Merge branch 'main' into scpeters/state_1_12_suffix

Migration.md

@@ -30,6 +30,18 @@ but with improved human-readability..
  matches `"0"`, `"1"`, `"true"`, or `"false"` and returns `false`
  otherwise.
 
+### Deprecations
+
+- **sdf/Camera.hh**:
+ + The `//sensor/camera/optical_frame_id` SDF element and corresponding functions
+ in the Camera DOM class are deprecated. Please specify camera frame using
+ the `//sensor/frame_id` SDF element instead.
+ + ***Deprecation:*** std::string OpticalFrameId() const
+ + ***Replacement:*** std::string Sensor::FrameId() const
+ + ***Deprecation:*** void SetOpticalFrameId(const std::string &)
+ + ***Replacement:*** void Sensor::SetFrameId(const std::string &)
+
+
 ## libsdformat 13.x to 14.x
 
 ### Additions

include/sdf/Camera.hh

@@ -363,12 +363,12 @@ namespace sdf
  /// The Camera sensor assumes that the color and depth images are captured
  /// at the same frame_id.
  /// \return The name of the frame this camera uses in its camera_info topic.
- public: const std::string OpticalFrameId() const;
+ public: const std::string GZ_DEPRECATED(15) OpticalFrameId() const;
 
  /// \brief Set the name of the coordinate frame relative to which this
  /// object's camera_info is expressed.
  /// \param[in] _frame The frame this camera uses in its camera_info topic.
- public: void SetOpticalFrameId(const std::string &_frame);
+ public: void GZ_DEPRECATED(15) SetOpticalFrameId(const std::string &_frame);
 
  /// \brief Get the lens type. This is the type of the lens mapping.
  /// Supported values are gnomonical, stereographic, equidistant,

include/sdf/Sensor.hh

@@ -160,6 +160,14 @@ namespace sdf
  /// \param[in] _name Name of the sensor.
  public: void SetName(const std::string &_name);
 
+ /// \brief Get the frame ID of the sensor.
+ /// \return Sensor frame ID.
+ public: std::string FrameId() const;
+
+ /// \brief Set the frame ID of the sensor.
+ /// \param[in] _frameId Frame ID to set.
+ public: void SetFrameId(const std::string &_frameId);
+
  /// \brief Get the topic on which sensor data should be published.
  /// \return Topic for this sensor's data.
  public: std::string Topic() const;

python/src/sdf/pyCamera.cc

@@ -32,6 +32,9 @@ namespace python
 /////////////////////////////////////////////////
 void defineCamera(pybind11::object module)
 {
+ // \todo(iche033) OpticalFrameId and SetOpticalFrameId are deprecated
+ // Remove sdformat16
+ GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
  pybind11::class_<sdf::Camera> cameraModule(module, "Camera");
  cameraModule
  .def(pybind11::init<>())
@@ -296,6 +299,8 @@ void defineCamera(pybind11::object module)
  .value("BAYER_BGGR8", sdf::PixelFormatType::BAYER_BGGR8)
  .value("BAYER_GBRG8", sdf::PixelFormatType::BAYER_GBRG8)
  .value("BAYER_GRBG8", sdf::PixelFormatType::BAYER_GRBG8);
+
+ GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 }
 } // namespace python
 } // namespace SDF_VERSION_NAMESPACE

python/src/sdf/pySensor.cc

@@ -51,6 +51,10 @@ void defineSensor(pybind11::object module)
  "Get the name of the sensor.")
  .def("set_name", &sdf::Sensor::SetName,
  "Set the name of the sensor.")
+ .def("frame_id", &sdf::Sensor::FrameId,
+ "Get the frame id of the sensor.")
+ .def("set_frame_id", &sdf::Sensor::SetFrameId,
+ "Set the frame id of the sensor.")
  .def("topic", &sdf::Sensor::Topic,
  "Get the topic on which sensor data should be published.")
  .def("set_topic", &sdf::Sensor::SetTopic,

python/test/pySensor_TEST.py

@@ -60,12 +60,14 @@ def test_default_construction(self):
 
  self.assertAlmostEqual(0.0, sensor.update_rate())
 
