Merge pull request #1177 from gazebosim/scpeters/merge_12_13

Merge sdf12 ➡️  sdf13

Author: scpeters

Changelog.md

@@ -192,6 +192,53 @@
 
 ## libsdformat 12.X
 
+### libsdformat 12.6.0 (2022-09-07)
+
+1. Reduce the number of include dirs for sdformat.
+    * [Pull request #1170](https://github.com/gazebosim/sdformat/pull/1170)
+
+1. Add camera `optical_frame_id` element
+    * [Pull request #1109](https://github.com/gazebosim/sdformat/pull/1109)
+
+1. urdf: fix sensor/light pose for links lumped by fixed joints
+    * [Pull request #1114](https://github.com/gazebosim/sdformat/pull/1114)
+
+1. Removed USD component from SDFormat and move to gz-usd
+    * [Pull request #1094](https://github.com/gazebosim/sdformat/pull/1094)
+
+1. Fix URDF fixed joint reduction of SDF joints
+    * [Pull request #1089](https://github.com/gazebosim/sdformat/pull/1089)
+
+1. Test model name as `placement_frame`
+    * [Pull request #1079](https://github.com/gazebosim/sdformat/pull/1079)
+
+1. Test using `__model__`, `world` in `@attached_to`, `@relative_to`
+    * [Pull request #1066](https://github.com/gazebosim/sdformat/pull/1066)
+
+1. Remove unused sdf.hh.in template
+    * [Pull request #1081](https://github.com/gazebosim/sdformat/pull/1081)
+
+1. Readme: Ignition -> Gazebo
+    * [Pull request #1080](https://github.com/gazebosim/sdformat/pull/1080)
+
+1. Document major and minor SDFormat version numbers
+    * [Pull request #1065](https://github.com/gazebosim/sdformat/pull/1065)
+
+1. Add skybox URI
+    * [Pull request #1037](https://github.com/gazebosim/sdformat/pull/1037)
+
+1. Bash completion for flags
+    * [Pull request #1042](https://github.com/gazebosim/sdformat/pull/1042)
+
+1. Fix bug with resolving poses for joint sensors.
+    * [Pull request #1033](https://github.com/gazebosim/sdformat/pull/1033)
+
+1. sdf::Joint: Mutable versions of SensorByName and SensorByIndex
+    * [Pull request #1031](https://github.com/gazebosim/sdformat/pull/1031)
+
+1. Add Link::ResolveInertial API
+    * [Pull request #1012](https://github.com/gazebosim/sdformat/pull/1012)
+
 ### libsdformat 12.5.0 (2022-05-12)
 
 1. Add visibility mask to Lidar / Ray sensor
@@ -1203,7 +1250,32 @@
 
 ## libsdformat 9.X
 
-### libsdformat 9.X.X (202X-XX-XX)
+### libsdformat 9.9.0 (2022-09-07)
+
+1. sdf/camera.sdf: fields for projection matrix
+    * [Pull request #1088](https://github.com/gazebosim/sdformat/pull/1088)
+
+1. urdf: fix sensor/light pose for links lumped by fixed joints
+    * [Pull request #1114](https://github.com/gazebosim/sdformat/pull/1114)
+
+1. Ensure relocatable config files
+    * [Pull request #419](https://github.com/gazebosim/sdformat/pull/419)
+    * [Pull request #1093](https://github.com/gazebosim/sdformat/pull/1093)
+
+1. Test using `__model__`, `world` in @attached_to, @relative_to
+    * [Pull request #1066](https://github.com/gazebosim/sdformat/pull/1066)
+
+1. Readme: Ignition -> Gazebo
+    * [Pull request #1080](https://github.com/gazebosim/sdformat/pull/1080)
+
+1. Document major and minor SDFormat version numbers
+    * [Pull request #1065](https://github.com/gazebosim/sdformat/pull/1065)
+
+1. Bash completion for flags
+    * [Pull request #1042](https://github.com/gazebosim/sdformat/pull/1042)
+
+1. Add Link::ResolveInertial API
+    * [Pull request #1012](https://github.com/gazebosim/sdformat/pull/1012)
 
 ### libsdformat 9.8.0 (2022-04-26)
 

Migration.md

@@ -70,6 +70,11 @@ but with improved human-readability..
 1. USD component now is living in https://github.com/gazebosim/gz-usd as an
    independent package.
 
