Added projection values from camera when are not defined in the SDF #289

ahcorde · 2022-11-18T18:05:11Z

Signed-off-by: Alejandro Hernández Cordero [email protected]

🦟 Bug fix

Summary

This PR solves the camera projection matrix values not being reflected properly in /camera_info topic when the tag is not provided. The PR uses the projectionToCameraIntrinsic() from gz-rendering to get the camera intrinsics and update the sdf DOM object and /camera_info topic.

Depends on gazebosim/sdformat#1203

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Aditya <[email protected]>

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

iche033 · 2022-11-18T18:43:53Z

~~is this doing something similar to #281?~~

nvm, I see it targeted at that branch

iche033 · 2022-11-18T18:47:48Z

src/CameraSensor.cc

+    cameraSdf->SetLensProjectionFy(intrinsicMatrix(1, 1));
+    cameraSdf->SetLensProjectionCx(intrinsicMatrix(0, 2));
+    cameraSdf->SetLensProjectionCy(intrinsicMatrix(1, 2));
+  }


remove this duplicate block? (same code as lines above)

the code above is setting the intrinsic parameters this one is setting the projection parameters

ahh I see now 🙈

I'm also confused about this. Is the conversion from projection to intrinsic matrix necessary here?

This method get these values https://github.com/gazebosim/gz-rendering/blob/c70882b96fc126e13fa82bc60ead17bf803bec08/include/gz/rendering/base/BaseCamera.hh#L505-L522

Maybe there is another way. @iche033 ?

Okay, but note that there wouldn't be any way for users to know if the projection values were set by the user to override the values in <intrinsic> or if they were computed based on what's in <intrinsic>. If that's not important, then I'm good with this change. Since this is all very confusing, I would ask that you would add a detailed comment explaining why we're doing this and why the projectionToCameraIntrinsic is being used (i.e how Ogre2 projection matrix is not the same as the projection matrix from <projection>).

@azeey I added a comment here f4b7753

Thanks! I would suggest adding "Note that the matrix from Ogre via camera->ProjectionMatrix() has a different format than the projection matrix used in SDFormat. This is why they are converted using projectionToCameraIntrinsic. The resulting matrix is the intrinsic matrix, but since the user has not overridden the values, this is also equal to the projection matrix"

That's my understanding at least. If that's not correct, feel free to modify it.

@azeey Added here 32a6241

LGTM! Thanks

sea-bass · 2022-11-29T19:23:15Z

Thank you for kicking this off! We just spent a few days debugging because of this, and when I came here to make an issue I encountered this PR 👍🏻

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

scpeters · 2022-12-05T20:01:45Z

Depends on gazebosim/sdformat#1203

I believe this still needs an sdf13 prerelease

scpeters · 2022-12-12T23:23:59Z

Depends on gazebosim/sdformat#1203

I believe this still needs an sdf13 prerelease

preparing for prerelease in gazebosim/sdformat#1212

iche033 · 2022-12-16T22:58:33Z

windows and homebrew builds look fine with the new sdformat 13.3.0-pre1 releease. I think ubuntu builds no longer pick up pre-releases?

quentingllmt · 2022-12-17T23:13:40Z

Hello, we spent a day working on that too .. ;)
Could you please backport to fortress avec the PR is accepted ? Thanks !

scpeters · 2022-12-20T09:04:34Z

I opened #304 from the tip of this branch using a special branch name along with gazebo-tooling/gzdev@b7e954c to test with prerelease packages on Ubuntu in our CI

scpeters · 2022-12-20T09:13:11Z

I opened #304 from the tip of this branch using a special branch name along with gazebo-tooling/gzdev@b7e954c to test with prerelease packages on Ubuntu in our CI

reminder that we have a plan to simplify this process in gazebo-tooling/gzdev#65

codecov · 2022-12-20T09:31:15Z

Codecov Report

Merging #289 (45c1761) into gz-sensors7 (d17d535) will increase coverage by 0.07%.
The diff coverage is 100.00%.

@@               Coverage Diff               @@
##           gz-sensors7     #289      +/-   ##
===============================================
+ Coverage        69.54%   69.61%   +0.07%     
===============================================
  Files               35       35              
  Lines             3805     3814       +9     
===============================================
+ Hits              2646     2655       +9     
  Misses            1159     1159

Impacted Files	Coverage Δ
src/CameraSensor.cc	`79.88% <100.00%> (+0.51%)`	⬆️

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scpeters · 2022-12-20T10:08:01Z

this branch was updated, so I merged those changes into #304 to update CI

ahcorde · 2022-12-22T08:47:55Z

@azeey and @iche033 CI looks better, I think the failure tests in Jammy are consisten and not part of this PR

azeey

Still needs an SDFormat release.

iche033 · 2023-01-27T22:01:26Z

@scpeters, should we do a sdformat 13.3 release for this? Looks like the builds in #304 with the pre-release look good?

scpeters · 2023-02-06T22:33:27Z

@scpeters, should we do a sdformat 13.3 release for this? Looks like the builds in #304 with the pre-release look good?

sure, that sounds good

iche033 · 2023-02-08T19:29:11Z

builds look good with the new sdformat 13.3.0 release, merging.

adityapande-1995 and others added 3 commits November 2, 2022 12:07

Ported tests and code

b65ff2f

Signed-off-by: Aditya <[email protected]>

Merge branch 'gz-sensors7' into aditya/refactor_PR_265

116f69e

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

605a944

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

ahcorde requested a review from iche033 as a code owner November 18, 2022 18:05

ahcorde mentioned this pull request Nov 18, 2022

Added HasLensProjection gazebosim/sdformat#1203

Merged

9 tasks

iche033 reviewed Nov 18, 2022

View reviewed changes

iche033 added the needs upstream release Blocked by a release of an upstream library label Nov 18, 2022

Base automatically changed from aditya/refactor_PR_265 to gz-sensors7 November 21, 2022 08:38

Merge branch 'gz-sensors7' into ahcorde/7/projection_matrix

b1cd55d

ahcorde self-assigned this Nov 21, 2022

Added a comment

f4b7753

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

ahcorde requested review from azeey, iche033 and adityapande-1995 November 30, 2022 22:31

iche033 mentioned this pull request Dec 1, 2022

Set custom projection matrix based on intrinsics params from SDF #293

Merged

9 tasks

Added feedback

32a6241

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

scpeters mentioned this pull request Dec 12, 2022

Prepare for 13.3.0~pre1 Release gazebosim/sdformat#1212

Merged

7 tasks

Merge branch 'gz-sensors7' into ahcorde/7/projection_matrix

c8cba3a

scpeters mentioned this pull request Dec 20, 2022

Don't merge: testing #289 with prerelease packages #304

Merged

Merge branch 'gz-sensors7' into ahcorde/7/projection_matrix

918cc7f

azeey approved these changes Dec 22, 2022

View reviewed changes

iche033 mentioned this pull request Feb 7, 2023

13.3.0 release gazebosim/sdformat#1229

Merged

7 tasks

Merge branch 'gz-sensors7' into ahcorde/7/projection_matrix

45c1761

iche033 approved these changes Feb 8, 2023

View reviewed changes

iche033 merged commit 354dbb9 into gz-sensors7 Feb 8, 2023

iche033 deleted the ahcorde/7/projection_matrix branch February 8, 2023 19:30

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Added projection values from camera when are not defined in the SDF #289

Added projection values from camera when are not defined in the SDF #289

ahcorde commented Nov 18, 2022

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Added projection values from camera when are not defined in the SDF #289

Added projection values from camera when are not defined in the SDF #289

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ahcorde commented Nov 18, 2022

🦟 Bug fix

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