Distortion Camera Sensor #192

WilliamLewww · 2022-01-20T18:59:09Z

🎉 Distortion Camera Sensor

Summary

Camera distortion has already been implemented in ign-rendering, but in order to use it with ign-gazebo, it must be implemented within ign-sensors.

Distortion is implemented with abstraction (just like how noise is implemented) in the case that different distortion models are to be implemented. The abstract implementation in ign-sensors would reduce future work for adding additional distortions.

Comments with the TODO tag have been added in areas where additional work is required in other repositories to maintain the abstraction. For example, sdf::Distortion does not exist so sdf::Camera is being used instead with it's distortion element that is hard-coded with the Brown's distortion model coefficients.

Tasks required to enable distortion abstraction

Change DistortionPass to BrownDistortionPass in ign-rendering
Create sdf::Distortion class in sdformat
Update ign-sensors to use the new classes

Test it

Requires the branch: https://github.com/WilliamLewww/ign-gazebo/tree/wlew/distortion_test
ign gazebo ign-gazebo/test/worlds/camera_distortion.sdf

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

WilliamLewww · 2022-01-20T20:24:35Z

CI is failing with the following:

ImageBrownDistortionModel.cc:31:10: fatal error: ignition/rendering/DistortionPass.hh: No such file or directory

The DistortionPass.hh file was introduced recently to ign-rendering6.

include/ignition/sensors/BrownDistortionModel.hh

include/ignition/sensors/Distortion.hh

src/BrownDistortionModel.cc

src/Distortion.cc

src/ImageBrownDistortionModel.cc

scpeters · 2022-01-21T10:49:20Z

CI is failing with the following:
ImageBrownDistortionModel.cc:31:10: fatal error: ignition/rendering/DistortionPass.hh: No such file or directory
The DistortionPass.hh file was introduced recently to ign-rendering6.

since this is targeting fortress, we will need a release of ign-rendering6 in order to test this pull request. I suggest a prerelease along with an update to gzdev similar to gazebo-tooling/gzdev@c183129 that enables the prerelease repository for ignition-sensors6

gazebosim/gz-rendering@ignition-rendering6_6.1.0...ign-rendering6

Edit: I can assist with the prerelease if needed

WilliamLewww · 2022-01-21T18:15:14Z

CI is failing with the following:
ImageBrownDistortionModel.cc:31:10: fatal error: ignition/rendering/DistortionPass.hh: No such file or directory
The DistortionPass.hh file was introduced recently to ign-rendering6.
since this is targeting fortress, we will need a release of ign-rendering6 in order to test this pull request. I suggest a prerelease along with an update to gzdev similar to ignition-tooling/gzdev@c183129 that enables the prerelease repository for ignition-sensors6

ignitionrobotics/ign-rendering@ignition-rendering6_6.1.0...ign-rendering6

Edit: I can assist with the prerelease if needed

That would be great if you could help with the prerelease. I'm not too sure how to go about doing that.

scpeters · 2022-01-25T00:29:33Z

Edit: I can assist with the prerelease if needed

That would be great if you could help with the prerelease. I'm not too sure how to go about doing that.

here's the prerelease version bump and changelog pull request: gazebosim/gz-rendering#548

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

scpeters · 2022-01-26T23:53:40Z

Edit: I can assist with the prerelease if needed

That would be great if you could help with the prerelease. I'm not too sure how to go about doing that.

here's the prerelease version bump and changelog pull request: ignitionrobotics/ign-rendering#548

I just made the 6.2.0~pre1 prerelease: https://build.osrfoundation.org/job/ign-rendering6-debbuilder/525/

you should update find_package(ignition-rendering6) to require version 6.2

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

Testing gazebosim/gz-sensors#192 Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2022-01-27T00:27:24Z

in order to use the prerelease only in a branch, you need to create a special branch in the gzdev repository that configures the ignition-sensors6 package to use prereleases (see gazebo-tooling/gzdev@c5c59ce)

that gzdev branch name must contain ci_matching_branch/ and the corresponding ign-sensors branch must match it as well. I checked out a new branch with that same name from the tip of this forked branch and pushed it to this repository in 4fb0487

the GitHub action is currently running

codecov · 2022-01-27T00:35:21Z

Codecov Report

Merging #192 (e07cef3) into ign-sensors6 (373e971) will decrease coverage by 3.51%.
The diff coverage is 0.70%.

❗ Current head e07cef3 differs from pull request most recent head ac214ea. Consider uploading reports for the commit ac214ea to get more accurate results

@@               Coverage Diff                @@
##           ign-sensors6     #192      +/-   ##
================================================
- Coverage         76.58%   73.06%   -3.52%     
================================================
  Files                29       33       +4     
  Lines              2925     3067     +142     
================================================
+ Hits               2240     2241       +1     
- Misses              685      826     +141

Impacted Files	Coverage Δ
src/BrownDistortionModel.cc	`0.00% <0.00%> (ø)`
src/Distortion.cc	`0.00% <0.00%> (ø)`
src/ImageBrownDistortionModel.cc	`0.00% <0.00%> (ø)`
src/ImageDistortion.cc	`0.00% <0.00%> (ø)`
src/CameraSensor.cc	`75.73% <16.66%> (-1.34%)`	⬇️

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 373e971...ac214ea. Read the comment docs.

scpeters · 2022-01-27T01:20:19Z

it looks like the Ubuntu build is passing in the Github action workflow and the homebrew builds is passing as well, though there are no tests of distortion in this pull request