+ self.assertFalse(sensor.frame_id())
  self.assertFalse(sensor.topic())
  self.assertFalse(sensor == sensor2)
  self.assertTrue(sensor != sensor2)
 
  def test_copy_construction(self):
  sensor = Sensor()
+ sensor.set_frame_id("test_frame_id")
  sensor.set_raw_pose(Pose3d(1, 2, 3, 0, 0, 0))
  sensor.set_type(sdf.Sensortype.MAGNETOMETER)
  sensor.set_pose_relative_to("a_frame")
@@ -79,13 +81,15 @@ def test_copy_construction(self):
 
  sensor2 = Sensor(sensor)
 
+ self.assertEqual("test_frame_id", sensor.frame_id())
  self.assertEqual(sdf.Sensortype.MAGNETOMETER, sensor.type())
  self.assertEqual(Pose3d(1, 2, 3, 0, 0, 0), sensor.raw_pose())
  self.assertEqual("a_frame", sensor.pose_relative_to())
  self.assertTrue(None != sensor.magnetometer_sensor())
  self.assertAlmostEqual(mag.x_noise().mean(),
  sensor.magnetometer_sensor().x_noise().mean())
 
+ self.assertEqual("test_frame_id", sensor2.frame_id())
  self.assertEqual(sdf.Sensortype.MAGNETOMETER, sensor2.type())
  self.assertEqual(Pose3d(1, 2, 3, 0, 0, 0), sensor2.raw_pose())
  self.assertEqual("a_frame", sensor2.pose_relative_to())
@@ -96,6 +100,7 @@ def test_copy_construction(self):
 
  def test_deepcopy(self):
  sensor = Sensor()
+ sensor.set_frame_id("test_frame_id")
  sensor.set_raw_pose(Pose3d(1, 2, 3, 0, 0, 0))
  sensor.set_type(sdf.Sensortype.MAGNETOMETER)
  sensor.set_pose_relative_to("a_frame")
@@ -108,13 +113,15 @@ def test_deepcopy(self):
 
  sensor2 = copy.deepcopy(sensor)
 
+ self.assertEqual("test_frame_id", sensor.frame_id())
  self.assertEqual(sdf.Sensortype.MAGNETOMETER, sensor.type())
  self.assertEqual(Pose3d(1, 2, 3, 0, 0, 0), sensor.raw_pose())
  self.assertEqual("a_frame", sensor.pose_relative_to())
  self.assertTrue(None != sensor.magnetometer_sensor())
  self.assertAlmostEqual(mag.x_noise().mean(),
  sensor.magnetometer_sensor().x_noise().mean())
 
+ self.assertEqual("test_frame_id", sensor2.frame_id())
  self.assertEqual(sdf.Sensortype.MAGNETOMETER, sensor2.type())
  self.assertEqual(Pose3d(1, 2, 3, 0, 0, 0), sensor2.raw_pose())
  self.assertEqual("a_frame", sensor2.pose_relative_to())

sdf/1.12/camera.sdf

@@ -222,7 +222,7 @@
  <description><![CDATA[Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.]]></description>
  </element>
 
- <element name="optical_frame_id" type="string" default="" required="0">
+ <element name="optical_frame_id" type="string" default="" required="-1">
  <description>An optional frame id name to be used in the camera_info message header.</description>
  </element>
 

sdf/1.12/sensor.sdf

@@ -59,6 +59,10 @@
  <description>If true, the sensor will publish performance metrics</description>
  </element>
 
+ <element name="frame_id" type="string" default="" required="0">
+ <description>An optional frame id which indicates the sensor's frame of reference.</description>
+ </element>
+
  <include filename="pose.sdf" required="0"/>
  <include filename="plugin.sdf" required="*"/>
  <include filename="air_pressure.sdf" required="0"/>

src/Camera.cc

@@ -752,6 +752,9 @@ void Camera::SetSaveFramesPath(const std::string &_path)
 //////////////////////////////////////////////////
 bool Camera::operator==(const Camera &_cam) const
 {
+
+ // \todo(iche033) Remove in sdformat16
+ GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
  return this->Name() == _cam.Name() &&
  this->HorizontalFov() == _cam.HorizontalFov() &&
  this->ImageWidth() == _cam.ImageWidth() &&
@@ -764,6 +767,7 @@ bool Camera::operator==(const Camera &_cam) const
  this->ImageNoise() == _cam.ImageNoise() &&
  this->VisibilityMask() == _cam.VisibilityMask() &&
  this->OpticalFrameId() == _cam.OpticalFrameId();
+ GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 }
 
