Camera: configure projection matrix from SDFormat #249
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Signed-off-by: Brian Chen <[email protected]>
chapulina
added
the
needs upstream release
Signed-off-by: Brian Chen <[email protected]>
| << " <p_fx>282</p_fx>" | ||
| << " <p_fy>283</p_fy>" | ||
| << " <p_cx>163</p_cx>" | ||
| << " <p_cy>125</p_cy>" | ||
| << " <tx>1</tx>" | ||
| << " <ty>2</ty>" |
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Can we check that the parsing / setting of values was successful here ?
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If I am not mistaken this is already done in the test here:
Lines 123 to 130 in 6b1acb9
sdf::readString will return False if parsing was unsuccessful so the test should fail if the test is unsuccessful. One change that can be made is to check for the errors like this, but it's a little redundant since the return bool already tells us if it failed or not
sdf::Errors errors;
if (!sdf::readString(stream.str(), sdfParsed, errors)){
ASSERT_EQ(errors.size(), 0);
return sdf::ElementPtr();
}
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this does check that it did not fail during parsing but doesn't confirm that the values are correct. I don't see a test where this is already done, so I'll see if there's an easy way to add this; if not we can merge as is
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I've added some tests for the new parameters in 9c8f428
Signed-off-by: Brian Chen <[email protected]>
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I'll make a prerelease of sdformat9 to support this ticket |
scpeters
changed the title
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rerunning CI since sdformat 9.9.0 was released |
Codecov Report
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## ign-sensors3 #249 +/- ##
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Coverage 79.80% 79.80%
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Files 23 23
Lines 2377 2377
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Hits 1897 1897
Misses 480 480
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scpeters
removed
the
needs upstream release
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this is ready for review |
Confirm that intrinsics and projection parameters in CameraInfo message match the values from SDFormat. Signed-off-by: Steve Peters <[email protected]>
Load plugins from build folder instead of the install prefix. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
🎉 New feature
Summary
This PR adds sdf fields to allow for configuration of the camera projection matrix.
Related PR in sdf9: gazebosim/sdformat#1088
Test it
Make a camera with those fields
Checklist
codecheckpassed (See contributing)