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

test/integration/distortion_camera.cc

test/integration/CMakeLists.txt

test/integration/distortion_camera.cc

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

iche033 · 2022-03-24T23:14:16Z

src/ImageDistortion.cc

+  {
+    if (_sensorType == "camera" || _sensorType == "depth" ||
+        _sensorType == "multicamera" || _sensorType == "wideanglecamera" ||
+        _sensorType == "thermal_camera" ||  _sensorType == "rgbd_camera")


Do you know the distortion render pass in ign-rendering would work with all these sensors? Maybe we should just limit it to the ones that we know are working for now

iche033 · 2022-03-24T23:15:37Z

src/Distortion.cc

+  {
+    if (_sensorType == "camera" || _sensorType == "depth" ||
+        _sensorType == "multicamera" || _sensorType == "wideanglecamera" ||
+        _sensorType == "thermal_camera" || _sensorType == "rgbd_camera")


same question as ImageDistortionFactory, maybe we should limit image distortion to sensors that we know are working

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

osrf-triage · 2022-04-13T21:30:02Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

WilliamLewww added 5 commits January 11, 2022 12:54

Added distortion classes

bc0121a

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

Added brown distortion source file

ecc0da8

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

Added brown distortion model source file

6297177

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

Merge branch 'ignitionrobotics:ign-sensors6' into wlew/distortion_sdf

63ee6ca

Apply distortion to sensor

60bcfea

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

WilliamLewww requested a review from iche033 as a code owner January 20, 2022 18:59

github-actions bot added the 🏯 fortress Ignition Fortress label Jan 20, 2022

Fixed cpplint errors

930f215

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

ahcorde requested changes Jan 21, 2022

View reviewed changes

scpeters mentioned this pull request Jan 25, 2022

Prepare for 6.2.0~pre1 prerelease gazebosim/gz-rendering#548

Merged

7 tasks

Added code suggestions

65e9243

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

WilliamLewww force-pushed the wlew/distortion_sdf branch from 8e8cd50 to 65e9243 Compare January 25, 2022 18:05

Updated required ign-rendering version in CMakeLists

4fb0487

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

scpeters added a commit to gazebo-tooling/gzdev that referenced this pull request Jan 27, 2022

ign-rendering6: use prereleases

c0fe15e

Testing gazebosim/gz-sensors#192 Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters added a commit to gazebo-tooling/gzdev that referenced this pull request Jan 27, 2022

ign-sensors6: use prereleases

c5c59ce

Testing gazebosim/gz-sensors#192 Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Added integration test for distortion camera

b2eb185

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

scpeters reviewed Jan 28, 2022

View reviewed changes

test/integration/distortion_camera.cc Outdated Show resolved Hide resolved

test/integration/CMakeLists.txt Show resolved Hide resolved

test/integration/distortion_camera.cc Outdated Show resolved Hide resolved

Added code suggestions

bc95b5d

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

iche033 mentioned this pull request Jan 28, 2022

Prepare for 6.2.0 release gazebosim/gz-rendering#551

Merged

7 tasks

iche033 mentioned this pull request Mar 1, 2022

Add distortion to camera sensors #107

Closed

WilliamLewww mentioned this pull request Mar 4, 2022

Distortion camera integration test gazebosim/gz-sim#1374

Merged

8 tasks

WilliamLewww and others added 2 commits March 14, 2022 11:56

Merge branch 'ign-sensors6' into wlew/distortion_sdf

8830228

Merge branch 'ign-sensors6' into wlew/distortion_sdf

707ee24

iche033 reviewed Mar 25, 2022

View reviewed changes

Removed unsupported sensors

ac214ea

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

iche033 approved these changes Mar 28, 2022

View reviewed changes

iche033 requested a review from ahcorde March 28, 2022 23:19

ahcorde approved these changes Mar 29, 2022

View reviewed changes

ahcorde merged commit 8cadf18 into gazebosim:ign-sensors6 Mar 29, 2022

adityapande-1995 mentioned this pull request Mar 29, 2022

Supply world frame orientation and heading to IMU sensor gazebosim/gz-sim#1320

Closed

8 tasks

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Distortion Camera Sensor #192

Distortion Camera Sensor #192

WilliamLewww commented Jan 20, 2022

WilliamLewww commented Jan 20, 2022

scpeters commented Jan 21, 2022 •

edited

Loading

WilliamLewww commented Jan 21, 2022

scpeters commented Jan 25, 2022

scpeters commented Jan 26, 2022

scpeters commented Jan 27, 2022

codecov bot commented Jan 27, 2022 •

edited

Loading

scpeters commented Jan 27, 2022

iche033 Mar 24, 2022

iche033 Mar 24, 2022

osrf-triage commented Apr 13, 2022

Distortion Camera Sensor #192

Distortion Camera Sensor #192

Conversation

WilliamLewww commented Jan 20, 2022

🎉 Distortion Camera Sensor

Summary

Tasks required to enable distortion abstraction

Test it

Checklist

WilliamLewww commented Jan 20, 2022

scpeters commented Jan 21, 2022 • edited Loading

WilliamLewww commented Jan 21, 2022

scpeters commented Jan 25, 2022

scpeters commented Jan 26, 2022

scpeters commented Jan 27, 2022

codecov bot commented Jan 27, 2022 • edited Loading

Codecov Report

scpeters commented Jan 27, 2022

iche033 Mar 24, 2022

Choose a reason for hiding this comment

iche033 Mar 24, 2022

Choose a reason for hiding this comment

osrf-triage commented Apr 13, 2022

scpeters commented Jan 21, 2022 •

edited

Loading

codecov bot commented Jan 27, 2022 •

edited

Loading