Adding additional fields to the camera sensor message (#201)

Signed-off-by: Nate Koenig <nate@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

Author: 3 people

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;
+}