Add support for bayer images to camera sensor

[tejalbarnwal]

🎉 New feature

Closes #299

Sub-Tasks

• Support simulation for BAYER_RGGB8 with OGRE
• Extend the functionality to support all bayer types with OGRE
• 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

• 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.

[tejalbarnwal]

Hey @iche033 ,I couldn't perform make codecheck from the build directory as mentioned here. Therefore, I use a workaround by doing cppcheck file.cpp on each file I had modified.

Updates:
A community member said cppcheck has to be installed before building with colcon packages. I will do so.
I also found that I would need to update ca-certificates on my system according to failed checks on the PRs I have created. I will do so and commit again.

[iche033]

needs gz-rendering7 release

[codecov]

Codecov Report

Merging #336 (ba0be93) into gz-sensors7 (f88ac60) will decrease coverage by 0.50%.
The diff coverage is 0.00%.

❗ Current head ba0be93 differs from pull request most recent head eab8420. Consider uploading reports for the commit eab8420 to get more accurate results

@@               Coverage Diff               @@
##           gz-sensors7     #336      +/-   ##
===============================================
- Coverage        70.18%   69.69%   -0.50%     
===============================================
  Files               36       36              
  Lines             3928     3956      +28     
===============================================
  Hits              2757     2757              
- Misses            1171     1199      +28     

Impacted Files	Coverage Δ
src/CameraSensor.cc	75.92% <0.00%> (-5.61%)	⬇️

[ahcorde]

MacOS sompilation is failing

/Users/jenkins/jenkins-agent/workspace/ignition_sensors-ci-pr_any-homebrew-amd64/ign-sensors/src/CameraSensor.cc:288:56: error: no member named 'PF_BAYER_GBRG8' in namespace 'gz::rendering'
      this->dataPtr->camera->SetImageFormat(rendering::PF_BAYER_GBRG8);
                                            ~~~~~~~~~~~^
/Users/jenkins/jenkins-agent/workspace/ignition_sensors-ci-pr_any-homebrew-amd64/ign-sensors/src/CameraSensor.cc:291:56: error: no member named 'PF_BAYER_GRBG8' in namespace 'gz::rendering'
      this->dataPtr->camera->SetImageFormat(rendering::PF_BAYER_GRBG8);
                                            ~~~~~~~~~~~^
/Users/jenkins/jenkins-agent/workspace/ignition_sensors-ci-pr_any-homebrew-amd64/ign-sensors/src/CameraSensor.cc:628:23: error: no member named 'PF_BAYER_GBRG8' in namespace 'gz::rendering'
      case rendering::PF_BAYER_GBRG8:
           ~~~~~~~~~~~^
/Users/jenkins/jenkins-agent/workspace/ignition_sensors-ci-pr_any-homebrew-amd64/ign-sensors/src/CameraSensor.cc:632:23: error: no member named 'PF_BAYER_GRBG8' in namespace 'gz::rendering'
      case rendering::PF_BAYER_GRBG8:
           ~~~~~~~~~~~^
4 errors generated.
make[2]: *** [src/CMakeFiles/gz-sensors7-camera.dir/CameraSensor.cc.o] Error 1

[iche033]

MacOS sompilation is failing

I think the bottle was not ready when the build was triggered. I retriggered the build and should be fixed now