WIP fixed sensor resolution in gazebo

Since the zoom should be adjustable at runtime, the zoom factor
will need to be implemented in the image sampling routine,
it cannot be set beforehand in the bebop model.

conf/simulator/gazebo/models/bebop/bebop.sdf

@@ -196,15 +196,15 @@
         <update_rate>15.0</update_rate><!-- adjust with MT9F002_TARGET_FPS -->
         <camera>
           <image>
-            <width>3746</width><!-- with MT9F002_ZOOM = 1.00, will be scaled by NPS --><!-- Reduced to 3 rad FoV for Gazebo 7 compatibility -->
-            <height>3288</height>
+            <width>4608</width><!-- Full sensor resolution -->
+            <height>3288</height><!-- Full sensor resolution -->
             <format>R8G8B8</format>
           </image>
-          <horizontal_fov>3.0</horizontal_fov>
+          <horizontal_fov>3.7</horizontal_fov>
           <lens>
             <type>equisolid_angle</type>
             <scale_to_hfov>true</scale_to_hfov>
-            <cutoff_angle>3.0</cutoff_angle>
+            <cutoff_angle>1.8</cutoff_angle>
             <env_texture_size>2048</env_texture_size><!-- with MT9F002_ZOOM = 1.00, will be scaled by NPS -->
           </lens>
           <clip>

sw/simulator/nps/nps_fdm_gazebo.cpp

@@ -365,16 +365,6 @@ static void init_gazebo(void)
   sdf::ElementPtr link = vehicle_sdf->Root()->GetFirstElement()->GetElement("link");
   while (link) {
     if (link->Get<string>("name") == "front_camera" && link->GetElement("sensor")->Get<string>("name") == "mt9f002") {
-      // In this section we only change the sensor resolution to emulate the
-      // ZOOM factor without having to implement/link an image scaling algorithm.
-      // The image cropping is performed in read_image.
-      // Rendering the entire sensor is more computationally expensive but
-      // ensures that the camera distortions remain correct.
-      int w = link->GetElement("sensor")->GetElement("camera")->GetElement("image")->GetElement("width")->Get<int>();
-      int h = link->GetElement("sensor")->GetElement("camera")->GetElement("image")->GetElement("height")->Get<int>();
-      link->GetElement("sensor")->GetElement("camera")->GetElement("image")->GetElement("width")->Set((int)(w * MT9F002_ZOOM));
-      link->GetElement("sensor")->GetElement("camera")->GetElement("image")->GetElement("height")->Set((int)(h * MT9F002_ZOOM));
-
       if (MT9F002_TARGET_FPS){
         int fps = Min(MT9F002_TARGET_FPS, link->GetElement("sensor")->GetElement("update_rate")->Get<int>());
         link->GetElement("sensor")->GetElement("update_rate")->Set(fps);