);
+
+  // Camera Info Msg
+  this->PopulateInfo(sdfCamera);
+
   // Create the directory to store frames
   if (sdfCamera->SaveFrames())
   {
@@ -430,16 +412,6 @@ bool BoundingBoxCameraSensor::Update(
     this->PublishInfo(_now);
   }
 
-  // render only if necessary
-  {
-    std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
-    if (this->dataPtr->isTriggeredCamera &&
-        !this->dataPtr->isTriggered)
-    {
-      return true;
-    }
-  }
-
   // don't render if there are no subscribers nor saving
   if (!this->dataPtr->imagePublisher.HasConnections() &&
     !this->dataPtr->boxesPublisher.HasConnections() &&
@@ -578,11 +550,6 @@ bool BoundingBoxCameraSensor::Update(
     ++this->dataPtr->saveCounter;
   }
 
-  if (this->dataPtr->isTriggeredCamera)
-  {
-    return this->dataPtr->isTriggered = false;
-  }
-
   return true;
 }
 
@@ -598,13 +565,6 @@ unsigned int BoundingBoxCameraSensor::ImageWidth() const
   return this->dataPtr->rgbCamera->ImageWidth();
 }
 
-//////////////////////////////////////////////////
-void BoundingBoxCameraSensor::OnTrigger(const gz::msgs::Boolean &/*_msg*/)
-{
-  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
-  this->dataPtr->isTriggered = true;
-}
-
 //////////////////////////////////////////////////
 void BoundingBoxCameraSensorPrivate::SaveImage()
 {