+1. URDF parser now properly transforms poses for lights, projectors and sensors
+   from gazebo extension tags that are moved to a new link during fixed joint
+   reduction.
+    + [pull request 1114](https://github.com/osrf/sdformat/pull/1114)
+
 ## libsdformat 11.x to 12.0
 
 An error is now emitted instead of a warning for a file containing more than
@@ -334,7 +339,12 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
     + std::optional<std::string> GetMaxValueAsString() const;
     + bool ValidateValue() const;
 
-## libsdformat 9.8.0 to 9.8.1
+## libsdformat 9.8.0 to 9.9.0
+
+### Additions
+
+1. **sdf/Camera.hh**
+    + Get/Set functions for Camera projection matrix parameters.
 
 ### Modifications
 

include/sdf/Camera.hh

@@ -348,6 +348,20 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
+    /// \brief Get the name of the coordinate frame relative to which this
+    /// object's camera_info message header is expressed.
+    /// Note: while Gazebo interprets the camera frame to be looking towards +X,
+    /// other tools, such as ROS interprets this frame as looking towards +Z.
+    /// The Camera sensor assumes that the color and depth images are captured
+    /// at the same frame_id.
+    /// \return The name of the frame this camera uses in its camera_info topic.
+    public: const std::string OpticalFrameId() const;
+
+    /// \brief Set the name of the coordinate frame relative to which this
+    /// object's camera_info is expressed.
+    /// \param[in] _frame The frame this camera uses in its camera_info topic.
+    public: void SetOpticalFrameId(const std::string &_frame);
+
     /// \brief Get the lens type. This is the type of the lens mapping.
     /// Supported values are gnomonical, stereographic, equidistant,
     /// equisolid_angle, orthographic, custom. For gnomonical (perspective)
@@ -433,38 +447,86 @@ namespace sdf
     /// \param[in] _size The lens environment texture size.
     public: void SetLensEnvironmentTextureSize(int _size);
 
-    /// \brief Get the lens X focal length in pixels.
-    /// \return The lens X focal length in pixels.
+    /// \brief Get the lens intrinsic matrix X focal length in pixels.
+    /// \return The lens X focal length in pixels for the intrinsic matrix.
     public: double LensIntrinsicsFx() const;
 
-    /// \brief Set the lens X focal length in pixels.
-    /// \param[in] _fx The lens X focal length in pixels.
+    /// \brief Set the lens intrinsic matrix X focal length in pixels.
+    /// \param[in] _fx The intrinsic matrix lens X focal length in pixels.
     public: void SetLensIntrinsicsFx(double _fx);
 
-    /// \brief Get the lens Y focal length in pixels.
-    /// \return The lens Y focal length in pixels.
+    /// \brief Get the lens intrinsic matrix Y focal length in pixels.
+    /// \return The lens intrinsic matrix Y focal length in pixels.
     public: double LensIntrinsicsFy() const;
 
-    /// \brief Set the lens Y focal length in pixels.
-    /// \param[in] _fy The lens Y focal length in pixels.
+    /// \brief Set the lens intrinsic matrix Y focal length in pixels.
+    /// \param[in] _fy The lens intrinsic matrix Y focal length in pixels.
     public: void SetLensIntrinsicsFy(double _fy);
 
-    /// \brief Get the lens X principal point in pixels.
-    /// \return The lens X principal point in pixels.
+    /// \brief Get the lens intrinsic matrix X principal point in pixels.
+    /// \return The lens intrinsic matrix X principal point in pixels.
     public: double LensIntrinsicsCx() const;
 
-    /// \brief Set the lens X principal point in pixels.
-    /// \param[in] _cx The lens X principal point in pixels.
+    /// \brief Set the lens intrinsic matrix X principal point in pixels.
+    /// \param[in] _cx The lens intrinsic matrix X principal point in pixels.
     public: void SetLensIntrinsicsCx(double _cx);
 
-    /// \brief Get the lens Y principal point in pixels.
-    /// \return The lens Y principal point in pixels.
+    /// \brief Get the lens intrinsic matrix Y principal point in pixels.
+    /// \return The lens intrinsic matrix Y principal point in pixels.
     public: double LensIntrinsicsCy() const;
 
-    /// \brief Set the lens Y principal point in pixels.
-    /// \param[in] _cy The lens Y principal point in pixels.
+    /// \brief Set the lens intrinsic matrix Y principal point in pixels.
+    /// \param[in] _cy The lens intrinsic matrix Y principal point in pixels.
     public: void SetLensIntrinsicsCy(double _cy);
 
