Expose optical frame in CameraSensor to be used by DepthCameraSensor #362
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Codecov Report
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## gz-sensors7 #362 +/- ##
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+ Coverage 69.71% 69.76% +0.04%
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Files 36 36
Lines 3959 3965 +6
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+ Hits 2760 2766 +6
Misses 1199 1199
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Levi-Armstrong
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This looks good now as far as the message containing the correct frame_id if set optical frame. |
include/gz/sensors/CameraSensor.hh
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| @@ -146,6 +146,10 @@ namespace gz | |||
| /// \todo(iche033) Make this function virtual on Harmonic | |||
| public: bool HasInfoConnections() const; | |||
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| /// \brief Get the camera optical frame | |||
| /// \return The camera optical frame | |||
| public: std::string OpticalFrameId() const; | |||
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| public: std::string OpticalFrameId() const; | |
| public: const std::string &OpticalFrameId() const; |
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I originally did this but the rest of the API returns string by value like FrameId().
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@azeey Let me know if I should still make the change.
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Not sure if the extra copy makes sense especially since this will be called every time a message is published. I'd vote for const ref. Maybe @iche033 can weigh in.
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yeah unfortunately it breaks API consistency but let's go with const & since as it makes sense here, and we'll start doing this more in new APIs.
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I updated to return const&
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…ensor Signed-off-by: Levi Armstrong <levi.armstrong@gmail.com>
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Rerunning the Ubuntu CI. I think it had an infra issue. |
Summary
I was using DepthCameraSensor along with the ros_gz_bridge and noticed that the point cloud could not be visualized in rviz because the optical frame was not being assigned to the message being produced by this package.