Add L16 pixel format to Camera pixel format conversion function

[iche033]

So we can convert <camera><image><format> string to PixelFormatType when parsing sdf.

Signed-off-by: Ian Chen ichen@osrfoundation.org

[codecov-io]

Codecov Report

Merging #487 (36ed570) into sdf10 (d33b4ae) will decrease coverage by 0.01%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##            sdf10     #487      +/-   ##
==========================================
- Coverage   87.78%   87.76%   -0.02%     
==========================================
  Files          62       62              
  Lines        9577     9579       +2     
==========================================
  Hits         8407     8407              
- Misses       1170     1172       +2     

Impacted Files	Coverage Δ
src/Camera.cc	83.05% <0.00%> (-0.47%)	⬇️

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[adlarkin]

Do we need to update the SDFormat specification to include this addition? Looking at the website, it shows that the options for <camera><image><format> are L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8 (I don't see L16 as an option).

[scpeters]

Do we need to update the SDFormat specification to include this addition? Looking at the website, it shows that the options for <camera><image><format> are L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8 (I don't see L16 as an option).

that documentation comes from: https://github.com/osrf/sdformat/blob/sdformat10_10.2.0/sdf/1.7/camera.sdf#L21

[scpeters]

here's the full list in the enum for reference: https://github.com/osrf/sdformat/blob/sdformat10_10.2.0/include/sdf/Camera.hh#L39-L60

should we add FLOAT16 and FLOAT32?

[adlarkin]

should we add FLOAT16 and FLOAT32?

I think these would be good to add, unless anyone else has a reason against it (I'm not too familiar with the osrf/sdformat repository, so perhaps there are reasons for not adding these that I am unaware of).

[adlarkin]

should we add FLOAT16 and FLOAT32?

@scpeters I went ahead and added L8, FLOAT16 and FLOAT32 as camera formats to the documentation: 067cf73

[scpeters]

should we add FLOAT16 and FLOAT32?

@scpeters I went ahead and added L8, FLOAT16 and FLOAT32 as camera formats to the documentation: 067cf73

thanks for making the change for L8, but now that I look more closely, I don't think we should document FLOAT16 or FLOAT32 unless we add support for them to the conversion functions. it seems that R_FLOAT16 and R_FLOAT32 are more precise and used in ign-msgs, so I retract my suggestion that we support FLOAT16 and FLOAT32. I'll go ahead and revert those from your change add the R_ prefix to those values; thanks for your patience

[peci1]

@adlarkin The online docs at http://sdformat.org/spec?ver=1.7&elem=sensor#image_format still aren't updated. Is some manual intervention needed to update them?

[chapulina]

Is some manual intervention needed to update them?

Yup, I think @azeey has been triggering those.

[azeey]

@adlarkin The online docs at http://sdformat.org/spec?ver=1.7&elem=sensor#image_format still aren't updated. Is some manual intervention needed to update them?

The online docs have been updated.