+    /// \brief Get the lens projection matrix X focal length in pixels.
+    /// \return The lens projection matrix X focal length in pixels.
+    public: double LensProjectionFx() const;
+
+    /// \brief Set the lens projection matrix X focal length in pixels.
+    /// \param[in] _fx_p The lens projection matrix X focal length in pixels.
+    public: void SetLensProjectionFx(double _fx_p);
+
+    /// \brief Get the lens projection matrix Y focal length in pixels.
+    /// \return The lens projection matrix Y focal length in pixels.
+    public: double LensProjectionFy() const;
+
+    /// \brief Set the lens projection matrix Y focal length in pixels.
+    /// \param[in] _fy_p The lens projection matrix Y focal length in pixels.
+    public: void SetLensProjectionFy(double _fy_p);
+
+    /// \brief Get the lens projection matrix X principal point in pixels.
+    /// \return The lens projection matrix X principal point in pixels.
+    public: double LensProjectionCx() const;
+
+    /// \brief Set the lens projection matrix X principal point in pixels.
+    /// \param[in] _cx_p The lens projection matrix X principal point in pixels.
+    public: void SetLensProjectionCx(double _cx_p);
+
+    /// \brief Get the lens projection matrix Y principal point in pixels.
+    /// \return The lens projection matrix Y principal point in pixels.
+    public: double LensProjectionCy() const;
+
+    /// \brief Set the lens projection matrix Y principal point in pixels.
+    /// \param[in] _cy_p The lens projection matrix Y principal point in pixels.
+    public: void SetLensProjectionCy(double _cy_p);
+
+    /// \brief Get the lens projection matrix X translation in pixels.
+    /// \return The lens projection matrix X translation in pixels.
+    public: double LensProjectionTx() const;
+
+    /// \brief Set the lens projection matrix X translation in pixels.
+    /// \param[in] _tx The lens projection matrix X translation in pixels.
+    public: void SetLensProjectionTx(double _tx);
+
+    /// \brief Get the lens projection matrix Y translation in pixels.
+    /// \return The lens projection matrix Y translation in pixels.
+    public: double LensProjectionTy() const;
+
+    /// \brief Set the lens projection matrix Y translation in pixels.
+    /// \param[in] _ty The lens projection matrix Y translation in pixels.
+    public: void SetLensProjectionTy(double _ty);
+
     /// \brief Get the lens XY axis skew.
     /// \return The lens XY axis skew.
     public: double LensIntrinsicsSkew() const;

sdf/1.10/camera.sdf

@@ -190,11 +190,37 @@
         <description>XY axis skew</description>
       </element>
     </element> <!-- End Intrinsics -->
+
+    <element name="projection" required="0">
+    <description>Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.</description>
+      <element name="p_fx" type="double" default="277" required="0">
+        <description>X focal length for projection matrix(in pixels, overrides fx)</description>
+      </element>
+      <element name="p_fy" type="double" default="277" required="0">
+        <description>Y focal length for projection matrix(in pixels, overrides fy)</description>
+      </element>
+      <element name="p_cx" type="double" default="160" required="0">
+        <description>X principal point for projection matrix(in pixels, overrides cx)</description>
+      </element>
+      <element name="p_cy" type="double" default="120" required="0">
+        <description>Y principal point for projection matrix(in pixels, overrides cy)</description>
+      </element>
+      <element name="tx" type="double" default="0.0" required="0">
+        <description>X translation for projection matrix (in pixels)</description>
+      </element>
+      <element name="ty" type="double" default="0.0" required="0">
+        <description>Y translation for projection matrix (in pixels)</description>
+      </element>
+    </element> <!-- End Projection -->
   </element> <!-- End Lens -->
 
   <element name="visibility_mask" type="unsigned int" default="4294967295" required="0">
     <description><![CDATA[Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.]]></description>
   </element>
 
+  <element name="optical_frame_id" type="string" default="" required="0">
+    <description>An optional frame id name to be used in the camera_info message header.</description>
+  </element>
+
   <include filename="pose.sdf" required="0"/>
 </element> <!-- End Camera -->

sdf/1.7/camera.sdf

@@ -155,11 +155,37 @@
         <description>XY axis skew</description>
       </element>
     </element> <!-- End Intrinsics -->
+
+    <element name="projection" required="0">
+    <description>Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.</description>
+      <element name="p_fx" type="double" default="277" required="0">
+        <description>X focal length for projection matrix(in pixels, overrides fx)</description>
+      </element>
+      <element name="p_fy" type="double" default="277" required="0">
+        <description>Y focal length for projection matrix(in pixels, overrides fy)</description>
+      </element>
+      <element name="p_cx" type="double" default="160" required="0">
+        <description>X principal point for projection matrix(in pixels, overrides cx)</description>
+      </element>
+      <element name="p_cy" type="double" default="120" required="0">
+        <description>Y principal point for projection matrix(in pixels, overrides cy)</description>
+      </element>
+      <element name="tx" type="double" default="0.0" required="0">
+        <description>X translation for projection matrix (in pixels)</description>
+      </element>
+      <element name="ty" type="double" default="0.0" required="0">
+        <description>Y translation for projection matrix (in pixels)</description>
+      </element>
+    </element> <!-- End Projection -->
   </element> <!-- End Lens -->
 
