Open iche033 opened 4 weeks ago
As for deprecating the actual
//sensor/camera/pose
SDF element, I noticed that the pose element is included in thesdf/1.12/camera.sdf
file using<include filename="pose.sdf" required="0"/>
does it work to set required="-1"
in the include element?
<include filename="pose.sdf" required="-1"/>
does it work to set required="-1" in the include element?
oh I didn't know about this! Just found what -1 means in the parser code. I think that's what I need, thanks. Set required
to -1
in c8f2521
I looked back in gazebo-classic, and we used the //camera/pose
for multicameras (such as a stereo camera) in order to specify the location of each sub-camera:
do we have support for stereo-cameras yet in gz-sim? cc @azeey
do we have support for stereo-cameras yet in gz-sim?
Gazebo-classic uses a multicamera
sensor so that it can guarantee the cameras are synchronized / updated in the same timestep. This is not necessary in gz-sim. To use stereo or multi-cameras in gz-sim, the users just need to create 2 (or more) cameras with the same update rate - this will guarantee that the cameras are updated in the same timestep.
I originally thought //camera/pose
is used for rotating the camera to optical frame but no you're right it's for multicamera
sensors. If there are other consumers of sdformat (other than gazebo-classic and gz-sim) that support multicamera
+ //camera/pose
, maybe we should not deprecate this. We just won't support this field in gz-sim.
🦟 Bug fix
Summary
Deprecate
//sensor/camera/pose
as it's redundant with//sensor/pose
, see https://github.com/gazebosim/gz-sim/pull/2433#issuecomment-2150894010.I deprecated the relevant functions in Camera DOM class. As for deprecating the actual
//sensor/camera/pose
SDF element, I noticed that the pose element is included in thesdf/1.12/camera.sdf
file using<include filename="pose.sdf" required="0"/>
so I can't update it's description to say that it's being deprecated. One option is to copy the entire conent of pose.sdf into camera.sdf and update its description - let me know if this is the preferred method. Update: marked as deprecated by settingrequired
to-1
(<include filename="pose.sdf" required="-1"/>
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