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[backport fortress] camera info topic published with the right data #383

Merged
merged 9 commits into from
Oct 6, 2023
Merged

[backport fortress] camera info topic published with the right data #383

merged 9 commits into from
Oct 6, 2023

Commits on Sep 13, 2023

  1. Added projection values from camera when are not defined in the SDF 

    Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
    @ahcorde
    ahcorde committed Sep 13, 2023
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  2. Ported tests and code (#281) 

    Signed-off-by: Aditya <aditya050995@gmail.com>
    @adityapande-1995 @ahcorde
    adityapande-1995 authored and ahcorde committed Sep 13, 2023
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  3. Added a comment 

    Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
    @ahcorde
    ahcorde committed Sep 13, 2023
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  4. Added feedback 

    Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
    @ahcorde
    ahcorde committed Sep 13, 2023
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  5. Set custom projection matrix based on intrinsics params from SDF (#293) 

    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 <ichen@osrfoundation.org>
    @iche033 @ahcorde
    iche033 authored and ahcorde committed Sep 13, 2023
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Commits on Sep 19, 2023

  1. set custom projection values from sdf 

    Signed-off-by: Ian Chen <ichen@openrobotics.org>
    @iche033 @ahcorde
    iche033 authored and ahcorde committed Sep 19, 2023
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  2. remove debug img 

    Signed-off-by: Ian Chen <ichen@openrobotics.org>
    @iche033 @ahcorde
    iche033 authored and ahcorde committed Sep 19, 2023
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Commits on Oct 3, 2023

  1. make linters happy 

    Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
    @ahcorde
    ahcorde committed Oct 3, 2023
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Commits on Oct 5, 2023

  1. backport test changes from gz-sensors8 

    Signed-off-by: Ian Chen <ichen@openrobotics.org>
    @iche033
    iche033 committed Oct 5, 2023
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