   <element name="visibility_mask" type="unsigned int" default="4294967295" required="0">
     <description><![CDATA[Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.]]></description>
   </element>
 
+  <element name="optical_frame_id" type="string" default="" required="0">
+    <description>An optional frame id name to be used in the camera_info message header.</description>
+  </element>
+
   <include filename="pose.sdf" required="0"/>
 </element> <!-- End Camera -->

sdf/1.8/camera.sdf

@@ -155,11 +155,37 @@
         <description>XY axis skew</description>
       </element>
     </element> <!-- End Intrinsics -->
+
+    <element name="projection" required="0">
+    <description>Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.</description>
+      <element name="p_fx" type="double" default="277" required="0">
+        <description>X focal length for projection matrix(in pixels, overrides fx)</description>
+      </element>
+      <element name="p_fy" type="double" default="277" required="0">
+        <description>Y focal length for projection matrix(in pixels, overrides fy)</description>
+      </element>
+      <element name="p_cx" type="double" default="160" required="0">
+        <description>X principal point for projection matrix(in pixels, overrides cx)</description>
+      </element>
+      <element name="p_cy" type="double" default="120" required="0">
+        <description>Y principal point for projection matrix(in pixels, overrides cy)</description>
+      </element>
+      <element name="tx" type="double" default="0.0" required="0">
+        <description>X translation for projection matrix (in pixels)</description>
+      </element>
+      <element name="ty" type="double" default="0.0" required="0">
+        <description>Y translation for projection matrix (in pixels)</description>
+      </element>
+    </element> <!-- End Projection -->
   </element> <!-- End Lens -->
 
   <element name="visibility_mask" type="unsigned int" default="4294967295" required="0">
     <description><![CDATA[Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.]]></description>
   </element>
 
+  <element name="optical_frame_id" type="string" default="" required="0">
+    <description>An optional frame id name to be used in the camera_info message header.</description>
+  </element>
+
   <include filename="pose.sdf" required="0"/>
 </element> <!-- End Camera -->

sdf/1.9/camera.sdf

@@ -190,11 +190,37 @@
         <description>XY axis skew</description>
       </element>
     </element> <!-- End Intrinsics -->
+
+    <element name="projection" required="0">
+    <description>Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.</description>
+      <element name="p_fx" type="double" default="277" required="0">
+        <description>X focal length for projection matrix(in pixels, overrides fx)</description>
+      </element>
+      <element name="p_fy" type="double" default="277" required="0">
+        <description>Y focal length for projection matrix(in pixels, overrides fy)</description>
+      </element>
+      <element name="p_cx" type="double" default="160" required="0">
+        <description>X principal point for projection matrix(in pixels, overrides cx)</description>
+      </element>
+      <element name="p_cy" type="double" default="120" required="0">
+        <description>Y principal point for projection matrix(in pixels, overrides cy)</description>
+      </element>
+      <element name="tx" type="double" default="0.0" required="0">
+        <description>X translation for projection matrix (in pixels)</description>
+      </element>
+      <element name="ty" type="double" default="0.0" required="0">
+        <description>Y translation for projection matrix (in pixels)</description>
+      </element>
+    </element> <!-- End Projection -->
   </element> <!-- End Lens -->
 
   <element name="visibility_mask" type="unsigned int" default="4294967295" required="0">
     <description><![CDATA[Visibility mask of a camera. When (camera's visibility_mask & visual's visibility_flags) evaluates to non-zero, the visual will be visible to the camera.]]></description>
   </element>
 
+  <element name="optical_frame_id" type="string" default="" required="0">
+    <description>An optional frame id name to be used in the camera_info message header.</description>
+  </element>
+
   <include filename="pose.sdf" required="0"/>
 </element> <!-- End Camera -->

src/CMakeLists.txt

@@ -121,9 +121,6 @@ if (WIN32)
 endif()
 
 target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
-  PUBLIC
-    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}/..>
   PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
 )