🎉 New feature

Closes gz-sensors issue 299

Sub-Tasks

[x] Support simulation for BAYER_RGGB8 with OGRE
[x] Extend the functionality to support all bayer types with OGRE
[x] Extend the functionality to support with OGRE2

Summary and Related PRs

The functionality reads the user input and renders an RGB image, which is later converted into a single channel 8bit Bayer image using ConvertRGBToBayer() added to Utils.cc inside gz-rendering.

gz-sensors : Adds a switch case for RGGB bayer format inside CameraSensor.cc and passes the R8G8B8 format to render the image.
gz-redering : Adds ConvertRGBToBayer() to Utils.cc, modifies OgreRenderTarget.cc to call the conversion function, and handles image format conversion functions with if-else statements.
gz-gui : Adds switch cases to display Bayer images in Gazebo GUI inside. It treats them as single-channel 8-bit images.
gz-common : Modifies Image::SetFromData inside Image.cc to support saving of Bayer images. In order to save it It treats them as single-channel 8-bit images.

Test it

In order to test this, one can modify camera_sensor.sdf inside gz-sim here. Would have just to replace the part with the following snippet.

<image>
   <width>320</width>
   <height>240</height>
   <format>BAYER_RGGB8</format>
</image>
<clip>
   <near>0.1</near>
   <far>100</far>
</clip>
<save enabled="true">
    <path>path to the folder</path>
</save>

Checklist

[x] Signed all commits for DCO
[ ] Added tests
[ ] Added example and/or tutorial
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] codecheck passed (See contributing)
[ ] All tests passed (See test coverage)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Codecov Report

Merging #528 (61900e0) into gz-gui7 (f81686a) will decrease coverage by 0.06%. The diff coverage is 0.00%.

:exclamation: Current head 61900e0 differs from pull request most recent head 0eb6b5c. Consider uploading reports for the commit 0eb6b5c to get more accurate results

@@             Coverage Diff             @@
##           gz-gui7     #528      +/-   ##
===========================================
- Coverage    69.19%   69.14%   -0.06%     
===========================================
  Files           44       44              
  Lines         4938     4942       +4     
===========================================
  Hits          3417     3417              
- Misses        1521     1525       +4

Impacted Files	Coverage Δ
src/plugins/image_display/ImageDisplay.cc	`30.70% <0.00%> (-1.00%)`	:arrow_down:

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gazebosim / gz-gui

Add support for bayer images to get displayed in gazebo gui #528