Adding additional fields to the camera sensor message

Migration.md

@@ -14,7 +14,8 @@ release will remove the deprecated code.
 3. Protobuf messages and packages will no longer use `ignition.msgs`, use `gz.msgs` instead
 4. `INSTALL_IGN_MSGS_GEN_EXECUTABLE` and `IGN_MSGS_GEN_EXECUTABLE` are deprecated and will be removed. Use `INSTALL_GZ_MSGS_GEN_EXECUTABLE` and `GZ_MSGS_GEN_EXECUTABLE` instead.
 5. `IGN_DESCRIPTOR_PATH` is deprecated and will be removed. Use `GZ_DESCRIPTOR_PATH` instead.
-
+6. `camerasensor.proto` has deprected the `string image_format = 4`. Please
+ use `PixelFormatType pixel_format = 21;`
 ### Breaking Changes
 
 1. The project name has been changed to use the `gz-` prefix, you **must** use the `gz` prefix!

proto/gz/msgs/camerasensor.proto

@@ -24,21 +24,109 @@ option java_outer_classname = "CameraSensorProtos";
 /// \interface CameraSensor
 /// \brief Information about a camera sensor element
 
-import "gz/msgs/vector2d.proto";
 import "gz/msgs/distortion.proto";
+import "gz/msgs/double.proto";
 import "gz/msgs/header.proto";
+import "gz/msgs/image.proto";
+import "gz/msgs/lens.proto";
+import "gz/msgs/sensor_noise.proto";
+import "gz/msgs/vector2d.proto";
 
 message CameraSensor
 {
+ /// \brief Bounding box types.
+ enum BoundingBoxType
+ {
+ /// \brief No bounding box.
+ NO_BOUNDING_BOX = 0;
+
+ /// \brief 2D box that shows the full box of occluded objects
+ FULL_BOX_2D = 1;
+
+ /// \brief 2D box that shows the visible part of the occluded object
+ VISIBLE_BOX_2D = 2;
+
+ /// \brief 3D oriented box
+ BOX_3D = 3;
+ }
+
+ /// \brief Segmentation types.
+ enum SegmentationType
+ {
+ /// \brief No segmentation.
+ NO_SEGMENTATION = 0;
+
+ /// \brief Pixels of same label from different items
+ /// have the same color & id.
+ SEMANTIC = 1;
+
+ /// \brief Pixels of same label from different items, have different
+ /// color & id. 1 channel for label id & 2 channels for instance id
+ PANOPTIC = 2;
+ }
+
  /// \brief Optional header data
  Header header = 1;
 
+ /// \brief Horizontal field of view in radians
  double horizontal_fov = 2;
+
+ /// \brief Image size in pixels.
  Vector2d image_size = 3;
+
+ /// \brief Image format. This field is deprecated, please use pixel_format.
  string image_format = 4;
+
+ /// \brief Near clip distance in meters.
  double near_clip = 5;
+
+ /// \brief Far clip distance in meters.
  double far_clip = 6;
+
+ /// \brief True if frames should be saved.
  bool save_enabled = 7;
+
+ /// \brief Path in which to save frames.
  string save_path = 8;
+
+ /// \brief Optional distortion information.
  Distortion distortion = 9;
+
+ /// \brief Optional noise parameters for the image.
+ SensorNoise image_noise = 10;
+
+ /// \brief Optional depth near clip in meters.
+ Double depth_near_clip = 11;
+
+ /// \brief Optional depth far clip in meters.
+ Double depth_far_clip = 12;
+
+ /// \brief Optional bounding box camera type.
+ BoundingBoxType bounding_box_type = 13;
+
+ /// \brief Optional segmentation camera type.
+ SegmentationType segmentation_type = 14;
+
+ /// \brief Optional lens information
+ Lens lens = 15;
+
+ /// \brief True if the camera will be triggered by a topic
+ bool triggered = 16;
+
+ /// \brief Name of the topic that will trigger the camera if enabled
+ string triggered_topic = 17;
+
+ /// \brief Value used for anti-aliasing
+ int32 anti_aliasing = 18;
+
+ /// \brief Visibility mask of a camera. When the camera's visibility_mask and 
+ /// a visual's visibility_flags evaluates to non-zero, then the visual will
+ /// be visible to the camera.
+ uint32 visibility_mask = 19;
+
+ /// \brief True if the camera is a depth camera.
+ bool is_depth_camera = 20;
+
+ /// \brief Pixel format used by the camera. This replaces image_format.
+ PixelFormatType pixel_format = 21;
 }

proto/gz/msgs/lens.proto

@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "LensProtos";
+
+/// \ingroup ignition.msgs
+/// \interface Lens
+/// \brief Information about a lens element
+
+message Lens
+{
+ /// \brief Types of lens models.
+ enum Type
+ {
+ TYPE_NOT_SPECIFIED = 0;
+ GNOMONICAL = 1;
+ STEREOGRAPHIC = 2;
+ EQUIDISTANT = 3;
+ EQUISOLID_ANGLE = 4;
+ ORTHOGRAPHIC = 5;
+ CUSTOM = 6;
+ }
+
+ /// \brief Lens custom function type.
+ enum FunctionType
+ {
+ FUNCTION_NOT_SPECIFIED = 0;
+ SIN = 1;
+ TAN = 2;
+ ID = 3;
+ }
+
+ /// \brief Lens type
+ Type type = 1;
+
+ /// \brief Lens scale to horizontal field of view.
+ bool scale_to_hfov = 2;
+
+ /// \brief Lens custom function linear scaling constant
+ double c1 = 3;
+
+ /// \brief Lens custom function angular scaling constant.
+ double c2 = 4;
+
+ /// \brief Lens custom function angle offset constant.
+ double c3 = 5;
+
+ /// \brief Lens custom function focal length.
+ double focal_length = 6;
+
+ /// \brief Lens custom function type.
+ FunctionType function_type = 7;
+
+ /// \brief Lens cutoff angle in radians. Everything outside of the specified
+ /// angle will be hidden.
+ double cutoff_angle = 8;
+
+ /// \brief The resolution of the environment cube map used to draw the world.
+ int32 environment_texture_size = 9;
+
+ /// \brief Lens X focal length in pixels.
+ double intrinsics_fx = 10;
+
+ /// \brief Lens Y focal length in pixels.
+ double intrinsics_fy = 11;
+
+ /// \brief Lens X principal point in pixels.
+ double intrinsics_cx = 12;
+
+ /// \brief Lens Y principal point in pixels.
+ double intrinsics_cy = 13;
+
+ /// \brief Lens XY axis skew.
+ double intrinsics_skew = 14;
+}