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Added Camera Info topic support for cameras #285

Merged
merged 6 commits into from
Feb 15, 2023
Merged

Added Camera Info topic support for cameras #285

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05ed21f
Added Camera Info topic support for cameras
ahcorde Nov 11, 2022
a1b5dc0
Merge branch 'ign-sensors3' into ahcorde/3/camera_info
ahcorde Nov 14, 2022
678da9e
Added feedback
ahcorde Nov 14, 2022
c7878e0
Fixed default name
ahcorde Nov 16, 2022
00e993b
Restored logic
ahcorde Nov 17, 2022
6a0214c
Merge branch 'ign-sensors3' into ahcorde/3/camera_info
iche033 Feb 15, 2023
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23 changes: 14 additions & 9 deletions src/CameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -257,6 +257,11 @@ bool CameraSensor::Load(const sdf::Sensor &_sdf)
if (this->Topic().empty())
this->SetTopic("/camera");

if (!_sdf.CameraSensor()->CameraInfoTopic().empty())
{
this->dataPtr->infoTopic = _sdf.CameraSensor()->CameraInfoTopic();
}

this->dataPtr->pub =
this->dataPtr->node.Advertise<msgs::Image>(
this->Topic());
Expand Down Expand Up @@ -491,17 +496,17 @@ std::string CameraSensor::InfoTopic() const
//////////////////////////////////////////////////
bool CameraSensor::AdvertiseInfo()
{
// TODO(anyone) Make info topic configurable from SDF
// Info topic must be at same level as image topic
auto parts = common::Split(this->Topic(), '/');
parts.pop_back();

for (const auto &part : parts)
if (this->dataPtr->infoTopic.empty())
{
if (!part.empty())
this->dataPtr->infoTopic += "/" + part;
auto parts = common::Split(this->Topic(), '/');
parts.pop_back();
for (const auto &part : parts)
{
if (!part.empty())
this->dataPtr->infoTopic += "/" + part;
}
this->dataPtr->infoTopic += "/camera_info";
}
this->dataPtr->infoTopic += "/camera_info";

return this->AdvertiseInfo(this->dataPtr->infoTopic);
}
Expand Down
19 changes: 12 additions & 7 deletions src/Camera_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,8 @@ sdf::ElementPtr cameraToBadSdf()

sdf::ElementPtr CameraToSdf(const std::string &_type,
const std::string &_name, double _updateRate,
const std::string &_topic, bool _alwaysOn, bool _visualize)
const std::string &_topic, const std::string &_cameraInfoTopic,
bool _alwaysOn, bool _visualize)
{
std::ostringstream stream;
stream
Expand All @@ -58,6 +59,7 @@ sdf::ElementPtr CameraToSdf(const std::string &_type,
<< " <link name='link1'>"
<< " <sensor name='" << _name << "' type='" << _type << "'>"
<< " <topic>" << _topic << "</topic>"
<< " <topic>" << _cameraInfoTopic << "</topic>"
<< " <update_rate>"<< _updateRate <<"</update_rate>"
<< " <always_on>"<< _alwaysOn <<"</always_on>"
<< " <visualize>" << _visualize << "</visualize>"
Expand Down Expand Up @@ -146,8 +148,8 @@ TEST(Camera_TEST, CreateCamera)
{
gz::sensors::Manager mgr;

sdf::ElementPtr camSdf = CameraToSdf("camera", "my_camera", 60.0, "/cam",
true, true);
sdf::ElementPtr camSdf = CameraToSdf("camera", "my_camera", 60.0,
"/cam", "my_camera/camera_info", true, true);

// Create a CameraSensor
gz::sensors::CameraSensor *cam =
Expand Down Expand Up @@ -190,8 +192,9 @@ TEST(Camera_TEST, Topic)
// Default topic
{
const std::string topic;
auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
visualize);
const std::string cameraInfoTopic;
auto cameraSdf = CameraToSdf(type, name, updateRate, topic, cameraInfoTopic,
alwaysOn, visualize);

auto sensorId = mgr.CreateSensor(cameraSdf);
EXPECT_NE(gz::sensors::NO_SENSOR, sensorId);
Expand All @@ -203,12 +206,13 @@ TEST(Camera_TEST, Topic)
ASSERT_NE(nullptr, camera);

EXPECT_EQ("/camera", camera->Topic());
EXPECT_EQ("/camera_info", camera->InfoTopic());
}

// Convert to valid topic
{
const std::string topic = "/topic with spaces/@~characters//";
auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
auto cameraSdf = CameraToSdf(type, name, updateRate, topic, "", alwaysOn,
visualize);

auto sensorId = mgr.CreateSensor(cameraSdf);
Expand All @@ -221,12 +225,13 @@ TEST(Camera_TEST, Topic)
ASSERT_NE(nullptr, camera);

EXPECT_EQ("/topic_with_spaces/characters", camera->Topic());
EXPECT_EQ("/topic_with_spaces/camera_info", camera->InfoTopic());
}

// Invalid topic
{
const std::string topic = "@@@";
auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
auto cameraSdf = CameraToSdf(type, name, updateRate, topic, "", alwaysOn,
visualize);

auto sensorId = mgr.CreateSensor(cameraSdf);
Expand Down