Set custom projection matrix based on intrinsics params from SDF #293
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Codecov Report
@@ Coverage Diff @@
## gz-sensors7 #293 +/- ##
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+ Coverage 71.66% 71.85% +0.19%
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Files 37 37
Lines 4665 4690 +25
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+ Hits 3343 3370 +27
+ Misses 1322 1320 -2
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note that we've also added |
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yeah I saw that. I can add that in once #289 is merged. |
sounds great; thanks |
ahcorde
requested changes
Dec 1, 2022
Signed-off-by: Ian Chen <[email protected]>
ahcorde
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Dec 2, 2022
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iche033
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Feb 14, 2023
This PR allows users to specify custom camera projection using the <projection> values from SDF (in addition to <instrinscs>, see #293). Also bumped sdformat dep version as it need gazebosim/sdformat#1203 --------- Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
ahcorde
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Sep 13, 2023
Closes #288 This PR extends the camera sensor functionality to support custom projection matrix based on input instrinics values. Specifically, it reads the lens <instrinsics> params from SDF, builds the projection matrix from the input values using code ported from Gazebo-classic, and set the camera to use this custom projection matrix. Expanded the camera intrinsics integration test to compare image output from cameras with different intrinsics values. Signed-off-by: Ian Chen <[email protected]>
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🎉 New feature
Closes #288
Summary
This PR extends the camera sensor functionality to support custom projection matrix based on input instrinics values. Specifically, it reads the lens
<instrinsics>params from SDF, builds the projection matrix from the input values using code ported from Gazebo-classic, and set the camera to use this custom projection matrix.Expanded the camera intrinsics integration test to compare image output from cameras with different intrinsics values.
Checklist
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