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3 -> 6 #327

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merged 3 commits into from
Mar 2, 2023
Merged

3 -> 6 #327

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898570d
Added Camera Info topic support for cameras (#285)
ahcorde Feb 15, 2023
6c24247
Fix Camera info test (#326)
iche033 Feb 27, 2023
fc7fa51
Merge branch 'ign-sensors3' into merge_3_6_20230224
iche033 Feb 27, 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 @@ -290,6 +290,11 @@ 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 @@ -581,17 +586,17 @@ 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
22 changes: 14 additions & 8 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 @@ -62,6 +63,8 @@ sdf::ElementPtr CameraToSdf(const std::string &_type,
<< " <always_on>"<< _alwaysOn <<"</always_on>"
<< " <visualize>" << _visualize << "</visualize>"
<< " <camera>"
<< " <camera_info_topic>" << _cameraInfoTopic
<< "</camera_info_topic>"
<< " <horizontal_fov>.75</horizontal_fov>"
<< " <image>"
<< " <width>640</width>"
Expand Down Expand Up @@ -146,8 +149,8 @@ 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 All @@ -158,7 +161,7 @@ TEST(Camera_TEST, CreateCamera)

// Check topics
EXPECT_EQ("/cam", cam->Topic());
EXPECT_EQ("/camera_info", cam->InfoTopic());
EXPECT_EQ("my_camera/camera_info", cam->InfoTopic());

// however camera is not loaded because a rendering scene is missing so
// updates will not be successful and image size will be 0
Expand Down Expand Up @@ -190,32 +193,35 @@ 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 camera = mgr.CreateSensor<ignition::sensors::CameraSensor>(cameraSdf);
ASSERT_NE(nullptr, camera);
EXPECT_NE(gz::sensors::NO_SENSOR, camera->Id());
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 camera = mgr.CreateSensor<ignition::sensors::CameraSensor>(cameraSdf);
ASSERT_NE(nullptr, camera);
EXPECT_NE(gz::sensors::NO_SENSOR, camera->Id());

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 sensor = mgr.CreateSensor<gz::sensors::CameraSensor>(cameraSdf);
Expand Down