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Backport fix for optical_frame_id in Depth and RGBD camera sensors #461

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Backport fix for optical_frame_id in Depth and RGBD camera sensors #461

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4 changes: 4 additions & 0 deletions include/gz/sensors/CameraSensor.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -153,6 +153,10 @@ namespace ignition
/// \todo(iche033) Make this function virtual on Harmonic
public: bool HasInfoConnections() const;

/// \brief Get the camera optical frame
/// \return The camera optical frame
public: const std::string &OpticalFrameId() const;

/// \brief Advertise camera info topic.
/// \return True if successful.
protected: bool AdvertiseInfo();
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6 changes: 6 additions & 0 deletions src/CameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -895,6 +895,12 @@ bool CameraSensor::HasInfoConnections() const
return this->dataPtr->infoPub && this->dataPtr->infoPub.HasConnections();
}

//////////////////////////////////////////////////
const std::string &CameraSensor::OpticalFrameId() const
{
return this->dataPtr->opticalFrameId;
}

//////////////////////////////////////////////////
math::Matrix4d CameraSensorPrivate::BuildProjectionMatrix(
double _imageWidth, double _imageHeight,
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24 changes: 14 additions & 10 deletions src/DepthCameraSensor.cc
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Expand Up @@ -304,15 +304,6 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
igndbg << "Points for [" << this->Name() << "] advertised on ["
<< this->Topic() << "/points]" << std::endl;

// Initialize the point message.
// \todo(anyone) The true value in the following function call forces
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});

if (this->Scene())
{
this->CreateCamera();
Expand Down Expand Up @@ -427,6 +418,18 @@ bool DepthCameraSensor::CreateCamera()
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
std::placeholders::_4, std::placeholders::_5));

// Initialize the point message.
// \todo(anyone) The true value in the following function call forces
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(
this->dataPtr->pointMsg,
this->OpticalFrameId(),
true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});

// Set the values of the point message based on the camera information.
this->dataPtr->pointMsg.set_width(this->ImageWidth());
this->dataPtr->pointMsg.set_height(this->ImageHeight());
Expand Down Expand Up @@ -554,9 +557,10 @@ bool DepthCameraSensor::Update(
rendering::PF_FLOAT32_R));
msg.set_pixel_format_type(msgsFormat);
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);

auto frame = msg.mutable_header()->add_data();
frame->set_key("frame_id");
frame->add_value(this->FrameId());
frame->add_value(this->OpticalFrameId());

std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
msg.set_data(this->dataPtr->depthBuffer,
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19 changes: 10 additions & 9 deletions src/RgbdCameraSensor.cc
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Expand Up @@ -247,15 +247,6 @@ bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
if (!this->AdvertiseInfo(this->Topic() + "/camera_info"))
return false;

// Initialize the point message.
// \todo(anyone) The true value in the following function call forces
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});

if (this->Scene())
{
this->CreateCameras();
Expand Down Expand Up @@ -389,6 +380,16 @@ bool RgbdCameraSensor::CreateCameras()
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
std::placeholders::_4, std::placeholders::_5));

// Initialize the point message.
// \todo(anyone) The true value in the following function call forces
// the xyz and rgb fields to be aligned to memory boundaries. This is need
// by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
// alignment should be configured.
msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->OpticalFrameId(),
true,
{{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
{"rgb", msgs::PointCloudPacked::Field::FLOAT32}});

// Set the values of the point message based on the camera information.
this->dataPtr->pointMsg.set_width(this->ImageWidth());
this->dataPtr->pointMsg.set_height(this->ImageHeight());
Expand Down
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