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Camera: configure projection matrix from SDFormat #249

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merged 8 commits into from
Nov 1, 2022
Merged

Camera: configure projection matrix from SDFormat #249

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183c86b
use sdf to configure camera projection matrix
ihasdapie Jul 21, 2022
6b1acb9
camelcase and remove todo
ihasdapie Jul 21, 2022
3db2e26
update test sdf string
ihasdapie Aug 24, 2022
916c11a
Merge branch 'ign-sensors3' into brianc/ign-sensors3/configure_proj_mat
scpeters Sep 8, 2022
9c8f428
Test intrinsics and projection parameters
scpeters Oct 18, 2022
014d213
macOS testing: fix DYLD_LIBRARY_PATH
scpeters Oct 18, 2022
aa00dad
Fix compiler warning
scpeters Oct 19, 2022
69287b8
Merge branch 'ign-sensors3' into brianc/ign-sensors3/configure_proj_mat
scpeters Oct 31, 2022
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12 changes: 6 additions & 6 deletions src/CameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -572,15 +572,15 @@ void CameraSensor::PopulateInfo(const sdf::Camera *_cameraSdf)
msgs::CameraInfo::Projection *proj =
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this->dataPtr->infoMsg.mutable_projection();

proj->add_p(_cameraSdf->LensIntrinsicsFx());
proj->add_p(_cameraSdf->LensIntrinsicsFx_p());
proj->add_p(0.0);
proj->add_p(_cameraSdf->LensIntrinsicsCx());
proj->add_p(-_cameraSdf->LensIntrinsicsFx() * this->dataPtr->baseline);
proj->add_p(_cameraSdf->LensIntrinsicsCx_p());
proj->add_p(_cameraSdf->LensIntrinsicsTx());

proj->add_p(0.0);
proj->add_p(_cameraSdf->LensIntrinsicsFy());
proj->add_p(_cameraSdf->LensIntrinsicsCy());
proj->add_p(0.0);
proj->add_p(_cameraSdf->LensIntrinsicsFy_p());
proj->add_p(_cameraSdf->LensIntrinsicsCy_p());
proj->add_p(_cameraSdf->LensIntrinsicsTy());

proj->add_p(0.0);
proj->add_p(0.0);
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