Added option to specify x and y components of camera focal length.

[carlosmccosta]

No description provided.

[ffurrer]

be consistent with the naming focalLength_x vs focalLengthX and make sure you only output debug messages if none of the parameters are set.

[carlosmccosta]

Corrected sdf parameters names.
In relation to the warnings, it only outputs msgs if the focalLength and focalLengthX / focalLengthY aren't specified.

Thanks for the feedback :)

[hsu]

@carlosmccosta Thank you, PR looks good. Do you have an example or test scenario for this PR?

[carlosmccosta]

Projection mapping example:
https://github.com/inesc-tec-robotics/gazebo_projection_mapping

Gazebo world:
https://github.com/inesc-tec-robotics/gazebo_projection_mapping/blob/hydro-devel/worlds/welding.world#L443

[carlosmccosta]

I added a testing world with a chess board in:
https://github.com/inesc-tec-robotics/gazebo_projection_mapping/blob/hydro-devel/worlds/camera_intrinsics.world

Some images showing the affect of increasing and decreasing each camera intrinsic parameters are available at:
https://github.com/inesc-tec-robotics/gazebo_projection_mapping/tree/hydro-devel/docs/camera_intrinsics

If you need further improvements let me known :)
Have a nice day :)

[j-rivero]

@osrf-jenkins run test please

[carlosmccosta]

Good afternoon,

The error reported is due to this latter commit:
dacd872#diff-54a33e23f1a882810606eba53a485312R497

That overwrote this change:
35d585f#diff-54a33e23f1a882810606eba53a485312R512

And reverted the update of the field name from this->focal_length_x_ to this->focal_length_

To fix this, either

• The pull request is merged and a new commit is made to remove the changes that reverted the this->focal_length_x_ member name
• I apply the changes of this pull request into the current head of the jade-devel branch and create another pull request or overwrite the history of this pull request

How do you want to proceed?

Have a nice day :)

[j-rivero]

How do you want to proceed?

Thanks for the quick answer Carlos. I would prefer not to break the gazebo7 build in any moment in the current -devel branches, so I think that the best option is the second one that you proposed: update this PR with latest jade-devel changes. I really don't mind about creating a new pull request or overwrite this one, the one that works better for you.

Hace a good day you too :)

[carlosmccosta]

Good morning,

I rebased this PR commit on top of the current jade-devel branch and rewrote the carlosmccosta:jade-devel git history.
This way there is a clean merge of a single commit on top of ros-simulation:jade-devel.
All CI tests passed. If you need further corrections / improvements let me know :)

Have a nice day :)

[carlosmccosta]

Rebase of this PR for melodic-devel in #767

[ahcorde]

No activity since 2018 and targeting and unsupported ROS version