 //////////////////////////////////////////////////
@@ -1332,8 +1336,11 @@ sdf::ElementPtr Camera::ToElement() const
  this->SegmentationType());
  }
 
+ // \todo(iche033) Remove in sdformat16
+ GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
  elem->GetElement("optical_frame_id")->Set<std::string>(
  this->OpticalFrameId());
+ GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 
  return elem;
 }

src/Camera_TEST.cc

@@ -134,9 +134,12 @@ TEST(DOMCamera, Construction)
  cam.SetPoseRelativeTo("/frame");
  EXPECT_EQ("/frame", cam.PoseRelativeTo());
 
+ // \todo(iche033) Remove in sdformat16
+ GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
  EXPECT_TRUE(cam.OpticalFrameId().empty());
  cam.SetOpticalFrameId("/optical_frame");
  EXPECT_EQ("/optical_frame", cam.OpticalFrameId());
+ GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 
  EXPECT_EQ("stereographic", cam.LensType());
  cam.SetLensType("custom");
@@ -273,7 +276,12 @@ TEST(DOMCamera, ToElement)
  cam.SetPoseRelativeTo("/frame");
  cam.SetSaveFrames(true);
  cam.SetSaveFramesPath("/tmp");
+
+ // \todo(iche033) Remove in sdformat16
+ GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
  cam.SetOpticalFrameId("/optical_frame");
+ GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+
  cam.SetCameraInfoTopic("/camera_info_test");
  cam.SetTriggerTopic("/trigger_topic_test");
  cam.SetTriggered(true);
@@ -296,7 +304,12 @@ TEST(DOMCamera, ToElement)
  EXPECT_EQ("/frame", cam2.PoseRelativeTo());
  EXPECT_TRUE(cam2.SaveFrames());
  EXPECT_EQ("/tmp", cam2.SaveFramesPath());
+
+ // \todo(iche033) Remove in sdformat16
+ GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
  EXPECT_EQ("/optical_frame", cam2.OpticalFrameId());
+ GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+
  EXPECT_EQ("/camera_info_test", cam2.CameraInfoTopic());
  EXPECT_EQ("/trigger_topic_test", cam2.TriggerTopic());
  EXPECT_TRUE(cam2.Triggered());

src/Sensor.cc

@@ -82,6 +82,9 @@ class sdf::Sensor::Implementation
  /// \brief Name of the sensor.
  public: std::string name = "";
 
+ /// \brief Sensor frame ID
+ public: std::string frameId{""};
+
  /// \brief Sensor data topic.
  public: std::string topic = "";
 
@@ -243,7 +246,8 @@ Errors Sensor::Load(ElementPtr _sdf)
  "The supplied sensor name [" + this->dataPtr->name +
  "] is reserved."});
  }
-
+ this->dataPtr->frameId = _sdf->Get<std::string>("frame_id",
+ this->dataPtr->frameId).first;
  this->dataPtr->updateRate = _sdf->Get<double>("update_rate",
  this->dataPtr->updateRate).first;
  this->dataPtr->topic = _sdf->Get<std::string>("topic");
@@ -439,6 +443,18 @@ void Sensor::SetName(const std::string &_name)
  this->dataPtr->name = _name;
 }
 
+/////////////////////////////////////////////////
+std::string Sensor::FrameId() const
+{
+ return this->dataPtr->frameId;
+}
+
+/////////////////////////////////////////////////
+void Sensor::SetFrameId(const std::string &_frameId)
+{
+ this->dataPtr->frameId = _frameId;
+}
+
 /////////////////////////////////////////////////
 std::string Sensor::Topic() const
 {
@@ -750,6 +766,7 @@ sdf::ElementPtr Sensor::ToElement(sdf::Errors &_errors) const
  }
  poseElem->Set<gz::math::Pose3d>(this->RawPose());
 
+ elem->GetElement("frame_id")->Set<std::string>(this->FrameId());
  elem->GetElement("topic")->Set<std::string>(this->Topic());
  elem->GetElement("update_rate")->Set<double>(this->UpdateRate());
  elem->GetElement("enable_metrics")->Set<double>(this->EnableMetrics());